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发明公开
CN104889976A 一种三转动解耦球面并联机器人机构 有权

  • 专利标题： 一种三转动解耦球面并联机器人机构
  • 专利标题（英）： Three rotating decoupling spherical surface parallel robot mechanism
  • 申请号： CN201510282325.8
    申请日： 2015-05-28
  • 公开(公告)号： CN104889976A
    公开(公告)日： 2015-09-09
  • 发明人: 曾达幸 , 王华明 , 苏永林
  • 申请人： 燕山大学
  • 申请人地址： 河北省秦皇岛市海港区河北大街西段438号
  • 专利权人： 燕山大学
  • 当前专利权人： 燕山大学
  • 当前专利权人地址： 河北省秦皇岛市海港区河北大街西段438号
  • 代理机构： 石家庄一诚知识产权事务所
  • 代理商 崔凤英
  • 主分类号： B25J9/00
  • IPC分类号： B25J9/00
一种三转动解耦球面并联机器人机构
摘要：
一种三转动解耦球面并联机器人机构，它包括基座、动平台以及连接基座和动平台的三个分支，每个分支的一端的弧形连杆均通过同一个转动副与基座连接，其中分支一的弧形连杆的另一端通过转动副与直角连杆一的一端连接，该直角连杆一的另一端通过转动副与直角连杆二的一端连接，该直角连杆二的另一端通过第四转动副与动平台连接，上述分支一中相邻的两个转动副的轴线相互垂直；分支二与分支三的结构相同，这两个分支的弧形连杆的另一端通过第二转动副与直角连杆的一端连接，该直角连杆的另一端通过第三转动副与动平台连接，上述分支二和分支三中相邻的两个转动副的轴线分别相互垂直。本发明结构简单、易于控制，能够实现三个转动方向的完全解耦。
摘要（英）：

The invention discloses a three rotating decoupling spherical surface parallel robot mechanism. The three rotating decoupling spherical surface parallel robot mechanism comprises a base, a movable platform and three branches connecting the base with the movable platform, wherein an arc-shaped connecting rod at one end of each branch is connected with the base through a same revolute pair, the other end of the arc-shaped connecting rod of the first branch is connected with one end of a first right-angle connecting rod through a second revolute pair, the other end of the first right-angle connecting rod is connected with one end of a second right-angle connecting rod through a third revolute pair, the other end of the second right-angle connecting rod is connected with the movable platform through the fourth revolute pair, and the axes of two adjacent revolute pairs in the first branch are perpendicular to each other; the structure of the second branch is the same as the structure of the third branch, the other ends of the arc-shaped connecting rods of the second branch and the third branch are connected with one end of the right-angle connecting rod through the second revolute pair, the other end of the right-angle connecting rod is connected with the movable platform through the third revolute pair, and the axes of two adjacent revolute pairs in the second branch and the third branch are perpendicular to each other. The three rotating decoupling spherical surface parallel robot mechanism is simple in structure, easy to control and capable of achieving the complete decoupling in three rotating directions.

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