Variable-topology four-degrees-of-freedom parallel mechanism

Abstract

The invention discloses a variable-topology four-degrees-of-freedom parallel mechanism which comprises a rack, a movable platform and four branch chains between the rack and the movable platform, wherein two ends of each of the four branch chains are connected with the rack and the movable platform by virtue of a spherical hinge structure, structures of the four branch chain structures are completely identical, the four branch chains are rectangularly distributed between the rack and the movable platform; the fifth branch chain is arranged between the rack and the movable platform. The movable platform is controlled by virtue of the four branch chains to move, thus the variable-topology four-degrees-of-freedom parallel mechanism is simple in structure and easy to realize; the change of the degrees-of-freedom of the movable platform of the variable-topology four-degrees-of-freedom parallel mechanism can be completed by changing the fifth branch chain, the movable platform can be used as an end effector, and used for completing works such as grabbing, conveying and damping devices; by virtue of simple topological transformation, a multifunctional mechanism relatively has a practicability, so that the use efficiency of the mechanism is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a variable topology four-degree-of-freedom parallel mechanism. Background technique [0002] Parallel mechanism has many advantages such as large rigidity, strong bearing capacity, small cumulative error, and high control precision. The four-degree-of-freedom parallel mechanism can meet the working requirements of parallel machine tools with its good motion characteristics. The four-degree-of-freedom parallel mechanism can be used as a prototype of machine tools, shock absorbers and vibrating screens. It has a compact structure, design and manufacture and low cost of control. In the current prior art, the type synthesis method is used to obtain a symmetrical and isotropic four-degree-of-freedom parallel mechanism composed of simple series chains, no redundant branch chains, but such a mechanism configuration is very limited and cannot be obtained effectively. use, and the mechanism is com...

AI Technical Summary

Problems solved by technology

In the current prior art, the type synthesis method is used to obtain a symmetrical and isotropic four-degree-of-freedom parallel mechanism composed of simple series chains, no redundant branch chains, but such a mechanism configuration is very limited and cannot be obtained effectively. use, and the mechanism is complex and costly

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