CN110653794A - Double-acting platform parallel mechanism with four spatial degrees of freedom and robot - Google Patents
Double-acting platform parallel mechanism with four spatial degrees of freedom and robot Download PDFInfo
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- CN110653794A CN110653794A CN201910851728.8A CN201910851728A CN110653794A CN 110653794 A CN110653794 A CN 110653794A CN 201910851728 A CN201910851728 A CN 201910851728A CN 110653794 A CN110653794 A CN 110653794A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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Abstract
The invention discloses a double-acting platform parallel mechanism with four spatial degrees of freedom and a robot, wherein the parallel mechanism comprises a fixed platform, four branched chains, four driving devices and a double-acting platform part, wherein in the double-acting platform part, a first moving platform is connected with two of the four branched chains which are arranged alternately, a second moving platform is connected with the other two branched chains which are arranged alternately, and the first moving platform is positioned between the fixed platform and the second moving platform; the guide rod is slidably arranged on the first movable platform in a penetrating manner and is fixed with the second movable platform; the slide block can slide along the guide rail groove on the first movable platform; the first bevel gear is rotationally connected to the second movable platform, and the second bevel gear is meshed with the first bevel gear and can be arranged on the second movable platform in a pivoting manner through a rotating shaft; one end of the connecting rod is pivotally connected with the sliding block, and the other end of the connecting rod is fixedly connected with the rotating shaft. The parallel mechanism has three freedom degrees of movement and one freedom degree of rotation in space, and has the advantages of compact structure, flexible movement, simple control and the like.
Description
Technical Field
The invention relates to the technical field of robot mechanism design, in particular to a double-acting platform parallel mechanism with four spatial degrees of freedom and a robot.
Background
Early industrial robots for the packaging, sorting, combining and dismantling tasks of goods in light production lines were implemented by means of a tandem mechanism. The series mechanism is formed by connecting kinematic pairs in sequence, is an open-loop structure, has large working space and high flexibility, but also has obvious defects: the accumulation of errors of each kinematic pair causes low precision of the tail end, low rigidity, large inertia and poor dynamic performance. The parallel mechanism is a closed loop structure, and a movable platform part of the parallel mechanism is connected with a fixed platform through at least two independent kinematic chains. Compared with a series mechanism, the parallel mechanism has the advantages of high rigidity, high precision, good dynamic performance, compact structure and the like.
Based on the advantages of a parallel mechanism, CLAVEL provides a Delta parallel mechanism (US4976582) which is composed of three symmetrical branched chains and can realize three-dimensional translation, and the Delta parallel mechanism has high-speed motion characteristics, and on the basis of the structure, ABB company develops a 'Flexpicker' parallel robot and is applied to a food packaging production line to replace manual work to finish the rapid sorting operation of food and the like; to further increase the flexibility and efficiency of the picking action, PIERROT et al propose H4 parallel mechanisms with four branches, a double-acting platform part characteristic, which can realize SCARA movements (US20090019960 and EP 1084802); adept was then successfully commercialized, typically represented by the "Adept Quattrro" parallel robot.
For the advantages and disadvantages of the above partial designs, some documents have commented on, and the disadvantages are summarized as follows:
patent CN202592386 indicates that the Delta mechanism in patent US4976582 has only three degrees of freedom of spatial translation, and cannot realize rotation of the pickup angle; patent CN102161200 indicates that a plurality of parts of the H4 mechanism moving platform part in patent US20090019960 and EP1084802 are in the same plane, so that the moving platform part has a large size and is not compact enough, and two adjacent branched chains drive one part of the moving platform part, so that the force transmission effect is not good, and the improvement of the mechanism efficiency is not facilitated; patents CN 101863023024 and CN102161201 indicate that the movable platform component in patents US20090019960 and EP1084802 is large in size, and the amplification mechanism arranged on the movable platform component increases the weight of the movable platform component; patent CN102152306 indicates that the driven part of the movable platform part in patent US20090019960 and EP1084802 is a group of opposite sides equivalent to a parallelogram, and has the disadvantages of not compact structure, inflexible movement, uneven stress, and not good for improving the efficiency of the mechanism; patent CN102229141 indicates that in patents US20090019960 and EP1084802, there are only two driven parts of the movable platform part, and these two parts are equivalent to a set of opposite sides of a parallelogram, and such driving manner is not flexible, and the stress condition is not uniform, which is not favorable for smooth operation of the mechanism.
