A symmetrical three-rotation parallel mechanism

Abstract

The invention discloses a novel symmetric three-rotation parallel mechanism, which comprises a static platform, a moving platform and a first active branched-chain, a second active branched-chain and a third active branched-chain which are used for connecting the static platform with the moving platform, wherein an annular guide rail is circumferentially arranged on the outer wall of the static platform, and the first active branched-chain, the second active branched-chain and the third active branched-chain have the same mechanical structure. By adopting the novel symmetric three-rotation parallel mechanism provided by the invention, each branched-chain has the same mechanical structure, the kinematics and dynamics properties have symmetry, the rotating central points inside the branched-chains coincide with each other, the mobility is mutually limited, and the three-dimensional rotation with quick space speed and large rotating range can be realized. The novel symmetric three-rotation parallel mechanism is suitable for satellite tracking positioning, robot shoulder / wrist posture adjustment and other occasions.

Description

technical field [0001] The invention relates to a three-rotation parallel mechanism, in particular to a symmetrical three-rotation parallel mechanism. Background technique [0002] The three-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 applications all require that the structure of the three-rotation parallel mechanism has symmetry, high speed and large rotation space. [0003] At present, the proposed three-rotation parallel mechanism mainly has the following deficiencies: 1) The structure does not have symmetry, resulting in asymmetric kinematics and dynamics of the mechanism in the working space. As described in the patent CN101590650B, the space three-rotation parallel mechanism has three active branch chains, two of which are composed of ball h...

AI Technical Summary

Problems solved by technology

[0003] At present, the proposed three-rotation parallel mechanism mainly has the following deficiencies: 1) The structure does not have symmetry, resulting in asymmetric kinematics and dynamics of the mechanism in the working space

2) Limited by the branch chain structure or kinematic pair, the mechanism cannot realize the movement with fast rotation speed and large rotation angle

As described in the patent CN102120299B, the branch chain of the space three-rotation parallel mechanism is complicated, and it is difficult to realize the large-angle movement; the mechanism described in the patent CN1189288C is composed of three "universal joints-moving pairs-cylindrical pairs" with the same structure. Due to the limitation of the cylindrical pair, this type of mechanism cannot achieve high-speed rotation

[0004] To sum up, the existing three-rotation parallel mechanism in space is not conducive to applications with high speed and large rotation angles.

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