Two-dimensional translation and one-dimensional rotation parallel mechanism with three degrees of freedom

Abstract

The invention relates to a two-dimensional translation and one-dimensional rotation parallel mechanism with three degrees of freedom. The technical scheme includes that the two-dimensional translation and one-dimensional rotation parallel mechanism with the three degrees of freedom comprises a framework and a movable platform, and is characterized in that three four-bar mechanisms are connected between the movable platform and the framework in parallel; each four-bar mechanism comprises a sliding pair, the movable platform and two parallel connecting rods, each sliding pair is positioned on the framework, and two ends of each connecting rod are respectively hinged to a slider of the corresponding sliding pair and the movable platform. The two-dimensional translation and one-dimensional rotation parallel mechanism with the three degrees of freedom has the advantages of simplicity in forward and inverse kinematics, large working space, high rigidity, simple structure and convenience in manufacture.

Description

technical field [0001] The invention relates to an executive mechanism of a numerically controlled parallel machine tool, in particular to a three-degree-of-freedom parallel mechanism. Background technique [0002] Since the successful application of Steward mechanism in tire test and flight simulator, parallel mechanism has been the research object of many scholars. Compared with the traditional serial mechanism, the parallel mechanism (PM) has greater rigidity and load and higher precision, so in a certain sense, the parallel mechanism has both CNC machine tools (high rigidity, high precision and high speed) and industrial Advantages of robotics (low cost, flexibility and ease of integration). [0003] However, the calculation of parallel mechanisms (especially multi-degree-of-freedom parallel mechanisms) is relatively complicated, and it is still difficult to design a simple multi-degree-of-freedom parallel mechanism with simple kinematics positive and negative solutions...

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Problems solved by technology

[0003] However, the calculation of parallel mechanisms (especially multi-degree-of-freedom parallel mechanisms) is relatively complicated, and it is still difficult to design a simple multi-degree-of-freedom parallel mechanism with simple kinematics positive and negative solutions, large work space and high stiffness, such as: The application number is 200410064955.X, which is used as a two-translation-rotation parallel mechanism for virtual-axis CNC machine tools and robots. This mechanism has the advantage of partial control decoupling, but has the disadvantage of small working space; the application number is 200420093647.5. A suspended three-degree-of-freedom parallel mechanism with one-dimensional translation and one-dimensional rotation. This mechanism has the advantages of simple structure and large working space, but has the disadvantage of low stiffness

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