Double-input double-translation double-rotation output-parallel motion device

Abstract

The invention relates to a double-input double-translation double-rotation output-parallel motion device which comprises a movable platform (1), a machine frame (0), a pendulum bar (3) for connecting the movable platform (1) and the machine frame (0), and a mixing branch chain, wherein one end of the pendulum bar (3) is connected with the movable platform (1) through a ball pair (S), and the other end is connected with the machine frame (0) through a rotation pair 1 (R1); the mixing branch chain has the structure that a connecting rod a (8) of a plane 6 rotation pair 6 rod mechanism is connected in series with a rotation pair 4 (R8) and a rotation pair 5 (R9) which are parallel, i.e. a rotation pair 2 (R2) and a rotation pair 3 (R7) on the machine frame (0) are driving pairs, the connecting rod 1 (8) opposite the machine frame (0) is connected with one end of a connecting rod 2 (2) through the rotation pair 4 (R8), and the other end of the connecting rod 2 (2) is connected with the movable platform (1) through the rotation pair 5 (R9); and the axial line of the rotation pair 4 (R8) and the geometric axial line of the connecting rod 1 (8) coincide. When the two rotation pairs on the machine frame drive, the movable platform can generate a double-translation double-rotation output motion.

Description

technical field [0001] The invention relates to a double-input, two-translation, two-rotation output parallel kinematic device, in particular, it provides a new model with less input and more output for equipment that realizes required space multi-dimensional motion. 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-degr...

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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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