Fork four-freedom parallel connection robot mechanism

Abstract

The invention discloses a bifurcated four-degree-of-freedom parallel robot mechanism. It consists of a moving platform, a fixed platform, and 2 to 4 kinematic branch chains with the same structure connecting the moving platform and the fixed platform; kinematic joint, the second rotating joint and the third rotating joint. The mechanism has three degrees of freedom of movement and two degrees of freedom of rotation in the initial configuration, and the moving platform can rotate around the axes of the two revolving pairs connected to the moving platform in the two adjacent branches. When the moving platform starts to rotate around one direction, the other rotating direction is automatically locked, that is, after the moving platform rotates from the initial position, the mechanism only has three degrees of freedom for movement and one degree of freedom for rotation. The invention can be widely used in parallel robots, micro-motion workbenches and virtual axis machine tools, and has the advantages of high rigidity, simple structure, decoupling of movement and rotation, easy control, good dynamic performance, good processing and assembly performance, and the like.

Description

technical field [0001] The invention relates to the field of robots, in particular to a five-degree-of-freedom self-locking parallel robot mechanism. Background technique [0002] The parallel robot mechanism belongs to the space multi-degree-of-freedom multi-loop closed-chain mechanism. Compared with the series mechanism, the parallel mechanism has the characteristics of high rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. At present, parallel mechanisms are widely used in virtual axis machine tools, micro-motion consoles, various motion simulators, sensors, etc. except parallel robots. [0003] At present, parallel robot mechanisms with 3 and 6 degrees of freedom are widely used, but there are few parallel robot mechanisms with 4 degrees of freedom. The parallel robot mechanism has not been reported yet. The so-called bifurcation characteristic means that the moving platform of the parallel robot mechanism can...

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Problems solved by technology

[0003] At present, parallel robot mechanisms with 3 and 6 degrees of freedom are widely used, but there are few parallel robot mechanisms with 4 degrees of freedom. The parallel robot mechanism has not been reported yet. The so-called bifurcation characteristic means that the moving platform of the parallel robot mechanism can switch to two different degrees of freedom at a special configuration and remain unchanged, and the difference between the two different degrees of freedom Mutual exclusion, that is, after the moving platform switches to one degree of freedom through this configuration, it must return to this special configuration to switch to another degree of freedom

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