A Three-dimensional Rotational Parallel Mechanism with No Singularity and Completely Isotropic Space

Abstract

The invention discloses a singularity-free complete isotropic space three-dimensional rotating parallel mechanism which is composed of a movable platform, a fixed platform, a first movement branched chain, a second movement branched chain and a third movement branched chain. The movable platform and the fixed platform are connected through the first movement branched chain, the second movement branched chain and the third movement branched chain. The singularity-free complete isotropic space three-dimensional rotating parallel mechanism is characterized in that the first movement branched chain is used for driving movement of the movable platform in one three-dimensional rotating direction, the second movement branched chain is used for driving movement of the movable platform in the second three-dimensional rotating direction, and the third movement branched chain is used for driving movement of the movable platform in the other three-dimensional rotating direction. The singularity-free complete isotropic space three-dimensional rotating parallel mechanism is high in rotating capacity, large in working space, stable and continuous in rotation and free of driving singularities, the movement coupling problem is effectively solved, and the energy conservation and environmental protection effects are achieved.

Description

[0001] A Three-dimensional Rotational Parallel Mechanism with No Singularity and Completely Isotropic Space technical field [0002] The invention relates to the field of parallel mechanisms, in particular to a three-dimensional rotating parallel mechanism with no singularity and completely isotropic space. Background technique [0003] A parallel mechanism is usually composed of three parts: a dynamic platform, a static platform, and a branch chain connecting the two platforms. Compared with the series mechanism, the parallel mechanism has the characteristics of high rigidity, high precision, strong bearing capacity, fast speed response, and small cumulative error. Therefore, parallel mechanisms have broad application prospects in the fields of parallel machine tools, micro-manipulation robots, medical robots, and motion simulators. However, the general parallel mechanism has strong coupling, which makes the control, calibration and trajectory planning of the mechanism ver...

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Problems solved by technology

[0011] The purpose of the present invention is to provide a three-dimensional rotating parallel mechanism with no singularity and completely isotropic space, which can solve the problems of strong kinematic coupling (difficult to control), complex singular configuration and small working space in the current three-dimensional rotating parallel mechanism in space.

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