Three-dimensional motion device for analyzing positive solution of position and partially decoupling control

Abstract

The invention discloses a three-dimensional motion device for analyzing a positive solution of a position and partially decoupling control. The three-dimensional motion device comprises a platform (6), a frame (0), a first branched chain, a second branched chain and a third branched chain. The three-dimensional motion device is characterized in that one end of a member 1(1) of the first branched chain is connected with the platform (6) by a spherical joint 1(S1); the other end is connected to the frame (0) by a revolute pair 1(R1); one end of a member 2(2) of the second branched chain is connected to the platform (6) by a spherical joint 2(S2); the other end is connected to one end of a member 3(3) by a revolute pair 2(R2) while the other end of the member 3(3) is connected to the frame (0) by a revolute pair 3(R3); one end of a member (4) of the third branched chain is connected to the platform (6) by a spherical joint 3(S3); the other end is connected to one end of a member 5(5) by a revolute pair 4(S4) while the other end of the member 5(5) is connected to the frame (0) by a revolute pair 4(R4); the axes of the revolute pair 1, the revolute pair 2 and the revolute pair 3 are parallel to each other; the spherical joint 1(S1), the spherical joint 2(S2) and the spherical joint 3(S3) on the platform (6) are not on the same straight line; and three members connected to the frame (0) are drive rods. The platform can obtain an independent translation and two independent rotation outputs when movement of three single-freedom kinematic pairs on the frame is controlled. Therefore, the mechanism is simple in structure, and easy to manufacture and process, and controls decoupling.

Description

technical field [0001] The invention relates to a three-dimensional motion device, in particular, it provides a new type of three-dimensional independent motion mechanism for parallel-structured parallel motion vibrating screens, parallel motion entertainment equipment, parallel robots and the like. Background technique [0002] Patent application number 2006100881264 provides a two-degree-of-freedom space mechanism for parallel motion equipment. The two driving sources are respectively on two different branch chains, and the output motion of the platform is one translation and two rotations, one of which is Non-independent motion, non-independent motion is uncontrollable. In this way, the mechanism cannot complete the corresponding work when three independent output motions are required. Therefore, in order to meet the development and practicality of parallel motion equipment that meets different needs, Three parallel mechanisms with independent output motions must be provi...

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Problems solved by technology

[0002] Patent application number 2006100881264 provides a two-degree-of-freedom space mechanism for parallel motion equipment. The two driving sources are respectively on two different branch chains, and the output motion of the platform is one translation and two rotations, one of which is Non-independent motion, non-independent motion is uncontrollable. In this way, the mechanism cannot complete the corresponding work when three independent output motions are required. Therefore, in order to meet the development and practicality of parallel motion equipment that meets different needs, Parallel mechanisms with three independent output motions must be provided

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