In conclusion, the four-degree-of-freedom high-speed parallel robot with excellent research and development performance is still a hot point of attention in the field of robots, and the high-performance four-degree-of-freedom high-speed parallel robot with compact structure and flexible motion certainly has wide scientific research and application prospects.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a double-acting platform parallel mechanism with four degrees of freedom in space, which has three degrees of freedom in movement and one degree of freedom in rotation in space, so that the end effector can realize four-degree-of-freedom operation, and has the advantages of compact structure, flexible movement, simple control, good rigidity and stability, and high performance.
According to an embodiment of the first aspect of the invention, the double-acting platform parallel mechanism with four spatial degrees of freedom comprises:
the four branched chains are spaced along the circumferential direction of the fixed platform, each branched chain is a parallelogram composite chain, each parallelogram composite chain comprises two shaft levers and two chain levers, and the connection between the shaft levers and the chain levers in the same parallelogram composite chain is spherical hinge joint; the four driving devices are arranged on the fixed platform and are connected with the shaft levers at one ends of the four branched chains in a one-to-one correspondence manner so as to drive the four branched chains to pivot; the double acting platform part sets up in four the other end of branch, just double acting platform part includes:
the first movable platform is fixedly connected with the shaft lever at the other end of two of the four branched chains which are arranged at intervals, and a guide rail groove is formed in one surface of the first movable platform, which is opposite to the second movable platform;
the second movable platform is fixedly connected with the shaft rod at the other end of the other two of the four branched chains which are arranged at intervals, and the first movable platform is positioned between the fixed platform and the second movable platform;
the guide rod is perpendicular to the first movable platform, is slidably arranged on the first movable platform in a penetrating manner, is perpendicular to the second movable platform and is fixed with the second movable platform;
the sliding block is matched with the guide rail groove and can slide along the guide rail groove;
the first bevel gear and the second bevel gear are positioned between the first movable platform and the second movable platform, the first bevel gear is rotationally connected to the second movable platform, the second bevel gear is provided with a rotating shaft, and the second bevel gear is meshed with the first bevel gear and can be arranged on the second movable platform in a pivoting manner through the rotating shaft;
and one end of the connecting rod is pivotally connected with the sliding block, and the other end of the connecting rod is fixedly connected with the rotating shaft.
According to the double-acting platform parallel mechanism with four spatial degrees of freedom, the four driving devices are used for controlling the pivoting of the four branched chains, so that the movement of the double-acting platform part in three mutually perpendicular directions in space and the relative movement between the first moving platform and the second moving platform along the axial direction of the guide rod are realized, wherein the relative movement between the first moving platform and the second moving platform along the axial direction of the guide rod is converted into the rotation of the second moving platform through the guide rail groove, the sliding block, the connecting rod, the second bevel gear and the first bevel gear. That is to say, according to the double-acting platform parallel mechanism with four degrees of freedom in space in the embodiment of the first aspect of the present invention, the double-acting platform part has three degrees of freedom in movement and one degree of freedom in rotation in space, which is beneficial to the end effector fixed on the second moving platform to realize the operation with four degrees of freedom, and has the advantages of compact structure, flexible movement, simple control, good rigidity and stability, high performance, etc., and has wide scientific research and application prospects.
According to an embodiment of the first aspect of the present invention, there are two of the guide rods, and the two guide rods are symmetrically distributed with respect to the first bevel gear.
According to an embodiment of the first aspect of the present invention, the second movable platform is provided with a rotating shaft seat, and the rotating shaft is pivotally arranged on the rotating shaft seat.
According to an embodiment of the first aspect of the invention, the slider is provided with a pivot, and the link is pivotally connected at one end to the pivot.
According to an embodiment of the first aspect of the present invention, the guide rail groove extends linearly, and a direction of linear extension of the guide rail groove is perpendicular to an axial direction of the rotating shaft.
