Six-degree-of-freedom parallel robot with positive solution analysis and whole-circle rotation capabilities

The invention relates to a six-degree-of-freedom parallel robot with positive solution analysis and whole-circle rotation capabilities, and belongs to the technical field of robots. Comprising a rack, a movable platform, an end effector, six driving motors, and a first branch, a second branch, a thi...

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Bibliographische Detailangaben
Hauptverfasser: YAN XILIN, CUI JUN, CAO WEN'AO, LAI JINGPEI, HUANG XINBO
Format: Patent
Sprache:chi ; eng
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Beschreibung
Zusammenfassung:The invention relates to a six-degree-of-freedom parallel robot with positive solution analysis and whole-circle rotation capabilities, and belongs to the technical field of robots. Comprising a rack, a movable platform, an end effector, six driving motors, and a first branch, a second branch, a third branch and a fourth branch which are connected in parallel between the rack and the movable platform, the six-degree-of-freedom parallel mechanism adopts a four-branch parallel mechanism configuration to realize six-degree-of-freedom movement, the tail end has complete-circle rotation capacity, the structure is compact, maintenance is simple, meanwhile, the functions of determining a rotating shaft and analyzing a positive solution are achieved, and a visual positioning system can be better matched; and good application prospects are achieved in the fields of assembling, sorting and machining. 本发明涉及一种具有解析正解和整周回转能力的六自由度并联机器人,属于机器人技术领域;包括机架、动平台、末端执行器、六个驱动电机以及并联连接在机架与动平台之间的第一、第二、第三分支、第四分支;所述第一、第二分支结构完全相同,本发明采用四分支并联