Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain

Abstract

The invention discloses a three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chains, which belongs to the technical field of machinery manufacturing. The three-degree-of-freedom plane parallel mechanism comprises a quadrangular movable platform, three identical RRR branched-chains, an extendable branched-chain, an annular guide rail and a sliding block, wherein the movement of the three identical RRR branched-chains, the extendable branched-chain and the sliding block are driven and controlled through a servo motor; and the movable platform of the mechanism has three degrees of freedom, namely two translational degrees of freedom in a plane, and a rotational degree of freedom which is vertical to the plane. Due to the redundant drive branched-chains, the parallel mechanism is high in stiffness, and simultaneously, overcomes some singular configurations in an operational process, so that the working space of the mechanism is expanded. The redundant drive branched-chains of the mechanism can simultaneously control the size and orientation of tension and pressure applied to the movable platform, and can improve the accuracy of the movable platform in an operational process better through optimizing control.

Description

technical field [0001] The invention belongs to the technical field of mechanical manufacturing, in particular to a three-degree-of-freedom planar parallel mechanism with novel redundant drive branch chains. Background technique [0002] As a new type of mechanism that has emerged in recent decades, the parallel mechanism has the characteristics of high rigidity, strong bearing capacity, fast speed response, and high degree of modularization compared with the traditional series mechanism, which has attracted widespread attention. Researchers have made full use of parallel mechanisms The characteristics of the mechanism to expand its scope of application, has been widely used in manufacturing, aerospace, sensor measurement, engineering equipment, medical and other fields. [0003] The six-degree-of-freedom parallel mechanism that appeared in the early stage, with the deepening of research and application, its related shortcomings have also emerged, such as relatively limited ...

AI Technical Summary

Problems solved by technology

This kind of redundant drive branch chain generally cannot directly apply the required loading force to the motion platform, and needs to indirectly control the loading force through the branch chain, which greatly reduces the accuracy of loading and increases the complexity of control; in addition The direction of the loading force cannot be changed, which makes it difficult to achieve optimal control effect

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