(2T1R) and 1T four-degree-of-freedom decoupling parallel and serial mechanism

Abstract

The invention belongs to the field of robots, and particularly relates to a space decoupling parallel and serial mechanism. The space decoupling parallel and serial mechanism mainly comprises a parallel mechanism (2T1R) and a sliding pair 1T, wherein the sliding pair 1T is serially connected to a movable platform of the parallel mechanism; the parallel mechanism consists of a fixed platform, the movable platform and three branches; the fixed platform is connected with the movable platform via the three branches; each of the first branch and the second branch consists of a cylindrical pair, a parallelogram hinge, two revolute pairs with parallel axes, a revolute pair of which an axis is perpendicular to the movable platform and four connecting rods; the cylindrical pair, the parallelogram hinge, the two revolute pairs with the parallel axes and the revolute pair of each of the first branch and the second branch are connected to one another by the corresponding four connecting rods; the third branch consists of a revolute pair parallel to the fixed platform, three revolute pairs with parallel axes and three connecting rods; the revolute pair parallel to the fixed platform and the three revolute pairs with the parallel axes are connected to one another by the three connecting rods; and the tail end of the mechanism is connected with the movable platform through the sliding pair of the movable platform. The space decoupling parallel and serial mechanism is stable in structure, three-degree-of-movement and rotation around the axis of the revolute pair, which is connected with the fixed platform, in the third branch can be implemented, different movements are decoupled and are easy to control, the motion space is large, and the bearing capacity is high.

Description

Technical field [0001] The invention belongs to the field of robots, in particular to a space decoupling hybrid mechanism. Background technique [0002] A hybrid robot refers to a complex mechanical system that includes at least one parallel mechanism and one or more serial mechanisms combined in a certain way. The hybrid mechanism is a combination of series and parallel mechanisms, which can comprehensively inherit the excellent properties of parallel mechanisms and series mechanisms, and provide a better performance balance between the two, thus having better practicability. [0003] The design and innovation of parallel mechanisms with few degrees of freedom is an important prerequisite for the design of hybrid mechanisms. Since hybrid robots include parallel structures, parallel mechanisms have the problem of strong kinematic coupling. Due to the coupling of hybrid robots, there are many problems in mechanism design, calculation analysis and motion control. Therefore, ...

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Problems solved by technology

Although the above-mentioned invention mechanism can realize four-degree-of-freedom movement on the mechanism dynamic platform, there are very few hybrid mechanisms that can achieve decoupling, and the decoupling of most hybrid mechanisms has not been solved well.

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