CN117442342A - Double-platform parallel robot mechanism supporting telecentric point moving in three-dimensional space - Google Patents
Double-platform parallel robot mechanism supporting telecentric point moving in three-dimensional space Download PDFInfo
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- CN117442342A CN117442342A CN202311418325.7A CN202311418325A CN117442342A CN 117442342 A CN117442342 A CN 117442342A CN 202311418325 A CN202311418325 A CN 202311418325A CN 117442342 A CN117442342 A CN 117442342A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 description 4
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 241001137251 Corvidae Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention provides a double-platform parallel robot mechanism supporting telecentric point moving in three-dimensional space, which can realize telecentric point moving, and has simple structure and smaller volume. The top end of an instrument arm is arranged on the bottom end surface of a secondary movable platform, the bottom end of the instrument arm passes through a primary movable platform from top to bottom, and the intersection point of the axes of three secondary revolute pairs II on the primary movable platform is a telecentric point; when the driving pair of the secondary moving platform moves, the motion of two-rotation one-movement three-degree-of-freedom of the secondary moving flat driving instrument arm based on the telecentric point in space can be realized; based on the moving pair on the fixed base as a drive, the three-dimensional movement of the telecentric point in space can be realized by the primary moving platform.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a double-platform parallel robot mechanism supporting telecentric point to move in a three-dimensional space.
Background
In clinic, medical auxiliary robots are introduced into clinical applications of minimally invasive surgery as technology evolves. The existing minimally invasive surgical robots such as Da Vinci robots, DLR systems, magpie II robots and the like have successfully realized clinical application. The minimally invasive surgery auxiliary robot applied at present has two forms of serial connection and parallel connection, and the serial connection type robot has a simple structure and a larger working space, but usually has larger error accumulation and deformation; the parallel robot has higher precision and rigidity due to the structural characteristics.
Telecentric point is the base point of the motion of the surgical tool, and the key to minimally invasive surgery is telecentric motion. Tandem robots often control the formation of telecentrics through complex motion algorithms, whereas parallel robots are often more reliable in forming fixed telecentrics based on structure. However, in the current commercial robots, telecentric points of the existing telecentric point parallel mechanisms are correspondingly determined after the structure is determined and cannot be moved, so that the flexibility is low. The skilled person also studies structures that can achieve telecentric point movement, such as: the technical scheme that patent application number CN202010165548.7 shows adopts the double-parallelogram structure to build the telecentric point, leads to the structure complicated, and whole volume is great, uses inconveniently, and the processing assembly precision is difficult to guarantee, makes the difficulty.
Disclosure of Invention
In order to solve the problems that the telecentric point of the existing parallel structure robot is correspondingly determined and cannot move after the structure is determined, and the moving structure is relatively complex and has larger volume, the invention provides a double-platform parallel robot mechanism supporting the telecentric point to move in a three-dimensional space, which can realize the movement of the telecentric point and has simple structure and smaller volume.
The technical scheme of the invention is as follows: a dual-platform parallel robotic mechanism supporting movement of a telecentric point in three dimensions, comprising: the device comprises an instrument arm, a fixed base, a primary movable platform and a secondary movable platform;
the method is characterized in that:
the fixed base includes: the sliding rail structure and the moving seat are arranged on the sliding rail structure to form a moving pair, and all the sliding rail structures are positioned in the same plane;
the top end of the instrument arm is arranged on the bottom end surface of the secondary movable platform, and the bottom end of the instrument arm passes through the primary movable platform from top to bottom; the fixed base is connected with the primary movable platform through three primary branched chains with consistent structures; the secondary moving platform and the primary moving platform are connected through three secondary branched chains with consistent structures;
the primary branched chain is a P-R-Pa-R branched chain, and the secondary branched chain is a U-R-R branched chain;
the primary branch comprises: one end of the plane parallelogram kinematic pair is connected with a moving pair on the fixed base to form a first rotating pair, and the other end of the plane parallelogram kinematic pair is connected with the primary moving platform to form a second rotating pair; the joints of the three primary branched chains and the primary movable platform are arranged in a regular triangle by taking the geometric center of the primary movable platform as the center;
