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3-degree-of-freedom 6-UPS tri-translational parallel robot

A 6-UPS, degree-of-freedom technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of redundant self-motion, small working space, bending moment, etc.

Inactive Publication Date: 2006-09-06
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Compared with the Stewart 6-SPS parallel mechanism with six degrees of freedom, the parallel mechanism with fewer degrees of freedom has the advantages of simple structure and easy control, but it also has disadvantages: the stiffness and bearing capacity of the parallel mechanism are reduced due to the small number of load-bearing branches; 3- The UPU mechanism has redundant self-motion, and the drive branch is subjected to torque; the 3-RPS mechanism has a small working space, has redundant self-motion, and the drive branch is subject to bending moment; the rotational drive branch of the Delta mechanism and 3-RRR mechanism is complicated, and has bending moment; The driving branch of the 3-PRR mechanism has bending moment and shear force
The experiment found that: the redundant self-motion affects the normal movement of the mechanism; the torsion, bending moment and shear force of the driving branch cause the elastic deformation of the mechanism and the large load on the rotating pair, which seriously affects the normal movement of the driving device and the mechanism

Method used

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Experimental program
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Effect test

Embodiment 1

[0013] figure 1 It is a mechanical synchronously driven three-degree-of-freedom 6-UPS three-moving parallel robot disclosed in the present invention. Three pairs of linear drive branches are connected to the upper platform 1 and the base 2, and the three pairs of linear drive branches are positively connected between the upper platform 1 and the base 2. Triangular symmetrical distribution; each pair of linear drive branches includes two SPU type synchronous telescopic drive branches with the same structure, each SPU type branch has a ball pair at the upper end, a moving pair in the middle, and a universal pair at the lower end. The distance between the two ball pairs 3 of the branches is equal to the distance between the vertical axes 9 of the two universal joints. The upper end of each nut sleeve 4 is connected with the upper platform 1 by a ball pair 3, and the side surfaces of the lower ends of the two nut sleeves 4 are connected with the connecting rod 5 by two pin shafts ...

Embodiment 2

[0015] image 3 It is a hydraulic synchronously driven three-degree-of-freedom 6-UPS three-moving parallel robot disclosed in the present invention. Three pairs of linear drive branches are symmetrically distributed in an equilateral triangle between the upper platform 1 and the machine base 2; each pair of linear drive branches includes two structural forms The same size as the SPU type hydraulic synchronous telescopic drive branch, each SPU type branch has a ball pair at the upper end, a moving pair in the middle, and a universal pair at the lower end to connect with the machine base 2, and the moving pair is composed of a hydraulic cylinder 14 and a piston. 15 constitutes a hydraulic synchronous telescopic drive mechanism, the hydraulic cylinder 14 is connected with the upper platform 1 with the ball pair 3, the two hydraulic cylinders 14 are connected with the connecting rod 5 with two pins 6, the piston rod 15 is connected with the horizontal shaft 8 in rotation, and the h...

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Abstract

The invention relates to a free 6-UPS three-linkage parallel robot, belonging to the robot and mechanical producing area. The invention is characterized in that: three couples of straight driving branches are arranged in symmetry right triangle between the upper platform (1) and the base (2), while each couple comprises: two same SPU synchronous flexible driving branch while the upper end of each branch has a ball couple, the middle has a moving couple and the lower end has a universal couple connected to the base (2); the moving couple is formed by a mechanical or hydraulic synchronous flexible driver; the distance between two ball couples of each couple of straight driving branch is the same as the distance between two universal couple vertical axles (9). The invention is characterized in less freedom, easy control, large working space, simple structure and high accuracy. The invention can be used in large radio telescope, three-dimensional measure and sensor, etc.

Description

technical field [0001] The invention relates to the field of robotics and machinery manufacturing, in particular to a three-degree-of-freedom 6-UPS three-moving parallel robot Background technique [0002] For the convenience of explanation, use (n, n=1, 2, 3, 4, 6) to represent the number of branches, and use (S, U, P, R) to represent the (ball pair, universal joint, moving pair, revolving pair), their combination represents the branch kinematic chain structure type. [0003] Parallel robots have the characteristics of high structural rigidity, strong carrying capacity, light end mass, small inertia, and no accumulation of position errors. They are complementary to serial robots in application. The parallel robot mechanism with less than 6 degrees of freedom has relatively simple structure and easy control, and has become a research hotspot in the field of robotics and manufacturing. In recent years, Hunt proposed the 3-RPS mechanism in 1986; Pierrot proposed the three-tr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 路懿
Owner YANSHAN UNIV
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