SCARA HIGH-SPEED PARALLEL MANIPULATOR HAVING PARTIALLY DECOUPLED KINEMATICS

摘要

The present invention relates to the technical field of parallel robots. Provided is a SCARA high-speed parallel manipulator having partially decoupled kinematics applicable to pick-and-place operations in industries. The SCARA high-speed parallel manipulator has a main body consisting of two kinematic chains, and comprises motors concealed inside a fixed base, revolute pairs, active links, and passive links whichconstitute a five-bar planar mechanism. The kinematic chain that determines that a distal end thereof is to move and rotate in a vertical direction comprises a motor fixed to the main link and a synchronous belt system concealed inside the link. The manipulator is based on a five-bar planar mechanism, and has a simple structure and low manufacturing costs. In addition to horizontal movement within a plane, the distal end of the kinematic chain can independently move and rotate in the vertical direction, achieving partially decoupled kinematics and thereby facilitating control thereof.