Redundant drive symmetric three degree-of-freedom mobile parallel mechanism

Abstract

The invention discloses a redundant drive symmetric three degree-of-freedom mobile parallel mechanism, which mainly comprises four fixed guide rails, a moving platform and four branched chains with the identical structure and for connecting the moving platform and the fixed guide rails, wherein the four fixed guide rails are uniformly distributed on the same conical surface, one ends of upper connecting rods of the branched chains are connected with the moving platform through revolute pairs, the other ends of the upper connecting rods are connected with one ends of lower connecting rods through sliding pairs, the other ends of the lower connecting rods are connected with the fixed guide rails through cylindrical pairs, the mobile parts of the cylindrical pairs are input kinematic pairs, the axial lines of the cylindrical pairs coincide with the axial directions of the fixed guide rails, the four revolute pairs on the four branched chains are uniformly distributed on the moving platform, the axial lines of the revolute pairs are parallel to the axial lines of the cylindrical pairs, and the axial lines of the sliding pairs are perpendicular to the axial lines of the cylindrical pairs. The mechanism has the advantages of large bearing capacity and excellent isotropy.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel mechanism. Background technique [0002] The parallel mechanism with few degrees of freedom has the advantages of simple structure, low manufacturing cost, and easy control. In recent years, it has become one of the research hotspots in the field of robotics and mechanisms. The three-degree-of-freedom mobile parallel mechanism is a kind of less-freedom parallel mechanism that is widely used in actual production, among which the DELTA robot is a mobile parallel robot that is very successful in industrial production. Up to now, there have been many reports on three-degree-of-freedom mobile parallel mechanisms, but they are all non-redundant drive mechanisms, that is, the number of input kinematic pairs is equal to the number of degrees of freedom, and there is no report on redundant-driven three-degree-of-freedom mobile parallel mechanisms. Contents of the invention [0003] The...

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Problems solved by technology

Up to now, there have been many reports on three-degree-of-freedom mobile parallel mechanisms, but they are all non-redundant drive mechanisms, that is, the number of input motion pairs is equal to the number of degrees of freedom, and there is no report on redundant-driven three-degree-of-freedom mobile parallel mechanisms

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