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Four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension

A three-dimensional translation, degree of freedom technology, used in manipulators, program-controlled manipulators, metal processing machinery parts, etc., can solve the problems of not many four-degree-of-freedom parallel mechanisms, accumulation of rod errors, and low end precision, etc. It has the effect of large size, strong standardization, and reduced difficulty

Inactive Publication Date: 2006-05-17
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

The tandem mechanism has the advantages of large working space and high flexibility. At the same time, it also has some disadvantages: there is error accumulation of each rod, low end precision; large inertia, low stiffness, and poor dynamic performance.
[0004] At present, more than one hundred kinds of parallel mechanisms have been proposed, but there are still not many parallel mechanisms with four degrees of freedom.

Method used

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  • Four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension

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Embodiment Construction

[0021] In order to better understand the present invention, the present invention will be further described below in conjunction with the accompanying drawings.

[0022] like figure 1 As shown, the four-degree-of-freedom parallel robot mechanism with three-dimensional translation and one-dimensional rotation of the present invention includes a static platform 1, a dynamic platform 2, a branch connecting the static platform 1 and the dynamic platform 2, and the dynamic platform 2 connects with the static platform through four branches. 1 connected, there are three mutually parallel guide rails 3, 4, 5 on the static platform 1, branches 6 and 7 intersect each other, and are connected with guide rail 3; branch 8 is connected with guide rail 5, and branch 9 is connected with guide rail 4; Each branch comprises a moving pair 10, two Hooke hinges 11 and a branch rod 12, one end of the branch rod 12 is connected with the moving platform 2 through the Hooke hinge 11, and the other end...

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Abstract

The present invention discloses one kind of four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension and including static platform, dynamic platform and branches connecting the static platform and the dynamic platform. The dynamic platform is connected to the static platform through four branches, the static platform has three parallel tracks, two crossed branches, branch I and branch II, are connected to the identical track while other two, branch III and branch IV, are connected separately to one of the other two tracks. Each of the branches includes one shift pair, two Hookes and one branch rod, which has one end connected to the dynamic platform via a Hooke and the other end to the static platform via the composite motion pair comprising a shift pair and a Hooke. The present invention can realize four-freedom platform motion, has enhanced integral rigidity and may be used in operation needing four special motions.

Description

technical field [0001] The invention belongs to the field of robot mechanisms, in particular to a four-degree-of-freedom parallel robot mechanism with three-dimensional translation and one-dimensional rotation. Background technique [0002] In the existing robot of robotization operation, there are two types of mechanisms: series mechanism and parallel mechanism. The tandem mechanism has the advantages of large working space and high flexibility. At the same time, it also has some disadvantages: error accumulation of each rod, low end precision; large inertia, low stiffness, and poor dynamic performance. [0003] Parallel mechanism is a closed multi-loop mechanism with multiple degrees of freedom of motion and drives distributed on different loops. Compared with serial robots, parallel robots have a series of advantages such as high rigidity, strong load-carrying capacity, no accumulation of position errors, high precision, small self-weight-to-load ratio, and good dynamic ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B23Q1/48
Inventor 张宪民袁剑锋邱志成
Owner SOUTH CHINA UNIV OF TECH
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