Completely decoupled planar two-degree-of-freedom parallel mechanism

Abstract

The invention discloses a completely-decoupled plane two-degree-of-freedom parallel mechanism to solve the existing problems that large movement space is needed, the self-inertia and a structural gap are large, and the response speed is low. The completely-decoupled plane two-degree-of-freedom parallel mechanism comprises a fixing platform (1), a short sliding block (2), a high sliding block (3), a long connecting rod (4), a short connecting rod (5) and a handle (6). The short sliding block (2) is installed in a vertical sliding block groove (7) in the fixing platform (1) and is in sliding connection, the high sliding block (3) is installed in a transverse sliding block groove (8) in the fixing platform (1) and is in sliding connection, the handle (6) is located between the long connecting rod (4) and the short connecting rod (5) and suspended above the fixing platform (1), the short sliding block (2) is rotationally connected with the right end of the short connecting rod (5), the handle (6) is rotationally connected with the left end of the short connecting rod (5), the high sliding block (3) is rotationally connected with the left end of the long connecting rod (4), and the handle (6) is rotationally connected with the right end of the long connecting rod (4).

Description

technical field [0001] The invention relates to a two-degree-of-freedom translation mechanism, more precisely, the invention relates to a completely decoupled planar two-degree-of-freedom parallel mechanism. Background technique [0002] The master-slave teleoperation robot system requires the operator to be able to continuously input control commands and obtain feedback information including force / tactile. As a human-machine interface device, the force feedback operating device is responsible for the two-way transmission of motion and force information between the operator and the teleoperated robot system, which once became a bottleneck in the development of teleoperated robot technology. In the master-slave robot system, the use of high-performance force feedback manipulator can improve the sense of presence, work quality and efficiency. In recent years, various types of force (tactile) feedback interaction devices have been researched and developed, but the maximum cont...

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