Three-degree-of-freedom parallel mechanism with adjustable working space and its adjustment method

Abstract

The invention discloses a three degree-of-freedom parallel connection mechanism with the adjustable working space. The three degree-of-freedom parallel connection mechanism with the adjustable working space comprises a fixed platform (1), a movable platform (2) and three branch chains (4, 5 and 6). The three branch chains comprise first sliding rails (41, 51 and 61), first sliding blocks (42, 52 and 62), first stand columns (43, 53 and 63), first movable pairs (44, 54 and 64), first cylinder pairs (45, 55 and 65), first connection rods (46, 56 and 66) and first sphere pairs (47, 57 and 67) respectively, wherein each first sliding rail is horizontally installed on the corresponding fixed platform; each first stand column is vertically installed on the corresponding first sliding block; each first sliding block is connected with the corresponding first stand column; each first movable pair is connected with the corresponding first stand column and the corresponding first cylinder pair; one end of each first connection rod is connected with the corresponding first cylinder pair; the other end of each first connection rod is connected with the corresponding first sphere pair; each first sphere pair is installed on the corresponding movable platform. Distortion generated when the stand columns are stressed is reduced, and the three degree-of-freedom parallel connection mechanism with the adjustable working space has the advantages of being convenient to install, shortening the adjustment time, improving the efficiency, improving the precision and the like.

Description

technical field

[0001] The invention relates to a three-freedom parallel mechanism with an adjustable working space, in particular a three-freedom parallel mechanism composed of a moving pair, a cylindrical pair and a spherical pair. Background technique

[0002] Parallel mechanism, also known as parallel robot, has many advantages over traditional serial mechanism, such as high rigidity, strong carrying capacity, and high precision. It has attracted the attention of many scholars and carried out in-depth research. Parallel robots can make up for many shortcomings of serial robots in many special applications, and form a complementary relationship with widely used serial robots in application. Parallel mechanisms can overcome many difficulties that are difficult to overcome in series mechanisms, and at the same time have the advantages of low cost, flexibility, and easy concentration.

[0003] Most parallel robots are based on the Stewart platform, but in many occasions 6 d...

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