High-flexibility three-DOF (Degree of Freedom) spatial parallel mechanism

Abstract

The invention relates to a high-flexibility three-DOF (Degree of Freedom) spatial parallel mechanism, belonging to the technical field of numerical control machines, and comprising a mobile platform, a fixed platform, a first branched chain, a second branched chain and a third branched chain, wherein the mobile and fixed platforms are provided with an actuator respectively; the first and second branched chains are connected between the mobile and fixed platforms and have the same structure; and the third branched chain is connected between the mobile and fixed platforms and has a structure different from the structure of the first second branched chains. The first, second and third branched chains all contain an actively-driving kinematic pair and are respectively connected with the fixed and mobile platforms to form a spatial parallel closed-loop mechanism. The spatial parallel closed-loop mechanism drives the mobile platform to move by three input motions to realize one mobile DOF and two rotational DOFs. The spatial parallel mechanism has high flexibility, specific rotational axis, relatively simple associated movement and other characteristics, and the operation precision and quality of the mechanism can be ensured more easily.

Description

technical field [0001] The invention belongs to the technical field of numerical control machine tools, in particular to a three-freedom space parallel mechanism with high flexibility. Background technique [0002] The traditional mechanism mostly adopts a single open chain structure to realize multiple degrees of freedom of the terminal, which is generally called a series mechanism, and the corresponding parallel mechanism is a closed-loop mechanism composed of multiple branch chains, with a maximum of six degrees of freedom. Parallel mechanisms with less than six degrees of freedom are called few-degree-of-freedom parallel mechanisms, and three-degree-of-freedom parallel mechanisms are one of the most important types. In recent years, the three-degree-of-freedom parallel mechanism among the few-degree-of-freedom parallel mechanisms has received more and more attention and favor from researchers, especially the space parallel mechanism with one-dimensional movement and two-...

AI Technical Summary

Problems solved by technology

[0003] The purpose of this invention is to meet the high flexibility requirements of modern processing equipment for typical space complex free-form surface parts, and propose a three-degree-of-freedom space parallel mechanism with high flexibility, which can overcome or reduce the rotation axis of existing processing equipment. The influence of ambiguity and complex accompanying motion on the operation accuracy and quality of the mechanism has the characteristics of high rotation capacity, clear rotation axis and relatively simple accompanying motion

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