in the primary branched chain, the motion axis of the moving pair is always parallel to the rotation axes of the two rotating pairs, and the motion plane normal of the plane parallelogram moving pair is always perpendicular to the rotation axes of the two rotating pairs;
two fixed connecting parts and a rotary sliding block are arranged on the secondary movable platform;
the secondary movable platform is circular, two fixed connection parts and a rotary sliding block are arranged on the side wall of the circumference of the secondary movable platform, each fixed connection part is arranged on a trisection point of the circumference of one secondary movable platform, and the rotary sliding block is arranged in the area where the last circumference trisection point is arranged in a sliding manner;
each secondary branched chain comprises two connecting rods and a universal pair;
the universal pair comprises: the first secondary revolute pair and the second secondary revolute pair are rotationally connected to form a universal pair; the rotation axis of the second-stage rotating pair I is always vertical to the rotation axis of the second-stage rotating pair II;
the two connecting rods of the secondary branched chain are connected with each other to form a third revolute pair; one end of each secondary branched chain is connected with the first secondary revolute pair, and the bottom of the second secondary revolute pair is fixedly connected with the first primary movable platform; the other end of each secondary branched chain is connected with the secondary movable platform and forms a fourth revolute pair; in the three secondary branched chains, two branched chains are respectively and rotatably connected with the fixed connecting part of one secondary movable platform, and the third secondary branched chain is rotatably connected with the rotating sliding block of the secondary movable platform;
in the secondary branched chain, the rotation axes of the secondary revolute pair I, the third revolute pair and the fourth revolute pair are always parallel;
the intersection point of the axes of the two secondary revolute pairs on the primary movable platform is a telecentric point, and the position of the telecentric point relative to the primary movable platform is unchanged;
the movement of the primary movable platform is realized by taking the moving pair on the fixed base as a driving pair;
the motion of the secondary movable platform is realized by taking a secondary revolute pair I in two secondary branched chains connected with the fixed connecting part and a secondary revolute pair II in the secondary branched chains of the rotary sliding block as driving pairs.
It is further characterized by:
the sliding rail structure in the fixed base is an arc-shaped rail or a linear rail;
the primary movable platform is in a regular triangle shape or a round shape;
the secondary movable platform is round;
the driving pair of the secondary movable platform is driven by a rotating motor; the driving pair of the primary moving platform is driven based on a ball screw or an electric push rod.
The double-platform parallel robot mechanism supporting the telecentric point to move in a three-dimensional space is characterized in that the top end of an instrument arm is arranged on the bottom end surface of a second-stage movable platform, the bottom end of the instrument arm passes through a first-stage movable platform from top to bottom, and the intersection point of the axes of three second-stage revolute pairs on the first-stage movable platform is the telecentric point; when the driving pair of the secondary moving platform moves, the motion of two-rotation one-movement three-degree-of-freedom of the secondary moving flat driving instrument arm based on the telecentric point in space can be realized; based on the moving pair on the fixed base as a drive, the three-dimensional movement of the telecentric point in space can be realized by the primary moving platform, and the flexibility of the instrument arm is improved; the secondary movable platform driving pairs are all revolute pairs, and have the advantages of simple structure, high precision, excellent dynamic performance, easiness in control and the like; meanwhile, the double-platform parallel mechanism is simple in overall structure, small in size and easy to process and manufacture.
Drawings
FIG. 1 is a schematic view of a dual platform parallel mechanism structure of the present application;
FIG. 2 is a schematic top view of a dual platform parallel mechanism;
FIG. 3 is a schematic diagram of the structure of the primary and secondary branches;
FIG. 4 is a schematic view of a planar parallelogram kinematic pair;
FIG. 5 is a rear large structure at A in FIG. 3;
fig. 6 is an example of the motion of a primary motion platform.
Detailed Description
As shown in fig. 1 to 5, the present application includes a dual-platform parallel robot mechanism supporting movement of a telecentric point in a three-dimensional space, which includes: the device comprises an instrument arm 9, a fixed base 1, a primary movable platform 5 and a secondary movable platform 10; the top end of the instrument arm 9 is arranged on the bottom end surface of the secondary movable platform 10, and the bottom end of the instrument arm passes through the primary movable platform 5 from top to bottom.
