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    FIVE-DEGREE-OF-FREEDOM PARALLEL ROBOT WITH MULTI-SHAFT ROTARY BRACKETS
    2.
    发明公开
    FIVE-DEGREE-OF-FREEDOM PARALLEL ROBOT WITH MULTI-SHAFT ROTARY BRACKETS 审中-公开
    具有多轴旋转支架的五自由度并联机器人

    公开(公告)号：EP3195988A1

    公开(公告)日：2017-07-26

    申请号：EP16820669.6

    申请日：2016-03-28

    申请人： Tianjin University

    发明人： HUANG, Tian ,  DONG, Chenglin ,  LIU, Haitao ,  QIN, Xuda ,  MEI, Jiangping ,  LIU, Qi ,  WANG, Manxin

    IPC分类号： B25J9/08

    CPC分类号： B25J17/0266 ,  B25J9/0063 ,  B25J9/0066 ,  B25J9/0069 ,  B25J9/0072 ,  B25J9/026 ,  G05B2219/39423

    摘要： The present invention discloses a five-degree-of-freedom hybrid robot with rotational supports, wherein, a first fixed shaft seat is rotatably connected to each of two ends of a first rotational support through a revolute hinge respectively; a second fixed shaft seat is rotatably connected to each of two ends of a second rotational support through a revolute hinge respectively; one end of a first length adjustment device runs through the first rotational support, and the other end is fixedly connected to a moving platform; one end of each of the second length adjustment device and the third length adjustment device runs through the first rotational support and is then connected to the moving platform respectively; middle portions of all the first length adjustment device, the second length adjustment device and the third length adjustment device are hinged onto the first rotational support respectively; and, one end of a fourth length adjustment device runs through the second rotational support and is then connected to the moving platform, and the middle portion of the fourth length adjustment device is hinged onto the second rotational support. The present invention effectively reduces the number of hinges, save the manufacture cost, and exhibits good manufacturability.

    摘要翻译： 本发明公开了一种具有旋转支架的五自由度混合机器人，其中，第一固定轴座分别通过旋转铰链分别与第一旋转支架的两端分别旋转连接; 第二固定轴座分别通过旋转铰链分别与第二旋转支架的两端分别旋转连接; 第一长度调节装置的一端穿过第一旋转支架，另一端与移动平台固定连接; 所述第二长度调节装置和所述第三长度调节装置各自的一端贯穿所述第一旋转支架，然后分别与所述移动平台连接; 所有第一长度调节装置，第二长度调节装置和第三长度调节装置的中间部分分别铰接在第一旋转支架上; 第四长度调节装置的一端穿过第二旋转支架并与移动平台连接，第四长度调节装置的中部铰接在第二旋转支架上。 本发明有效地减少了铰链的数量，节省了制造成本，并且具有良好的可制造性。