Two-rotation one-movement complete decoupling parallel mechanism

Abstract

A two-rotation one-movement complete decoupling parallel mechanism mainly comprises a fixed platform, a movable platform and three branches for connecting the fixed platform with the movable platform, wherein a connecting rod in the first branch is connected with the fixed platform and the movable platform through a movable pair and a hooke joint respectively; four connecting rods in the second branch are connected through three rotary pairs respectively and connected with the fixed platform and the movable platform through cylindrical pairs and rotary pairs respectively; three connecting rods in the third branch are connected through two rotary pairs respectively; one end of each connecting rod in the third branch is connected with the fixed platform through a cylindrical pair; the other end of each connecting rod in the third branch is connected with the movable platform through a rotary pair. The mechanism has the advantages of simple structure, simplicity for processing and assembly, motion decoupling, simplicity for control, good dynamic performance and the like.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel mechanism. Background technique [0002] The parallel robot mechanism has multiple degrees of freedom and multi-loop closed chain in space. Compared with the series mechanism, the parallel mechanism has the characteristics of high rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. At present, parallel mechanisms are widely used in virtual axis machine tools, micro-motion consoles, various motion simulators, sensors, etc. [0003] The degrees of freedom of parallel mechanisms vary from 2 to 6. At present, the research on parallel mechanisms with 6 degrees of freedom is relatively comprehensive and in-depth, and it is also widely used in industry. However, the structure of the parallel mechanism with few degrees of freedom is simple, and the manufacturing and control costs are low. Therefore, the parallel mechanism with f...

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Problems solved by technology

[0005] The utility model patent "a completely decoupled one-moving, two-rotating, three-degree-of-freedom space parallel mechanism" (CN201625978U) authorized by the State Intellectual Property Office includes a static platform, a dynamic platform and three branches connecting the dynamic and static platforms. Each branch is composed of a moving pair and a universal joint, two rotating pairs and a universal joint connected in sequence, and a rotating pair, a universal joint and a ball pair connected in sequence. The structure is relatively complex and the manufacturing cost is high; and the Jacobian matrix is The lower triangular array, so the movement and rotation of the mechanism are only partially decoupled, not completely decoupled in the true sense, and the control and calibration of the mechanism are still difficult

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