Position and attitude decoupled double-parallel six-degree-of-freedom motion platform

Abstract

The invention discloses a position and attitude decoupled double-parallel six-degree-of-freedom motion platform comprising a fixed platform (0), a movable platform (7) and six linear cylinders, wherein the movable platform (7) and the fixed platform (0) are directly connected through a spherical pair after two ends of three of the linear cylinders are respectively connected with the movable platform (7) and the fixed platform (0) by using spherical pairs; one ends of the other three linear cylinders are respectively connected with the movable platform (7) by using spherical pairs, wherein the other ends of two of the three linear cylinders are respectively connected with a cylinder body or an extension bar of the third linear cylinder by using spherical pairs, while a manipulator is fixed at the outer extension end (P) of the cylinder body or extension bar of the third linear cylinder; and the six liner cylinders can be air cylinders, oil hydraulic cylinders and electric cylinders, the position and the attitude of the manipulator can be obtained through controlling the six linear cylinders, the position and the attitude are decoupled and a part of analysis is input or output. The motion platform is simple in structure and convenient to control so as to be used for multi-degree-of-freedom automatic devices or robot manipulators.

Description

technical field [0001] The invention relates to an actuator for a robot and automation equipment, in particular to provide a novel six-degree-of-freedom partial analysis and decoupling parallel operation mechanism for equipment such as robots and parallel machine tools. Background technique [0002] Parallel mechanisms have been widely used in the fields of robots, virtual axis machine tools, coordinate measuring machines, simulation platforms, and micro-manipulators. The 6-DOF Stewart parallel machine tool is considered to be a revolution in the structure of machine tools since the 20th century; Axial coordinate measuring machine (including measuring marking machine) is also a major progress in scientific measuring instruments in recent years. It has unique characteristics such as high structural rigidity, high movement speed, and no error superposition, which can make the performance of measurement accuracy and measurement efficiency greatly improved. At present, for the ...

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Problems solved by technology

At present, for the 6-SPS and 6-RSS mechanisms, the space pose of the end effector is relatively flexible, and the load capacity is large, the stiffness is good, and the reverse analytical solution is easy to obtain, but the kinematic solution of the end effector is very difficult , the positive analytical solution cannot be obtained, therefore, the scope of application is affected

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