According to a further embodiment of the first aspect of the present invention, the rail groove is integrally formed with the first movable platform.
According to an embodiment of the first aspect of the invention, the link is an arc-shaped rod.
According to a further embodiment of the first aspect of the present invention, the arcuate bars project outwardly.
The invention also provides a robot.
A robot according to an embodiment of the second aspect of the present invention includes:
the double-acting platform parallel mechanism with four degrees of freedom in space is disclosed in any embodiment of the first aspect of the invention;
and the end effector is fixed on the second movable platform.
According to one embodiment of the second aspect of the present invention, the end effector has a mounting shaft that passes through and is fixed to the second movable platform, and the first bevel gear is fixed to the mounting shaft.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a robot according to a second embodiment of the present invention, and illustrates the structure of a double-acting platform parallel mechanism with four degrees of freedom in space according to the first embodiment of the present invention.
Figure 2 is a schematic view of the assembly of the double-action platform member and end effector of figure 1.
FIG. 3 is a schematic diagram of the branched chain structure of the present invention.
Reference numerals:
Fixed platform 1
Branched chain 2 shaft 21 chain bar 22
The double moving platform part 4, the first moving platform 41, the guide rail slot 411, the second moving platform 42, the rotating shaft seat 421
Guide rod 43, slide block 44, pivot 441, link 45, second bevel gear 46, rotating shaft 461, first bevel gear 47
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A double-acting platform parallel mechanism 1000 with four degrees of freedom in space according to an embodiment of the first aspect of the invention is described below with reference to fig. 1 to 3.
As shown in fig. 1 to 3, a double-acting platform parallel mechanism 1000 with four degrees of freedom in space according to an embodiment of the first aspect of the present invention includes a fixed platform 1, four branches 2, four driving devices 3 and a double-acting platform part 4. The four branched chains 2 are spaced along the circumferential direction of the fixed platform 1, the four branched chains 2 are all parallelogram composite chains, each parallelogram composite chain comprises two shaft levers 21 and two chain levers 22, and the connection between the shaft levers 21 and the chain levers 22 in the same parallelogram composite chain is spherical hinge joint; the four driving devices 3 are arranged on the fixed platform 1 and are correspondingly connected with the shaft rods 21 at one ends of the four branched chains 2 one by one so as to drive the four branched chains 2 to pivot; the double-acting platform part 4 is arranged at the other end of the four branched chains 2, and the double-acting platform part 4 comprises a first moving platform 41, a second moving platform 42, a guide rod 43, a slide block 44, a first bevel gear 47, a second bevel gear 46 and a connecting rod 45; the first movable platform 41 is fixedly connected with the other ends of two of the four branched chains 2 arranged alternately, and a guide rail groove 411 is arranged on one surface of the first movable platform 41 opposite to the second movable platform 42; the second movable platform 42 is fixedly connected with the other ends of the other two branched chains 2 arranged alternately in the four branched chains 2, and the first movable platform 41 is positioned between the fixed platform 1 and the second movable platform 42; the guide rod 43 is perpendicular to the first movable platform 41, the guide rod 43 is slidably arranged on the first movable platform 41 in a penetrating manner, the guide rod 43 is perpendicular to the second movable platform 42, and the guide rod 43 is fixed with the second movable platform 42; the slider 44 is fitted with the rail groove 411 and can slide along the rail groove 411; a first bevel gear 47 and a second bevel gear 46 are positioned between the first movable platform 41 and the second movable platform 42, the first bevel gear 47 is rotatably connected to the second movable platform 42, the second bevel gear 46 is provided with a rotating shaft 461, the second bevel gear 46 is meshed with the first bevel gear 47 and is pivotally arranged on the second movable platform 42 through the rotating shaft 461; one end of the link 45 is pivotally connected to the slider 44, and the other end of the link 45 is fixedly connected to the rotary shaft 461.
