CN202428438U - Six-freedom-degree parallel connection micro robot - Google Patents

Abstract

A six-degree-of-freedom parallel micro-motion robot includes a base, a motion platform, and six motion branch chains with the same structure connecting the two. The six motion branch chains are divided into three groups, two in each group, respectively arranged along three mutually perpendicular directions in space, and the symmetrical middle planes of the three groups of branches are perpendicular to each other. The motion branch chain consists of a parallel plate flexible moving pair, a piezoelectric ceramic micro-displacement driver, a connecting rod with a flexible rotary hinge at both ends, a push rod with a flexible rotary hinge at one end, and a flexible ball hinge at both ends. pillar composition. The utility model has the advantages of compact structure, micro-displacement decoupling, simple algorithm and large working space, and can realize micro-motion with six degrees of freedom without friction, gap, hysteresis and high resolution, and can be widely used in mechanical engineering , electronic packaging, fine chemicals, optical fiber docking, biological and genetic engineering and other fine operations and processing fields.

Description

A six-degree-of-freedom parallel micro-manipulator

technical field

The utility model relates to the field of micro-motion robots, in particular to a parallel micro-motion robot with six degrees of freedom.

Background technique

Parallel micro-motion robots have fine movement, high resolution, and positioning accuracy from submicron to nanometer level. The field has broad application prospects. Harbin Institute of Technology developed a six-degree-of-freedom parallel micro-robot based on the variation structure of the Stewart platform, Beihang University developed a parallel micro-robot based on the DELTA mechanism, and the University of Macau proposed a three-freedom robot with an orthogonal structure degree of parallel micro-movement robot, Yanshan University developed a parallel six-degree-of-freedom robot error compensator, and Hebei University of Technology developed a six-degree-of-freedom parallel micro-robot with an orthogonal decoupling structure. The main problem in these research results is that some displacement decoupling Poor performance, some complex structures, difficult processing, some difficult calibration, and some work space is too small.

Contents of the invention

The purpose of the utility model is to provide a six-degree-of-freedom micro-robot. This micro-robot has the advantages of compact structure, micro-displacement decoupling, simple algorithm and large working space, and can realize no friction, no gap, no hysteresis and high resolution of six degrees of freedom for micro-motion.

The technical scheme adopted by the utility model is: the isotropic six-degree-of-freedom parallel micro-motion robot is composed of a base, a motion platform and six motion branch chains connecting the two with the same structure. The motion branch chain consists of a parallel plate flexible moving pair, a piezoelectric ceramic micro-displacement driver, a connecting rod with a flexible rotary hinge at both ends, a push rod with a flexible rotary hinge at one end, and a flexible ball hinge at both ends. pillar composition. Among them, the flexible moving pair of the parallel plate is a frame structure, the piezoelectric ceramic micro-displacement driver is placed in the middle of the frame structure of the flexible moving pair of the parallel plate, one end of the connecting rod is connected with the flexible moving pair of the parallel plate through a flexible rotating hinge, and the other end of the connecting rod It is connected to the side of the push rod through another flexible rotating hinge, one end of the push rod is connected to the base through a flexible rotating hinge, the other end is connected to the pillar through a flexible ball hinge, and the other end of the pillar is connected to the motion platform through a flexible ball hinge. The rod acts as a lever, amplifying the output displacement of the piezo micro-displacement actuator. The six moving branch chains are divided into three groups, two in each group, respectively arranged along three mutually perpendicular directions in space, and the symmetrical middle planes of the three groups of branches are perpendicular to each other. Six piezoelectric ceramic micro-displacement drivers drive the corresponding flexible moving pairs of parallel plates, which can realize the micro-motion of six degrees of freedom with no friction, no gap, no hysteresis and high resolution of the micro-movement robot motion platform. The body of the micro-motion robot is a non-assembled part that is processed and formed from a billet at one time.

Description of drawings

Figure 1 is a structure diagram of a six-degree-of-freedom parallel micro-motion robot;

Figure 2 is the structure diagram of the kinematic branch chain.

In Figure 1 and Figure 2, 1. base, 2. motion platform, 3. motion branch chain, 4. parallel plate flexible moving pair, 5. piezoelectric ceramic micro-displacement driver, 6, 7, 9. flexible rotating hinge , 8. connecting rod, 10. push rod, 11, 12. flexible spherical hinge, 13. pillar.

Detailed ways

Fig. 1 and Fig. 2 are an embodiment disclosed by the utility model. This six-degree-of-freedom parallel micro-robot consists of a base 1, a motion platform 2 and six motion branch chains 3 with the same structure connecting the two. The motion branch chain 3 is composed of a parallel plate flexible moving pair 4, a piezoelectric ceramic micro-displacement driver 5, a connecting rod 8 with a flexible rotary hinge (6, 7) at both ends, and a push rod with a flexible rotary hinge 9 at one end. 10 and two ends respectively have the pillar 13 of flexible spherical hinge (11,12) to form. Among them, the flexible moving pair 4 of the parallel plate is a frame structure, the piezoelectric ceramic micro-displacement driver 5 is placed in the middle of the frame structure of the flexible moving pair of the parallel plate, and one end of the connecting rod 8 is connected with the flexible moving pair 4 of the parallel plate through a flexible rotating hinge 6, The other end is connected to the side of the push rod 10 through a flexible rotary hinge 7, one end of the push rod 10 is connected to the base 1 through a flexible rotary hinge 9, the other end is connected to the pillar through a flexible ball hinge 11, and the other end of the pillar is connected through a flexible ball hinge. 12 is connected with motion platform 2. The push rod 10 acts as a lever to amplify the output displacement of the piezoelectric ceramic micro-displacement driver 5 . The six moving branch chains 3 are divided into three groups, two in each group, respectively arranged along three mutually perpendicular directions in space, and the symmetrical middle planes of the branches in the three groups are perpendicular to each other. Six piezoelectric ceramic micro-displacement drivers drive the corresponding flexible moving pairs of parallel plates, which can realize the micro-movement of six degrees of freedom of the micro-moving robot motion platform.

The body of this kind of micro-robot is a non-assembled part processed from a billet at one time. It has the advantages of compact structure, micro-displacement decoupling, simple algorithm and large working space. It can achieve no friction, no gap, no hysteresis and high resolution. It can be widely used in fine operation and processing fields such as precision machining, electronic packaging, fine chemical industry, optical fiber docking, biological and genetic engineering, material science, nano-planar printing, and aerospace.

Claims (2)

1. six-freedom parallel jiggle robot; Comprise pedestal (1), motion platform (2) and be connected the two the identical movement branched chain (3) of six structures; Said movement branched chain has the pillar (13) that the connecting rod (8) of flexible turning joint (6,7), push rod (10) that an end has flexible turning joint (9) and two ends have flexible ball pivot (11,12) respectively respectively by parallel-plate compliant translational joint (4), piezoelectric micro-displacement actuator (5), two ends and forms; It is characterized in that: an end of connecting rod (8) is connected with parallel-plate compliant translational joint (4) through flexible turning joint (6); The other end is connected with the side of push rod (10) through flexible turning joint (7); One end of push rod (10) is connected with pedestal (1) through flexible turning joint (9); The other end is connected with pillar through flexible ball pivot (11), and the other end of pillar is connected with motion platform (2) through flexible ball pivot (12).

2. six-freedom parallel jiggle robot according to claim 1 is characterized in that: said six movement branched chain are divided into three groups, and two every group, three orthogonal directions are arranged along the space respectively, and face is vertical each other in the symmetry of three groups of branch roads.

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