Asymmetrical two-rotation-one-translation three-degree-of-freedom parallel mechanism with two continuous shafts

Abstract

Disclosed is an asymmetric two-rotational one-translational three-degree-of-freedom parallel mechanism with two continuous rotating shafts. The mechanism comprises a fixed platform, a moving platform and three branched chains for connecting the two platforms, the fixed platform and the moving platform are both in the shape of an isosceles triangle, a first branched chain and a second branched chain of the three branched chains are identical in structure, one end of an upper connecting rod of each of the two branched chains is connected with the moving platform through a hooke, the other end of the upper connecting rod is connected with one end of a lower connecting rod through a moving pair, and the other end of the lower connecting rod is connected with the fixed platform through a rotating pair. One end of an upper connecting rod in a third branched chain is connected with the moving platform through a rotating pair, the other end of the upper connecting rod is connected with one end of a lower connecting rod, and the other end of the lower connecting rod is connected with the fixed platform through a spherical hinge. The mechanism is provided with the two continuous rotating shafts, and is simple in kinematics analysis, easy to calibrate and control, few in joints, simple in structure and high in rigidity.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel mechanism. Background technique [0002] The two-rotation-one-shift three-degree-of-freedom parallel mechanism has the advantages of simple structure, low manufacturing cost, and easy control. Since Hunt proposed the 3-RPS parallel mechanism in 1983, the two-transfer-one-shift three-degree-of-freedom parallel mechanism has received extensive attention and has been applied in many fields. The Tricept mechanism (3UPS-UP three-degree-of-freedom parallel mechanism) and other two-rotation-one-shift parallel mechanisms with UP constrained branches have two continuous rotation axes, which have the advantages of easy kinematic calibration and control. There are mechanisms proposed by Chinese patents CN201310078089.9, 201110357878.7, CN201210445025.3 and CN200920117054.0. However, apart from the above-mentioned mechanisms, there are few reports on the two-rotation-one-shift parallel mec...

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Problems solved by technology

However, in addition to the above-mentioned mechanisms, there are few reports on the two-rotation-one-shift parallel mechanism with two continuous shafts

In addition, the mechanism invented by the above-mentioned Chinese patents CN201210445025.3 and CN200920117054.0 needs to meet the strict geometric constraints that three points are collinear or the axes intersect at one point, which brings great difficulties to processing and manufacturing

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