CN105196278B

CN105196278B - Six-freedom-degree parallel robot with plane pair

Info

Publication number: CN105196278B
Application number: CN201510763987.7A
Authority: CN
Inventors: 宫金良; 张彦斐; 陈超
Original assignee: Shandong University of Technology
Current assignee: Shandong University of Technology
Priority date: 2015-11-11
Filing date: 2015-11-11
Publication date: 2020-03-13
Anticipated expiration: 2035-11-11
Also published as: CN105196278A

Abstract

The invention provides a six-degree-of-freedom parallel robot with a plane pair, which comprises a fixed platform, a moving platform and six branched chains with the same structure, wherein the six branched chains are connected between the fixed platform and the moving platform, and the six branched chains are characterized in that: fixed platform is six prismatic table for having six sides, every side all contains rectangle hollow structure, the movable embedding of disc slider at the edge ball is to fixed platform's rectangle hollow structure the inside, constitute the plane motion pair jointly with fixed platform, six branch chains all contain fixed-length pole and telescopic link, wherein the one end and the motion platform rigid coupling of fixed-length pole, the other end is connected with the one end of telescopic link through the hooke hinge, the other end of telescopic link and disc slider's one side rigid coupling, the central axis of telescopic link is perpendicular with the motion plane of the plane motion pair that corresponding disc slider and fixed platform constitute. The six-degree-of-freedom motion of the motion platform is realized by driving the six telescopic rods, and meanwhile, the design scheme of the non-spherical hinge can effectively reduce the manufacturing cost and improve the rigidity and the motion precision.

Description

Six-freedom-degree parallel robot with plane pair

Technical Field

The invention belongs to the technical field of mechanical manufacturing, and particularly relates to a six-degree-of-freedom parallel robot with a plane pair.

Background

The parallel robot has the advantages of high rigidity, high bearing capacity, high speed, high acceleration, easy position inverse solution and the like, and is widely applied to the fields such as motion simulators, parallel machine tools and the like which need high rigidity, high precision or large load and do not need large working space.

Stewart proposed a 6 degree-of-freedom parallel mechanism in 1965, and proposed it for use in aircraft and spacecraft, and also as a basis for the design of new machine tools. Late j. Tindale proposed the use of this form of mechanism in mining facilities and offshore drilling platforms, and in 1978 the Stewart platform was used as a robotic manipulator by the professor Hunt australia, and research in this field has become more extensive and extensive. For example, the university of Chongqing proposes a six-degree-of-freedom high-mobility high-precision practical parallel robot, and the robot is driven by six linear motors. The six-degree-of-freedom parallel robot with the few branched chains, which is proposed by Shantou university, adopts three same branched chains and one middle active motion branched chain, has higher flexibility, and simultaneously, the six-degree-of-freedom parallel robot with the few branched chains and the six-degree-of-freedom parallel robot with the rope and the rod which are driven in a mixed mode is also proposed, and can be used for the occasion of adjusting the equipotential postures of an automatic television camera in the television and movie media industry. The university of Changzhou proposes a fully-resolved six-degree-of-freedom partial decoupling parallel operation device, which comprises three completely different main branch chains, and three-dimensional translation and three-dimensional rotation output of a movable platform can be obtained through six revolute pairs in a driving mechanism.

Although many scholars at home and abroad research six-degree-of-freedom parallel robots and propose various novel structural forms, most of the six-degree-of-freedom parallel robots achieve the purpose of different robot performances by changing the spatial layout of six branched chains of the traditional Stewart parallel robot, and the six-degree-of-freedom parallel robots obtained by adopting novel kinematic pairs and novel branched chains are relatively few.

Disclosure of Invention

The invention aims to provide a six-degree-of-freedom parallel robot with a plane pair. The technical scheme is as follows:

the utility model provides a six degree of freedom parallel robot that contains plane pair, includes fixed platform, motion platform and connects six branch chains that the structure is the same between fixed platform and motion platform, its characterized in that: fixed platform is six prismatic table for having six sides, every side all contains rectangle hollow structure, the movable embedding of disc slider at the edge ball is to fixed platform's rectangle hollow structure the inside, constitute the plane motion pair jointly with fixed platform, six branch chains all contain fixed-length pole and telescopic link, wherein the one end and the motion platform rigid coupling of fixed-length pole, the other end is connected with the one end of telescopic link through the hooke hinge, the other end of telescopic link and disc slider's one side rigid coupling, the central axis of telescopic link is perpendicular with the motion plane of the plane motion pair that corresponding disc slider and fixed platform constitute.

Compared with the prior art, the invention has the advantages that: (1) the six-degree-of-freedom motion of the motion platform is realized by controlling the lengths of the six telescopic rods, and the driving mode is simple and easy; (2) the robot structure avoids the introduction of a spherical hinge, can effectively reduce the processing and manufacturing cost and improve the rigidity and the motion precision of the robot.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

In the figure: 1. the device comprises a hook hinge 2, a telescopic rod 3, a disc sliding block 4, a ball 5, a fixed length rod 6, a fixed platform 7 and a moving platform.

Detailed Description

Fixed platform 6 is six prismatic table for having six sides, every side all contains rectangle hollow structure, disc slider 3 is movable through inlaying at the ball 4 at edge imbeds fixed platform 6's rectangle hollow structure the inside, constitute the plane motion pair jointly with fixed platform 6, six branch chains all contain stock 5 and telescopic link 2, wherein stock 5's one end and motion platform 7 rigid coupling, the other end is connected with the one end of telescopic link 2 through hooke's hinge 1, the other end of telescopic link 2 and disc slider 3's one side rigid coupling, the central axis of telescopic link 2 is perpendicular with the motion plane of the plane motion pair that corresponding disc slider 3 and fixed platform 6 are constituteed.

Claims

1. The utility model provides a six degree of freedom parallel robot that contains plane pair, includes fixed platform (6), motion platform (7) and connects six branch chains that the structure is the same between fixed platform (6) and motion platform (7), its characterized in that: the fixed platform (6) is a hexagonal frustum with six side surfaces, each side surface comprises a rectangular hollow structure, and the disc sliding block (3) is movably embedded into the rectangular hollow structure of the fixed platform (6) through a ball (4) embedded at the edge to form a planar kinematic pair together with the fixed platform (6); all be provided with a disc slider (3) in the rectangle hollow structure of every side of fixed platform (6), every disc slider (3) all is connected with a branch chain, six branch chains all contain fixed-length pole (5) and telescopic link (2), wherein the one end and the motion platform (7) rigid coupling of fixed-length pole (5), the other end passes through hooke's hinge (1) and is connected with the one end of telescopic link (2), the other end of telescopic link (2) and the one side rigid coupling of disc slider (3), the central axis of telescopic link (2) is perpendicular with the motion plane of the plane motion pair that corresponding disc slider (3) and fixed platform (6) are constituteed.