Three-dimensional translational parallel mechanism based on motion decoupling

Abstract

The invention discloses a three-dimensional translational parallel mechanism based on motion decoupling with the purposes of overcoming problems of a parallel mechanism including difficulty in calculation of forward kinematics, small motion space, strong coupling between the position and the direction of a movable platform (II), low response speed and high cost. The three-dimensional translational parallel mechanism based on motion decoupling comprises a fixed platform (I), the movable platform (II), a first branched chain (III) of the parallel mechanism, a second branched chain (IV) of the parallel mechanism, a third branched chain (V) of the parallel mechanism. The movable platform (II) is located above the fixed platform (I). The first branched chain (III) of the parallel mechanism, the second branched chain (IV) of the parallel mechanism and the third branched chain (V) of the parallel mechanism are located between the movable platform (II) and the fixed platform (I). Upper ends of the first branched chain (III) of the parallel mechanism, the second branched chain (IV) of the parallel mechanism and the third branched chain (V) of the parallel mechanism are fixedly connected with the movable platform (II). Lower ends of the first branched chain (III) of the parallel mechanism, the second branched chain (IV) of the parallel mechanism and the third branched chain (V) of the parallel mechanism are fixedly connected with the fixed platform (I).

Description

technical field [0001] The invention relates to a three-dimensional translational parallel mechanism including only low pairs, more precisely, the invention relates to a three-dimensional translational parallel mechanism whose motion can be decoupled. Background technique [0002] A parallel mechanism is a multi-degree-of-freedom mechanism that contains at least two serial kinematic chains between a moving platform and a fixed platform. A parallel mechanism with less than 6 degrees of freedom is called a parallel mechanism with few degrees of freedom. The parallel mechanism has the advantages of high rigidity, strong bearing capacity, stable structure, high operating speed, no error superposition, and high precision, making it widely used in motion simulators, parallel manipulators, parallel kinematic machine tools, tactile devices, medical robots, alignment devices, and remote control systems. Manipulation devices and other fields have been widely used. However, the posit...

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to overcome the problems existing in the prior art, such as the difficulty in solving the forward solution of the kinematics of the parallel mechanism, the small movement space, the strong coupling between

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