Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom

Abstract

A decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom mainly comprises a fixed pedestal, a movable platform and three branches connected therewith. The first branch comprises two connecting rods which are connected by a reolute pair vertical to axis of a reolute pair connected with the movable platform and to direction of a movable pair connected with the fixed pedestal. The second branch comprises three connecting rods which are connected by a reolute pair and a column pair with parallel axes, axis of the column pair is vertical to axis of a reolute pair connected with the fixed pedestal and parallel to axis of the reolute pair connected with the movable platform. The third branch comprises three connecting rods which are connected by two reolute pairs with parallel axes and connected with the fixed pedestal by the column pair, axis of the column pair is vertical to axis of the reolute pair connected with the movable platform and parallel with axes of the other two reolute pairs. Three branches of the mechanism are parallel with three reolute pairs connected with the movable platform. The invention has movable decoupling, high movable platform flexibility, easily developed control system and more simple and convenient calibration.

Description

technical field [0001] The invention relates to the field of robots, in particular to a parallel robot mechanism. Background technique [0002] The parallel robot mechanism is a closed-chain form with multiple degrees of freedom and multiple loops in space. Since the 1980s, parallel mechanisms have been widely used in virtual axis machine tools, micro-motion consoles, various motion simulators and force It is widely used in industries such as torque sensors. [0003] Parallel mechanisms have 2, 3, 4, 5 or 6 degrees of freedom. At present, the research on 6-DOF parallel mechanism is relatively comprehensive and in-depth, and it is also widely used in industry. However, the reduction of the degree of freedom of the mechanism will make the structure of the mechanism simpler, and the cost of manufacturing and control is relatively low. Therefore, parallel robots with fewer degrees of freedom have their unique advantages when the expected work requirements are met. [0004] C...

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Problems solved by technology

[0005] The utility model patent "a completely decoupled one-moving, two-rotating, three-degree-of-freedom space parallel mechanism" (CN 201625978 U) authorized by the State Intellectual Property Office on November 10, 2010, the mechanism includes a static platform, a dynamic platform and a connecting static platform. 1. The three branches of the moving platform, each of which is composed of a moving pair and a universal hinge, two rotating pairs and a universal hinge connected in sequence, and a rotating pair, a universal hinge and a ball pair connected in sequence, and the structure is relatively complex. The manufacturing cost is high; moreover, the Jacobian matrix of the mechanism is a lower triangular matrix, so the movement and rotation of the mechanism are only partially decoupled, not completely decoupled in the true sense, and the control and calibration of the mechanism are still difficult

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