Five-DOF (degree of freedom) redundance driving hybrid mechanism suitable for vibration reduction
A technology of hybrid mechanism and degree of freedom, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc. It can solve problems such as strong motion coupling, easy to generate singularity, and small working space, and achieve high flexibility, easy control, and mobile Effects decoupled from rotation
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[0012] The overall structure of the embodiment of the present invention is as figure 1 Shown. The hybrid mechanism is composed of a fixed platform 1, an intermediate platform 4, a moving platform 6, a branch connecting the intermediate platform 4 and the fixed platform 1, and a branch connecting the moving platform 6 and the intermediate platform 4. The intermediate platform 4 and the fixed platform 1 are connected by three identical structures 2, 3, and 10, and each branch has a movable rod as a driving pair. The driving rod is connected to a fixed-length rod through a universal hinge. The other end is connected with the intermediate platform 4 by a universal hinge, and the mechanism realizes the three-dimensional movement of the intermediate platform 4 relative to the fixed platform 1 by controlling the position of the driving pair during the movement. The movable platform 6 and the intermediate platform 4 are connected by three active branches 5, 8, 9 and ...
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