The fixed base 1 includes: the sliding rail structure 1-1 and the movable seat 1-2, the movable seat 1-2 is arranged on the sliding rail structure 1-1 to form a movable pair P, and all the sliding rail structures 1-1 are positioned in the same plane.
Wherein, the sliding rail structure 1-1 in the fixed base 1 is an arc rail or a linear rail; setting according to actual needs. In this embodiment, the slide rail structure 1-1 is a linear rail for convenience of processing. When the movable pair P formed by the movable seat 1-2 and the sliding rail structure 1-1 is used as a driving pair of the primary movable platform 5, the movable seat 1-2 is moved along the sliding rail structure 1-1 based on a ball screw module or an electric push rod in the prior art.
The primary movable platform 5 is in a regular triangle shape or a round shape; setting according to actual needs. In this embodiment, for convenience of processing, the secondary moving platform 10 is configured as a regular triangle.
The fixed base 1 and the primary movable platform 5 are connected through three primary branched chains with the same structure: a first primary branch 2, a second primary branch 3 and a third primary branch 4.
The secondary movable platform 10 and the primary movable platform 5 are connected through three secondary branched chains with consistent structures: a first secondary branch 6, a second secondary branch 7 and a third secondary branch 8. In the application, the primary branched chain is a P-R-Pa-R branched chain, the secondary branched chain is a U-R-R branched chain, wherein R represents a revolute pair, U represents a universal pair, pa represents a planar parallelogram kinematic pair, and P is a movable pair. The revolute pair, the plane parallelogram kinematic pair, the movable pair and the universal pair structure in the application can be realized based on the existing module products in the prior art. The present application describes one specific structure that may exist in the embodiments of the drawings.
The primary branches include: one end of the plane parallelogram kinematic pair Pa is connected with the primary moving platform 5 to form a second revolute pair R2, and the other end of the plane parallelogram kinematic pair Pa is connected with the moving pair P on the fixed base 1 to form a first revolute pair R1; the connection parts of the three primary branched chains and the primary movable platform 5 are arranged in a regular triangle by taking the geometric center of the primary movable platform 5 as the center. If the primary movable platform 5 is arranged in a circular shape, the joints of the three primary branches and the primary movable platform 5 are exactly positioned on three equal points of the circumference.
The three primary branches are identical in structure, and the structure of the primary branch is illustrated by the third primary branch 4 in fig. 3 and 4.
The axis of a first revolute pair R1 of the third-stage branched chain 4 is a first rotating shaft 4-1, and the axis of a second revolute pair R2 is a second rotating shaft 4-3; the motion axis of the moving pair P is a sliding rail structure 1-1. In the first-stage branched chain, the motion axis of the moving pair P is always parallel to the rotation axes of the two rotating pairs, namely the first rotation shaft 4-1 and the second rotation shaft 4-3, and the motion plane normal of the plane parallelogram moving pair Pa is always perpendicular to the rotation axes of the two rotating pairs R.
In the embodiment of the planar parallelogram kinematic pair Pa in fig. 4, it includes: two long sides 4-5 and two short sides 4-4, two short sides and two long sides connect and form the parallelogram. At four end points of the parallelogram, short sides and long sides are connected with each other and constitute a revolute pair R23, and rotation axes 4-2 of the four R23 are always parallel to a motion plane normal L of the plane parallelogram motion pair Pa. The two short sides 4-4 are provided with rotary connecting supports 4-6 which respectively form a first rotary pair R1 and a second rotary pair R2 with a moving pair P or a first-stage moving platform 5.
The movement of the primary movable platform 5 is realized by a movable pair P on the fixed base 1 as a driving pair.
As shown in fig. 6, when the pair of movement P moves along the slide rail structure 1-1 in the illustrated direction with the third primary branched chain 4, the angle between the long side 4-5 and the short side 4-4 of the inner part of the parallelogram pair of movement Pa in fig. 4 changes with the rotation axis 4-2 as the axis, and the linear distance between the two short sides shortens; when the first primary branched chain 2 and the third primary branched chain 4 on the fixed base 1 move towards the direction shown in fig. 6 through the moving pair on the fixed base 1, the corresponding angle change can be generated on the first rotating pair R1 and the second rotating pair R2 inside the first primary branched chain 2 and the third primary branched chain 4, the rotating axes are parallel at any moment, so that the primary movable platform 5 generates three-dimensional movement in space, and further the telecentric point is driven to simultaneously generate three-dimensional movement.
