Double-input double-horizontal-moving double-rotation output parallel mechanism

Abstract

The invention discloses a double-input double-horizontal-moving double-revolution output parallel mechanism which comprises a movable platform (1), a machine frame (0), a swinging rod (2) connecting the movable platform and the machine frame, and a mixture branched chain. One end of the swinging rod (2) is connected with the movable platform (1) through a sphere pair (S) and the other end of the swinging rod (2) is connected with the machine frame (0) through a first revolute pair (R1). The mixture branched chain is a plane six-revolute-pair six-rod mechanism (R2-R3-R4-R5-R6-R7), namely, a second revolute pair (R2) and a third revolute pair (R7) of the machine frame (0) are driving pairs, a first connecting rod (3) and the movable platform (1) which are opposite to the machine frame (0) are connected through a fourth revolute pair (R8), and the axis of the fourth revolute pair (R8) coincides with the geometric axis of the first connecting rod (3); when the second revolute pair (R2) and the third revolute pair (R7) which are arranged on the machine frame are used for driving, double horizontal output movements and double revolution output movements are generated on the movable platform (1), wherein the number of independent movements is two.

Description

technical field [0001] The invention relates to a double-input, two-translation, two-rotation output parallel mechanism, in particular, it provides a new model with less input and more output for equipment that realizes the required space multi-dimensional movement. Background technique [0002] At present, most of the literature on parallel mechanism research reports that the input dimension and output dimension are equal to the parallel mechanism. For two translation (T) and two rotation (R) (denoted as: 2R2T) output parallel kinematic devices, for example: Lin Ling, Liu Hui Some 2R2T four-degree-of-freedom parallel mechanisms were synthesized by using the spiral theory [Machinery Management Development, 2006(6):53-56]; Luo Yufeng, Yao Weike, Shi Zhixin, etc., designed some two-translation The topological structure of two rotating parallel mechanisms [Machine Tool and Hydraulics, 2011(3): 28-31]; Fan Caixia, Liu Hongzhao, and Zhang Yanbin also proposed some 2T2R four-degre...

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Problems solved by technology

[0002] At present, most of the literature on parallel mechanism research reports that the input dimension and output dimension are equal to the parallel mechanism. For two translation (T) and two rotation (R) (denoted as: 2R2T) output parallel kinematic devices, for example: Lin Ling, Liu Hui Some 2R2T four-degree-of-freedom parallel mechanisms were synthesized by using the spiral theory [Machinery Management Development, 2006(6):53-56]; Luo Yufeng, Yao Weike, Shi Zhixin, etc., designed some two-translation The topological structure of two rotating parallel mechanisms [Machine Tool and Hydraulics, 2011(3): 28-31]; Fan Caixia, Liu Hongzhao, and Zhang Yanbin also proposed some 2T2R four-degree-of-freedom methods based on configuration evolution and Lie group theory. The parallel mechanism model [China Mechanical Engineering, 2010(9):97-101], the 2R2T parallel mechanism they researched is driven by four inputs, and the branch chain and the overall structure are complex, but sometimes the industry needs some simple structures , less input but still capable of outputting two translations and two rotations parallel kinematic device

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