A decoupled two-rotation parallel mechanism that can realize hemispherical rotation

Abstract

The invention discloses a decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation. The parallel mechanism comprises a static platform, a movable platform, a first active branch chain and a second active branch chain. The static platform and the movable platform are connected by the first active branch chain and the second active branch chain. An annular guiderail is disposed on the movable platform. The first active branch chain comprises a first static platform rotation pair. The static platform is rotationally connected with one end of a first arc-shaped rod through the first static platform rotation pair. The other end of the first arc-shaped rod is rotationally connected with a slider through a first movable platform rotation pair. The slider is in slide fit with the annular guide rail on the movable platform. The second active branch chain comprises a second static platform rotation pair. The static platform is rotationally connected with one end of a second arc-shaped rod through a second static platform rotation pair. The other end of the second arc-shaped rod is rotationally connected with a fixed block through a second movable platform rotation pair. The fixed block is fixed on the movable platform. The parallel mechanism is free of rod interference and paranormal phenomena.

Description

technical field [0001] The invention relates to a space two-rotation parallel mechanism, in particular to a decoupling two-rotation parallel mechanism capable of realizing 180-degree non-singular two-degree-of-freedom rotation. Background technique [0002] The two-rotation parallel mechanism has broad application prospects in the industrial field, and can be used for positioning and tracking devices for inter-satellite link satellites, robotic shoulder / wrist joints, minimally invasive surgical robotic hands, etc. The above-mentioned application fields all require the two-rotation parallel mechanism to have the advantages of large rotation angle, flexible movement, and easy assembly. [0003] At present, the two-rotation parallel mechanism that has been proposed cannot meet the above requirements due to the complex structure and the interference of the rods. For example, the two rotating mechanisms described in patents CN102079090A and CN102294693A are composed of multiple ...

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Problems solved by technology

[0003] At present, the two-rotation parallel mechanism that has been proposed cannot meet the above requirements due to the complexity of the structure and the interference of the rods.

For example, the two rotating mechanisms described in patents CN102079090A and CN102294693A are composed of multiple branch chains with complex structures; the branch chains contain complex hinges, which limit the rotation capacity and movement flexibility of the mechanism; Mechanism, but the Hooke hinge contained inside the branch chain limits the range of rotation of the mechanism

[0004] To sum up, the existing two-rotation parallel mechanism has deficiencies and cannot meet the requirements of the above application fields

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