Two fixed connecting parts 10-1 and a rotary sliding block 10-2 are arranged on the secondary movable platform 10; the secondary moving platform 10 is circular, two fixed connection parts 10-1 and a rotating slide block 10-2 are arranged on the side wall of the circumference of the secondary moving platform 10, each fixed connection part 10-1 is arranged on a third equal point of the circumference of one secondary moving platform 10, and the rotating slide block 10-2 is arranged in the area where the last third equal point of the circumference is located.
In specific implementation, the rotating slider 10-2 is implemented based on a slider module capable of implementing a rotating function in the prior art, and may be implemented by using any structure capable of implementing a rotating sliding, for example: the circular arc sliding rail is arranged on the circumferential side wall of the secondary moving platform 10, and the function of rotating the rotating sliding block 10-2 around the secondary moving platform 10 is realized based on the circular arc sliding rail. In order to ensure that the secondary moving platform 10 can drive the instrument arm to realize the motion capability of two rotations and one movement, the rotating slide block 10-2 is arranged on the secondary moving platform 10 in the application, and the rotating slide block is driven to rotate around the secondary moving platform in the rotating motion process of the instrument arm, so that the rotating motion of the instrument arm is ensured.
Each secondary branch chain comprises two connecting rods and a universal pair. The universal auxiliary device comprises a first secondary branched chain universal pair U1, a second secondary branched chain universal pair U2 and a third secondary branched chain universal pair U3. The universal pair includes: the first secondary revolute pair R21 and the second secondary revolute pair R22 are rotationally connected to form a universal pair; the rotation axis of the second-stage rotating pair I is always vertical to the rotation axis of the second-stage rotating pair II.
In this embodiment, as shown in fig. 5, the universal pair U3 on the third secondary branched chain 8 includes a secondary first revolute pair R21 and a secondary second revolute pair R22, and the rotation axis 8-2 of the secondary first revolute pair is always perpendicular to the rotation axis 8-3 of the secondary second revolute pair. The universal pair U3 is fixedly connected to the primary movable platform 5 based on the base 8-1. The universal pair function is realized based on two revolute pairs, and the universal pair control device is simple in structure and easy to realize accurate control.
The secondary branches comprise two connecting rods: the first connecting rod and the second connecting rod are rotationally connected to form a third revolute pair R3; one end of each secondary branched chain is connected with a secondary revolute pair I R21, and a secondary revolute pair II R22 is connected with a primary movable platform 5; the other end of each secondary branched chain is connected with a secondary movable platform 10 and forms a fourth revolute pair R4; of the three secondary branches, two branches are respectively rotatably connected with the fixed connection part 10-1 of one secondary movable platform 10, and the third secondary branch is rotatably connected with the rotary slide block 10-2 of the secondary movable platform 10. In the second-stage branched chain, the rotation axes of the first, third and fourth revolute pairs of the second-stage revolute pair are always parallel.
In the embodiment shown in fig. 2, the first secondary branched chain 6 and the rotating slider 10-2 form a fourth rotating pair, and the second secondary branched chain 7 and the third secondary branched chain 8 respectively form a fourth rotating pair with one fixed connection portion 10-1.
As shown in fig. 3, the structure of the secondary branch is illustrated by the third secondary branch 8. The third secondary branched chain 8 comprises a first connecting rod 8-4 and a second connecting rod 8-6, and the two connecting rods are rotationally connected to form a third revolute pair R3; the bottom end part of a first connecting rod 8-4 in the third secondary branched chain 8 is connected with a secondary revolute pair I R21 in a universal pair U3, and a secondary revolute pair II R22 in the universal pair U3 is connected with a primary movable platform 5; the top end of the second connecting rod 8-6 at the end of the third secondary branched chain 8 is connected with the secondary moving platform 10 and forms a fourth revolute pair R4. In the secondary branched chain, the rotation axis 8-2 of the secondary revolute pair R21, the rotation axis 8-5 of the third revolute pair R3 and the rotation axis 8-7 of the fourth revolute pair R4 are always parallel.
