Parallel mechanism with two-dimensional translation and two-dimensional rotation

Abstract

The invention discloses a parallel mechanism with two-dimensional translation and two-dimensional rotation. The parallel mechanism comprises a fixed frame, a moving platform and four branched chains which are symmetrically arranged between the fixed frame and the moving platform and provided with a drive device respectively, wherein the four branched chains have two types of structures; the branched chain with one type of structure comprises a straight line guide rail, a drive block arranged in the straight line guide rail and a fixed-length connecting rod of which both ends are provided withrotary hinges; the branched chain with the other type of structure comprises a straight line guide rail, a drive block arranged in the straight line guide rail and a fixed-length connecting rod of which both ends are provided with spherical hinges; the four branched chains with the two types of structures are in crossed arrangement; one end of the fixed-length connecting rod is connected with themoving platform, and the other end of the fixed-length connecting rod is connected with the drive block; and the moving platform is connected with a main platform and a fork-shaped shaft, of which the axial lines are vertical to each other, by a rotary pair, and the main platform can rotate around the axial line of the fork-shaped shaft. The parallel mechanism has the advantages that: the structure is simple; the mode of motion is definite; the requirements on complicated holding-releasing operations are met; and because the connecting rod is the fixed length rod which helps to reduce the inertia load, the parallel mechanism has higher rigidity in different operational ranges, and the high-speed movement is easily realized.

Description

technical field [0001] The invention relates to a robot, in particular to a robot parallel mechanism with two-dimensional translation and two-dimensional rotation in space. Background technique [0002] Chinese patent 00105935.1 discloses a parallel mechanism that can realize two-dimensional translation and two-dimensional rotation, including a fixed frame, a moving platform, and four branch chains connecting the moving platform and the fixed frame; The other two branch chains are composed of a telescopic rod with a ball hinge at one end and a ball hinge or a Hooke hinge at the other end; each of the four hinges connecting the moving platform and the fixed frame is crossed. distributed. [0003] Because in the above mechanism, each branch chain uses a belt-driven telescopic rod to connect the moving platform and the fixed frame, the disadvantage is that when the telescopic rod is extended, the rigidity of the mechanism is poor; due to the limitation of the driving load on t...

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Problems solved by technology

[0003] Because in the above mechanism, each branch chain uses a belt-driven telescopic rod to connect the moving platform and the fixed frame, the disadvantage is that when the telescopic rod is extended, the rigidity of the mechanism is poor; due to the limitation of the driving load on the telescopic rod, Difficult to achieve high-speed movement

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