Overconstrained Parallel Mechanism with Equivalent Tricept Mechanism Motion

Abstract

The invention discloses an overconstrained parallel mechanism with equivalent Tricept mechanical movement. First and third driving branches are the same in structure; rotating pairs at the outer sides of universal hinges of the two driving branches are connected with a fixed platform; rotating pairs at the inner sides of the universal hinges are perpendicular to movement pairs; and spherical pairs are connected with a movable platform. The rotating pair at the outer side of the universal hinge of the second driving branch is connected with the fixed platform, and is pointed to the center of the fixed platform; the rotating pair at the inner side of the universal hinge is parallel to rotating pairs at the upper ends of the branches, and is perpendicular to movement pairs of the branches; and the rotating pairs at the upper ends of the branches are connected with the movable platform, and are parallel to opposite edges of the movable platform. A rotating pair at the outer side of a universal hinge of a middle constrained branch is connected with the fixed platform, and is pointed to the lower end point of the second branch; a rotating pair at the inner side of the universal hinge is parallel to the connecting line of upper end points of the first and third branches, and is perpendicular to the movement pairs; and the movement pairs are vertically connected with the movable platform. The overconstrained parallel mechanism has equivalent kinematics with the Tricept mechanism, remains excellent movement characteristics of the Tricept mechanism, has smaller movement pairs compared with the Tricept mechanism, and has higher rigidity and movement precision.

Description

Technical field [0001] The invention relates to the field of parallel mechanisms, in particular to an over-constrained parallel mechanism with equivalent Tricept mechanism motion. Background technique [0002] Parallel mechanisms with few degrees of freedom have been a research hotspot in mechanism in recent decades. Their configurations are very rich, but there are still very few mechanisms successfully applied in the industry. Tricept mechanism (US4732525) is currently one of the most successful parallel mechanisms promoted in the industry. The inventor of the mechanism, Dr. Neumann, pointed out that the geometric errors of the joints, gaps and other issues are the main source of the accuracy of the parallel machine tool. The parallel mechanism with fewer joints and less invalid degrees of freedom is the first choice for the machine body. Based on this concept, Dr. Neumann proposed the Exechon mechanism with fewer joints (WO2006054935). In fact, the Triccpt mechanism itself d...

AI Technical Summary

Problems solved by technology

In fact, the Triccpt mechanism itself does not use the minimum number of joints, and there is still room for further reduction in the number of joints

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