In the application, the intersection point of the extension lines of the rotation shafts 8-3 of the three second-stage revolute pairs R22 on the first-stage movable platform 5 is a telecentric point, and the telecentric point is unchanged relative to the position of the first-stage movable platform. The secondary motion stage 10 outputs the desired telecentric point motion. When the driving pair of the secondary movable platform 10 moves, the two-rotation one-movement three-degree-of-freedom movement of the movable platform 10 based on the telecentric point in space can be realized.
The motion of the secondary moving platform 10 is realized by taking two secondary revolute pairs R21 on the second secondary branched chain 7 and the third secondary branched chain 8 which are connected with the fixed connection part 10-1 and two secondary revolute pairs R22 in the first secondary branched chain 6 of the rotating slide block 10-2 as driving pairs. The driving pair of the secondary moving platform 10 is driven by a rotating motor (not marked in the figure);
taking fig. 5 as an example, the universal pair U3 includes a U-shaped structure and a barreled rolling structure, and the rolling structure is movably disposed in the U-shaped opening. The rotating shaft 8-2 is fixedly connected with the U-shaped structure, and the rotating shaft 8-3 is fixedly connected with the rolling structure. The driving motor corresponding to the second-stage revolute pair R21 of the second-stage branched chain 7 is arranged in the rolling structure of R22, the motor output shaft is connected with the rotating shaft 8-2, and the motor rotates to drive the U-shaped structure to rotate, so that the first connecting rod 8-4 is driven to rotate by taking the rotating shaft 8-2 as an axis.
The driving motor of the second-stage revolute pair II R22 of the first second-stage branched chain 6 can be arranged on a corresponding base, and the output shaft of the motor is connected with the rotating shaft of the second-stage revolute pair II R22; the motor rotates to drive the rotation shaft of the second-stage revolute pair R22 to rotate, so that 6-4 of the first second-stage branched chain 6 is driven to rotate by taking the rotation shaft of the second-stage revolute pair R22 as an axis.
Based on the above structure, the instrument arm 11 can realize a two-rotation one-movement spatial movement.
In the embodiment shown in fig. 2, when the second revolute pair R22 of the first second branched chain 6 drives the first second branched chain 6 to swing clockwise, and the second branched chain 7 and the third second branched chain 8 swing in the same direction along with the first branched chain 6 based on the second revolute pair of the second branched chain and the third branched chain respectively, the rest kinematic pairs perform following motion, so as to drive the second movable platform 10 to rotate. On the contrary, when the second revolute pair of the first second branched chain 6 drives the first second branched chain 6 to rotate anticlockwise, the second movable platform 10 realizes rotation at another angle.
In the embodiment shown in the figure, when the first connecting rod on the second secondary branched chain 7 and the third secondary branched chain 8 is driven by the secondary revolute pair to rotate towards the direction of the primary movable platform 5, the first connecting rod drives the second connecting rod to move downwards, and meanwhile, the first secondary branched chain 6 is driven by the other two secondary branched chains to do synchronous movement, so that the secondary movable platform 10 moves downwards. On the contrary, when the second revolute pair R21 of the second and third second branched chains 7 and 8 drives the first links on the second and third branched chains 7 and 8 to rotate in a direction away from the first movable platform 5, the second movable platform 10 moves upwards. I.e. by movement of the drive pairs, the instrument arm 11 can be moved in space along its own axis based on the telecentricity point.
In actual use, the movement of the instrument arm 11 is a combined result of all the drive motors driving the different pairs of movers, primary branches and secondary branches, respectively. Each joint movement pair can adjust the movement angle according to actual conditions, so that the designated pose is realized, namely, the movement of the moving platform 10 in space based on two rotations and one movement with three degrees of freedom of a telecentric point is realized.
