CN1086163C

CN1086163C - Six-freedom parallel decoupling-structure jogging robot

Info

Publication number: CN1086163C
Application number: CN99121020A
Authority: CN
Inventors: 高峰; 金振林; 刘辛军; 赵现朝; 黄真
Original assignee: Yanshan University
Current assignee: Yanshan University
Priority date: 1999-09-30
Filing date: 1999-09-30
Publication date: 2002-06-12
Anticipated expiration: 2019-09-30
Also published as: CN1258589A

Abstract

The present invention relates to the micromotion robot field and has the principal points that a worktable 1 and a base 3 are connected by six struts 2 of which both ends are provided with an elastic hinge, wherein each strut has the same length with that of a holding rod. The six struts 2 are divided into three groups, and each group has two struts 2 which are respectively arranged along the three orthogonal directions. Moreover, planes formed by the axial lines of the struts in each group are perpendicular. Six parallel plate elastic shift pairs 4 are directly processed on a base corresponding to the positions of the six struts, and six piezoelectric ceramic micro positioners 5 are configured to carry out driving to realize the micromotion along the directions of the axial directions of the six struts. The body of the micromotion robot is a non assembly part which is shaped at one time.

Description

Six-freedom parallel decoupling-structure jogging robot

This invention belongs to the jiggle robot field.

In the advanced manufacturing technology field, the research of jiggle robot has the meaning of particular importance.Jiggle robot is in retrofit, integrated circuit manufacturing, fiber alignment, CCD butt joint, biology and fields such as genetic engineering, Aero-Space, have broad application prospects, in the research of jiggle robot, six-freedom micro displacement robot with parallel-connection structure is the problem paid close attention to of Chinese scholars especially, Si Taodun (Stoughton) has designed a kind of jiggle robot of being made up of two parallel institutions, and each parallel institution is made up of six piezoelectric type elements; Ha Genzi (Hudgens) and safe plug (Tesar) have proposed this base of a fruit watt (Stewart) platform jiggle robot of a kind of complete parallel connection; Harbin Institute of Technology has developed this general base of a fruit watt (Stewart) structure six-freedom parallel jiggle robot; BJ University of Aeronautics ﹠ Astronautics develops series-parallel connection six-freedom micro displacement robot, domestic also have some patented technologies, but the subject matter that these achievements in research and patented technology exist is the complex structure that has, the demarcation difficulty that has, the displacement decoupling zero difficulty that has, the displacement that 1～3 free degree is only arranged that has.

The object of the present invention is to provide a kind of six-freedom parallel decoupling-structure jogging robot, this jiggle robot has displacement decoupling zero, simple in structure, advantage such as size is little, low cost of manufacture, algorithm are simple, can realize not having the fine motion of friction, no gap and high-resolution 6 frees degree.

This six-freedom parallel decoupling-structure jogging robot, long pillar 2, the pedestal 3 with 6 parallel-plate resilient movement pairs 4 and the piezo-ceramic micro displacement unit 5 of fixed bar that is had elastic hinge by 1,6 two ends of workbench formed, it is characterized in that: have the pillar 2 that the fixed bar of elastic hinge grows by 6 two ends between workbench 1 and the pedestal 3 and link; 6 pillars 2 are three groups, two every group, arrange along three orthogonal directions respectively, and it are vertical mutually respectively to organize the plane that pillar axes constitutes; Corresponding with 6 pillar 2 positions on pedestal, directly process 6 parallel-plate resilient movement secondary 4 and dispose 6 piezo-ceramic micro displacement units 5 drive, realize along little the moving on 6 pillar axes directions; The jiggle robot body is the non-assembly of time processing moulding.

Drawings and Examples:

Fig. 1 is the six-freedom parallel decoupling-structure jogging robot schematic diagram

Fig. 1 is one embodiment of the present of invention (see figure 1)s, this six-freedom parallel jiggle robot, body is the non-assembly of time processing moulding, it is made up of long pillar 2, the pedestal 3 with 6 parallel-plate resilient movement pairs 4 and the piezo-ceramic micro displacement unit 5 of fixed bar that 1,6 two ends of workbench have elastic hinge, this jiggle robot has displacement decoupling zero, simple in structure, advantage such as size is little, low cost of manufacture, algorithm are simple, can realize not having the fine motion of friction, no gap and high-resolution 6 frees degree.May be used on field and other occasions of handling small items, carrying out fine location and microoperation such as retrofit, integrated circuit manufacturing, fiber alignment, CCD butt joint, biology and genetic engineering, little operation.

Claims

1. six-freedom parallel decoupling-structure jogging robot, comprise compositions such as workbench 1, pillar 2, pedestal 3 and piezo-ceramic micro displacement unit 5, it is characterized in that: the long pillar 2 of fixed bar that has an elastic hinge by 6 two ends between workbench 1 and the pedestal 3 links; 6 pillars 2 are divided into three groups, two every group, arrange along three orthogonal directions respectively, and it are vertical mutually respectively to organize the plane that pillar axes constitutes; Corresponding with 6 pillar 2 positions on pedestal 3, directly process 6 parallel-plate resilient movement secondary 4 and dispose 6 piezo-ceramic micro displacement units 5 drive, move along the little of 6 pillar axes directions realizing; The jiggle robot body is the non-assembly of time processing moulding.