Two degrees of freedom translation parallel mechanism

Abstract

The invention discloses a two degrees of freedom (DOFs) translation motion parallel mechanism. A fixed platform of the parallel robot mechanism is connected with a motion platform which achieves the two DOFs translation motion through two motion branched chains so as to form a closed structure; each motion branched chain comprises a motion sliding block and three sub-constrained branched chains which are connected with the motion sliding block and the motion platform; each sub-constrained branched chain respectively consists of a hook hinge, a connecting rod and a hook hinge which are connected with each other in series; furthermore, each sub-constrained branched chain is connected in parallel between the motion sliding block and the motion platform and is then connected in series with the motion sliding block so as to form the motion branched chain. The two DOFs translation motion parallel mechanism of the invention is realized by adopting the motion constrains of the hook hinge so as to form a space constrain, leads the connecting rod not to be subject to the bending moment, improves the forcing condition of the mechanism and improves the rigidity of the mechanism.

Description

a technical field [0001] The invention belongs to the field of industrial robots, in particular to a two-degree-of-freedom translational motion parallel robot mechanism. Two background technology [0002] The parallel mechanism is composed of a fixed platform, a moving platform and multiple branches connecting the two platforms. The drive motor can be fixed on the fixed platform, which reduces the mass of the moving parts, and the parallel mechanism is a plurality of components that jointly support the movement of the moving platform. Compared with the traditional series mechanism, it is easier to realize compact structure, modular design, high rigidity and high speed of motion. In the past 20 years, more and more researchers and manufacturers have paid attention to it, and it has been applied to many fields such as machine tools, high-precision positioning devices, flight simulators, spacecraft docking, medical robots and micro-mechanical machines. [0003] According to th...

AI Technical Summary

Problems solved by technology

In order to improve the stiffness in the vertical motion plane, CN1817574A proposes to add two passive restraint branch structures, and uses electromagnetic controllable damping rods to adjust the stiffness of the two-degree-of-freedom translational parallel mechanism, but its structure is essentially constructed based on a parallelogram. The proposed scheme can neither solve the problem of low stiffness of the vertical motion plane from the structural essence, but also increases the difficulty and cost of control

The two-degree-of-freedom translational parallel mechanism proposed by CN1715009A is more distinctive. It does not use the constraints of a parallelogram mechanism to realize the two-degree-of-freedom translational movement, but constructs a two-degree-of-freedom translational mechanism through the ingenious design of the slide table, and the output The decoupling of the movement, because the translational movement of the movement platform is also realized through the planar structure, so there is also the disadvantage that the stiffness in the direction of the vertical movement plane is not high

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