Specifically, four branched chains 2 are spaced along the circumferential direction of the fixed platform 1, the four branched chains 2 are all parallelogram composite chains, each parallelogram composite chain comprises two shaft levers 21 and two chain levers 22, and the connection between the shaft levers 21 and the chain levers 22 in the same parallelogram composite chain is spherical hinge joint; the four driving devices 3 are arranged on the fixed platform 1 and are correspondingly connected with the shaft rods 21 at one ends of the four branched chains 2 one by one so as to drive the four branched chains 2 to pivot. That is, four driving devices 3 correspond to the four branched chains 2 one by one, and each driving device 3 can drive the corresponding branched chain 2 to pivot relative to the fixed platform 1. Thereby, the pivoting movement of each branch chain 2 is driven by the independent driving device 3, and the movement control of the branch chain 2 is flexible.
Preferably, the driving device 3 may include a motor 31 and a driving arm 32, the motor 31 is fixed on the fixed platform 1, the driving arm 32 is pivotally connected to the motor 31, and one end of the branched chain 2 is pivotally connected to the driving arm 32, thereby realizing that the motor 31 drives the branched chain 2 to pivot, and the branched chain 2 is flexibly controlled in motion.
A double-acting platform part 4 is arranged at the other end of the four branches 2, i.e. the movement behaviour of the double-acting platform part 4 is controlled by the coordinated movement of the four branches 2.
The double-acting platform part 4 comprises a first moving platform 41, a second moving platform 42, a guide rod 43, a slider 44, a first bevel gear 47, a second bevel gear 46 and a connecting rod 45. Wherein, the first movable platform 41 is fixedly connected with the shaft lever 21 at the other end of two of the four branched chains 2 arranged alternately; the second movable platform 42 is fixedly connected with the shaft rod 22 at the other end of the other two branched chains 2 of the four branched chains 2, the first movable platform 41 is positioned between the fixed platform 1 and the second movable platform 42, and the first movable platform 41 is adjacent to the second movable platform 42. Thereby, the pivoting of the four branches 2 is controlled by the four drive means 3, which effect a movement of the double-acting platform part 4 in three mutually perpendicular directions in space.
The guide rod 43 is perpendicular to the first movable platform 41, the guide rod 43 is slidably disposed on the first movable platform 41, the guide rod 43 is perpendicular to the second movable platform 42, and the guide rod 43 is fixed to the second movable platform 42. Thereby, the first movable platform 41 and the second movable platform 42 can be relatively moved along the axial direction of the guide rod 43; in addition, the guide rod 43 can play a role in guiding, and the moving accuracy and smoothness can be improved.
The first movable platform 41 is provided with a guide rail groove 411 on one surface opposite to the second movable platform 42, and the slide block 44 is matched with the guide rail groove 411 and can slide along the guide rail groove 411; a first bevel gear 47 and a second bevel gear 46 are positioned between the first movable platform 41 and the second movable platform 42, the first bevel gear 47 is rotatably connected to the second movable platform 42, the second bevel gear 46 is provided with a rotating shaft 461, the second bevel gear 46 is meshed with the first bevel gear 47 and is pivotally arranged on the second movable platform 42 through the rotating shaft 461; one end of the link 45 is pivotally connected to the slider 44, and the other end of the link 45 is fixedly connected to the rotary shaft 461. Therefore, when the first movable platform 41 and the second movable platform 42 move axially close to each other, the connecting rod 45 and the sliding block 44 are forced to move outwards, and at the same time, the second bevel gear 46 is driven by the connecting rod 45 to rotate on the first bevel gear 47, so that the second movable platform 42 is pushed to rotate. When the first movable platform 41 and the second movable platform 42 move away from each other axially, the connecting rod 45 and the sliding block 44 are forced to move inwards, and at the same time, the second bevel gear 46 is driven by the connecting rod 45 to rotate in the opposite direction on the first bevel gear 47, so that the second movable platform 42 is pushed to rotate in the opposite direction.
