High-speed translational movement parallel mechanism with three degrees of freedom

Abstract

The invention discloses a high-speed translational movement parallel mechanism with three degrees of freedom. The high-speed translational movement parallel mechanism comprises a fixed platform, a moving platform and three moving branched chains with identical structures; the three moving branched chains are connected between the fixed platform and the moving platform in parallel, each moving branched chain comprises a driving arm and a composite secondary branched chain with two degrees of freedom, and each composite secondary branched chain with the two degrees of freedom can translate in three-dimensional space; and the fixed platform is connected with the driving arms by rotation pairs, lower ends of the composite secondary branched chains are directly fixed to the moving platform, and the driving arms are connected with the composite secondary branched chains by rotation pairs or hooke joints. The high-speed translational movement parallel mechanism with the three degrees of freedom has the advantages that the moving branched chains comprise the composite secondary branched chains, so that independent secondary assemblies can be formed, and the high-speed transitional movement parallel mechanism is high in moving platform gesture restraining capacity and is favorable for high-speed movement; and a spatial polyhedron can be formed on the moving platform by centers of tail-end hinges of the moving branched chains of the mechanism, so that the mechanism is high in lateral load resistance.

Description

technical field

[0001] The invention belongs to the technology of parallel robots, in particular to a parallel mechanism of high-speed translational motion with three degrees of freedom in space. Background technique

[0002] The three-degree-of-freedom high-speed translational parallel mechanism is an important part of the few-degree-of-freedom parallel mechanism, and its motion platform can realize three-dimensional rapid translational motion in space. Because of its simple structure, large working space, easy control and low cost, this type of robot is widely used in high-speed pick-and-place operations of scattered materials in electronics, light industry, food, medicine and other industries.

[0003] At present, the most widely used and most mature three-degree-of-freedom high-speed translational motion parallel mechanism is the Delta mechanism (application number: US4976572). The moving platform is composed of branch chains that perform 3-axis translational motion rel...

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