Two freedom mobile parallel connection decoupling mechanism

Abstract

The invention provides a two-DOF moving shunt connection decoupling mechanism. The whole mechanism is fixed on a base platform by a guideway; two Y-direction guideways and a Y-direction driving device are fixed on an XOY basic platform; a Z-direction guideway is fixed on a YOZ basic platform; a Y-direction sliding block is fixed on the Y-direction guideway; two lower sliding supporters are respectively fixed on corresponding Y-direction sliding blocks; an upper supportor is connected with the two lower sliding supporters by a parallelogram mechanism consisting of 8 supporting rods and a rotation pair; an X-direction guideway is fixed on the upper supporter; an X-direction driving device is fixed on the Z-direction guideway; furthermore, a shell of the X-direction driving device is fixedly connected with the upper supporter; a movable platform is fixed on the X-direction guideway. The invention combines an isosceles triangle two-force member truss structure and the parallelogram structure, thus leading the final two-DOF moving shunt connection mechanism to have the advantages of implementing the decoupling of two-DOF, stable structure, high rigidity, good forcing characteristic, high transmission efficiency, simple structure, easy control, high operation precision and low cost.

Description

Technical field [0001] The invention relates to a device in the field of industrial robots, in particular to a two-degree-of-freedom mobile parallel decoupling mechanism suitable for two-degree-of-freedom operation occasions. Background technique [0002] Parallel mechanism refers to a mechanism in which two or more drive units are installed in parallel and complete actions together. It is widely used in technical fields such as heavy-duty simulation equipment, robots, CNC machine tools, sensors and micro-operations. Most of the existing parallel robots adopt a symmetrical structure with 3-6 degrees of freedom. Generally, spherical hinges, Hooke hinges or moving pairs are used as kinematic pairs to achieve 3-6 degrees of freedom spatial movement, and the working space generally does not have an advantageous direction, and the structure is complicated. The manufacturing cost is relatively high. For example, the common Stewart parallel mechanism. The upper platform and the lower pl...

AI Technical Summary

Problems solved by technology

The mechanism composed of two force rods has high rigidity and good force characteristics, but in the existing parallel mechanisms with many degrees of freedom, the supporting rods are not only subjected to tension and compression, but also to bear the action of bending moment, so when this type of mechanism is loaded Not only tension and compression deformation, but also bending deformation

Due to the deterioration of the stress state, this type of mechanism has low stiffness and poor vibration resistance

In addition, since the movement between the drive units of the parallel mechanism is coupled, that is, the movement of the overall output platform of the parallel mechanism along any direction is the synthesis of the movements of all drive units, and the movement of each drive unit is combined with the overall movement of the parallel mechanism (i.e. The relationship between input and output) is nonlinear, so the control of the parallel mechanism is very complicated and the calibration is difficult. At the same time, it also restricts the improvement of equipment accuracy and the reduction of cost. Therefore, how to realize the decoupling of the parallel mechanism to simplify the control and calibration of the parallel mechanism , improving the accuracy of equipment movement and reducing costs has always been a difficult and challenging subject

[0004] It is found through literature search of the prior art that most of the existing two-degree-of-freedom mechanisms, such as "two-degree-of-freedom translational parallel robot mechanism with only rotating pairs" (referring to Chinese invention patent, publication number CN1355087), Two-degree translational parallel robot mechanism" (see Chinese invention patent, publication number CN2511447), etc., did not consider the problem of mechanism decoupling, and did not meet the requirements of high rigidity, good force characteristics and decoupling for two-degree-of-freedom mobile parallel mechanisms in actual use. Require

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