According to the double-acting platform parallel mechanism 1000 with four spatial degrees of freedom of the embodiment of the first aspect of the invention, the four driving devices 3 control the pivoting of the four branched chains 2, so as to realize the movement of the double-acting platform part 4 in three mutually perpendicular directions in space and the relative movement between the first moving platform 41 and the second moving platform 42 along the axial direction of the guide rod 43, wherein the relative movement between the first moving platform 41 and the second moving platform 42 along the axial direction of the guide rod 43 is converted into the rotation of the second moving platform 42 through the guide rail slot 411, the slide block 44, the connecting rod 45, the second bevel gear 46 and the first bevel gear 47. That is to say, according to the double-acting platform parallel mechanism 1000 with four degrees of freedom in space according to the embodiment of the first aspect of the present invention, the double-acting platform part 4 has three degrees of freedom in movement and one degree of freedom in rotation in space, which is beneficial to the end effector 5 fixed on the second moving platform 42 to realize the operation with four degrees of freedom, and has the advantages of compact structure, flexible movement, simple control, good rigidity and stability, high performance, etc., and has wide scientific research and application prospects.
According to an embodiment of the first aspect of the present invention, there are two guide rods 43, and the two guide rods 43 are symmetrically distributed with respect to the first bevel gear 47. Therefore, the two guide rods 43 can play a better role in guiding, and are more favorable for improving the accuracy and smoothness of movement and improving the rigidity and stability of the whole double-acting platform part 4 structure.
According to an embodiment of the first aspect of the present invention, the second movable platform 42 is provided with a rotating shaft seat 421, and the rotating shaft 461 is pivotally disposed on the rotating shaft seat 421. The second bevel gear 46 is convenient to mount by arranging the rotating shaft seat 421 on the second movable platform 42.
Optionally, the rotating shaft seat 421 and the second movable platform 42 are integrally formed, which is beneficial to improving the stability and the assembly efficiency of the structure.
According to an embodiment of the first aspect of the present invention, the slider 44 is provided with a pivot 441, and the link 45 is pivotally connected at one end to the pivot 441. Thereby, the pivotal connection of one end of the link 45 with the slider 44 is facilitated.
Alternatively, the pivot 441 may be integrally formed with the slider 44, which is advantageous in improving structural stability and assembly efficiency.
The slider 44 is provided with an engaging portion adapted to the guide rail slot 411, and the pivot 441 on the slider 44 may be specifically disposed at a position opposite to or adjacent to the engaging portion. Preferably, the pivot 441 on the slider 44 is specifically disposed opposite to the matching portion, so as to facilitate smooth and smooth movement of the slider 44 and the connecting rod 45.
In other embodiments, the pivotal connection of one end of the link 45 to the slider 44 may be achieved by providing a pivot at one end of the link 45 and providing a pivot hole structure on the slider 44 for cooperating with the pivot.
According to an embodiment of the first aspect of the present invention, the rail groove 411 extends linearly, and a linearly extending direction of the rail groove 411 is perpendicular to an axial direction of the rotation shaft 461. Therefore, one end of the connecting rod 45 can move linearly along with the sliding block 44 while pivoting, and the other end of the connecting rod 45 drives the rotating shaft 461 to rotate, so as to drive the second bevel gear 46 to rotate on the first bevel gear 47, and the first bevel gear 47 is pushed by the rotation of the second bevel gear 46, so as to drive the second movable platform 42 to rotate. That is, the linear extending direction of the guide rail slot 411 is perpendicular to the axial direction of the rotating shaft 461, which is advantageous for converting the relative movement between the first movable platform 41 and the second movable platform 42 along the axial direction of the guide rod 43 into the rotation of the second movable platform 42 through the guide rail slot 411, the slider 44, the connecting rod 45, the second bevel gear 46 and the first bevel gear 47.
According to a further embodiment of the first aspect of the present invention, the rail slot 411 is integrally formed with the first movable platform 41, which is beneficial to improving the structural stability and the assembly efficiency.
According to one embodiment of the first aspect of the present invention, the link 45 is an arcuate bar, which projects outwardly. This improves the smoothness of the movement transmission of the first movable platform 41, the slider 44, the link 45, and the second bevel gear 46.
In other embodiments, the connecting rod 45 may be a straight rod.
As shown in fig. 1 and 2, the present invention also provides a robot 2000.
The robot 2000 according to the embodiment of the second aspect of the present invention comprises an end effector 5 and a double-acting platform parallel mechanism 1000 with four degrees of freedom in space according to any of the embodiments of the first aspect of the present invention, wherein the end effector 5 is fixed on the second moving platform 42. The end effector 5 is arranged on the second platform, so that four-degree-of-freedom grabbing and releasing movement is facilitated.