Claims (5)
1. A dual-platform parallel robotic mechanism supporting movement of a telecentric point in three dimensions, comprising: the device comprises an instrument arm, a fixed base, a primary movable platform and a secondary movable platform;
the method is characterized in that:
the fixed base includes: the sliding rail structure and the moving seat are arranged on the sliding rail structure to form a moving pair, and all the sliding rail structures are positioned in the same plane;
the top end of the instrument arm is arranged on the bottom end surface of the secondary movable platform, and the bottom end of the instrument arm passes through the primary movable platform from top to bottom; the fixed base is connected with the primary movable platform through three primary branched chains with consistent structures; the secondary moving platform and the primary moving platform are connected through three secondary branched chains with consistent structures;
the primary branched chain is a P-R-Pa-R branched chain, and the secondary branched chain is a U-R-R branched chain;
the primary branch comprises: one end of the plane parallelogram kinematic pair is connected with a moving pair on the fixed base to form a first rotating pair, and the other end of the plane parallelogram kinematic pair is connected with the primary moving platform to form a second rotating pair; the joints of the three primary branched chains and the primary movable platform are arranged in a regular triangle by taking the geometric center of the primary movable platform as the center;
in the primary branched chain, the motion axis of the moving pair is always parallel to the rotation axes of the two rotating pairs, and the motion plane normal of the plane parallelogram moving pair is always perpendicular to the rotation axes of the two rotating pairs;
two fixed connecting parts and a rotary sliding block are arranged on the secondary movable platform;
the secondary movable platform is circular, two fixed connection parts and a rotary sliding block are arranged on the side wall of the circumference of the secondary movable platform, each fixed connection part is arranged on a trisection point of the circumference of one secondary movable platform, and the rotary sliding block is arranged in the area where the last circumference trisection point is arranged in a sliding manner;
each secondary branched chain comprises two connecting rods and a universal pair;
the universal pair comprises: the first secondary revolute pair and the second secondary revolute pair are rotationally connected to form a universal pair; the rotation axis of the second-stage rotating pair I is always vertical to the rotation axis of the second-stage rotating pair II;
the two connecting rods of the secondary branched chain are connected with each other to form a third revolute pair; one end of each secondary branched chain is connected with the first secondary revolute pair, and the bottom of the second secondary revolute pair is fixedly connected with the first primary movable platform; the other end of each secondary branched chain is connected with the secondary movable platform and forms a fourth revolute pair; in the three secondary branched chains, two branched chains are respectively and rotatably connected with the fixed connecting part of one secondary movable platform, and the third secondary branched chain is rotatably connected with the rotating sliding block of the secondary movable platform;
in the secondary branched chain, the rotation axes of the secondary revolute pair I, the third revolute pair and the fourth revolute pair are always parallel;
the intersection point of the axes of the two secondary revolute pairs on the primary movable platform is a telecentric point, and the position of the telecentric point relative to the primary movable platform is unchanged;
the movement of the primary movable platform is realized by taking the moving pair on the fixed base as a driving pair;
the motion of the secondary movable platform is realized by taking a secondary revolute pair I in two secondary branched chains connected with the fixed connecting part and a secondary revolute pair II in the secondary branched chains of the rotary sliding block as driving pairs.
2. The dual-platform parallel robot mechanism supporting telecentric point moving in three-dimensional space according to claim 1, wherein the sliding rail structure in the fixed base is an arc-shaped rail or a linear rail.
3. The dual-stage parallel robot mechanism supporting telecentric point moving in three-dimensional space according to claim 1, wherein the primary moving stage is in a regular triangle or a circle.
4. The dual-stage parallel robot mechanism supporting movement of a telecentric point in three dimensions according to claim 1, wherein the secondary moving stage is circular.
5. The double-platform parallel robot mechanism supporting telecentric point moving in three-dimensional space, wherein a driving pair of the secondary moving platform is driven by a rotating motor; the driving pair of the primary moving platform is driven based on a ball screw or an electric push rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311418325.7A CN117442342A (en) | 2023-10-30 | 2023-10-30 | Double-platform parallel robot mechanism supporting telecentric point moving in three-dimensional space |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311418325.7A CN117442342A (en) | 2023-10-30 | 2023-10-30 | Double-platform parallel robot mechanism supporting telecentric point moving in three-dimensional space |
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| CN117442342A true CN117442342A (en) | 2024-01-26 |
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| CN202311418325.7A Pending CN117442342A (en) | 2023-10-30 | 2023-10-30 | Double-platform parallel robot mechanism supporting telecentric point moving in three-dimensional space |
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| Country | Link |
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| CN (1) | CN117442342A (en) |
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- 2023-10-30 CN CN202311418325.7A patent/CN117442342A/en active Pending
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