According to one embodiment of the second aspect of the present invention, the end effector 5 has a mounting shaft which passes through the second movable platform 42 and is fixed to the second movable platform 42, and the first bevel gear 47 is fixed to the mounting shaft. Therefore, the installation is convenient, and the structure is firm.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A double-acting platform parallel mechanism with four spatial degrees of freedom is characterized by comprising:
the four branched chains are spaced along the circumferential direction of the fixed platform, each branched chain is a parallelogram composite chain, each parallelogram composite chain comprises two shaft levers and two chain levers, and the connection between the shaft levers and the chain levers in the same parallelogram composite chain is spherical hinge joint; the four driving devices are arranged on the fixed platform and are connected with the shaft levers at one ends of the four branched chains in a one-to-one correspondence manner so as to drive the four branched chains to pivot; the double acting platform part sets up in four the other end of branch, just double acting platform part includes:
the first movable platform is fixedly connected with the shaft lever at the other end of two of the four branched chains which are arranged at intervals, and a guide rail groove is formed in one surface of the first movable platform, which is opposite to the second movable platform;
the second movable platform is fixedly connected with the shaft rod at the other end of the other two of the four branched chains which are arranged at intervals, and the first movable platform is positioned between the fixed platform and the second movable platform;
the guide rod is perpendicular to the first movable platform, is slidably arranged on the first movable platform in a penetrating manner, is perpendicular to the second movable platform and is fixed with the second movable platform;
the sliding block is matched with the guide rail groove and can slide along the guide rail groove;
the first bevel gear and the second bevel gear are positioned between the first movable platform and the second movable platform, the first bevel gear is rotationally connected to the second movable platform, the second bevel gear is provided with a rotating shaft, and the second bevel gear is meshed with the first bevel gear and can be arranged on the second movable platform in a pivoting manner through the rotating shaft;
and one end of the connecting rod is pivotally connected with the sliding block, and the other end of the connecting rod is fixedly connected with the rotating shaft.
2. The double-acting platform parallel mechanism with four degrees of freedom in space of claim 1, characterized in that there are two of said guide rods, two of said guide rods being symmetrically distributed with respect to said first bevel gear.
3. The double-acting platform parallel mechanism with four degrees of freedom in space of claim 1, wherein the second moving platform is provided with a rotating shaft seat, and the rotating shaft is pivotally arranged on the rotating shaft seat.
4. A double-acting platform parallel mechanism with four degrees of freedom in space according to claim 1, characterised in that the slide is provided with a pivot, to which the link is pivotally connected at one end.
5. The double-acting platform parallel mechanism with four degrees of freedom in space of claim 1, wherein the guide rail groove extends linearly, and the linear extension direction of the guide rail groove is perpendicular to the axial direction of the rotating shaft.
6. The double-acting platform parallel mechanism with four degrees of freedom in space of claim 5, wherein the rail groove is integrally formed with the first moving platform.
7. The double-acting platform parallel mechanism with four degrees of freedom in space of claim 1, characterised in that the connecting rods are arc-shaped rods.
8. The double-acting platform parallel mechanism with four degrees of freedom in space of claim 2, characterised in that the arc-shaped rods are convex outwards.
9. A robot, comprising:
the double-acting platform parallel mechanism with four degrees of freedom in space of any one of claims 1-8;
and the end effector is fixed on the second movable platform.
10. The robot of claim 9, wherein said end effector has a mounting shaft passing through and fixed to said second movable platform, said first bevel gear being fixed to said mounting shaft.
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| CN201910851728.8A CN110653794B (en) | 2019-09-10 | 2019-09-10 | Double-acting platform parallel mechanism with four spatial degrees of freedom and robot |
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| CN201910851728.8A CN110653794B (en) | 2019-09-10 | 2019-09-10 | Double-acting platform parallel mechanism with four spatial degrees of freedom and robot |
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| CN110653794B CN110653794B (en) | 2021-10-01 |
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| CN113319821A (en) * | 2021-05-11 | 2021-08-31 | 北京若贝特智能机器人科技有限公司 | Delta parallel robot |
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