Fully-isotropic parallel robot mechanism with three-dimensional movement function and two-dimensional rotation function

Abstract

The invention discloses a fully-isotropic parallel robot mechanism with a three-dimensional movement function and a two-dimensional rotation function. The fully-isotropic parallel robot mechanism comprises a fixed platform (1), a movable platform (19) and four branched chains connected between the two platforms. The four branched chains are located on the four sides of the movable platform, the first branched chain is composed of a movable pair, a parallelogram hinge, three rotary pairs and four connecting rods, and the second branched chain and the fourth branched chain are completely the same in structure and are each composed of two movable pairs, three rotary pairs and four connecting rods. The third branched chain is formed by a movable pair perpendicular to the fixed platform, five rotary pairs and five connecting rods. Five drive pairs include the movable pair (P<11>), the movable pair (P<21>), the movable pair (P<31>), the rotary pair (R<43>) and the rotary pair (R<13>) respectively, and the input speed and the output speed of five-freedom-degree motion of three-dimensional movement and two-dimensional rotation are in one-to-one correspondence linear relation. The fully-isotropic parallel robot mechanism has the beneficial effects that control is easy, no drive singularity exists, and motion is completely decoupled; and the mechanism can be used for a five-freedom-degree virtual axis parallel machine tool.

Description

Technical field [0001] The invention belongs to the field of robots, in particular to a completely isotropic parallel robot mechanism with three shifts and two turns. Background technique [0002] Since the parallel mechanism is a multi-branch closed-loop structure, it has the advantages of high speed, high precision, high rigidity and strong bearing capacity. At present, a variety of new parallel mechanisms have been applied, such as the six-degree-of-freedom Stewart mechanism, the three-degree-of-freedom Delta mechanism, and the Y-Star mechanism. The weaknesses of parallel mechanisms are also obvious, such as complex structure and strong kinematic coupling. In particular, the strong coupling results in a small working space for the parallel mechanism, and difficulties in trajectory planning, control design and calibration. The motion of the completely isotropic parallel mechanism is completely decoupled, there is no kinematic singularity in the working space, it has bett...

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Problems solved by technology

For example, Chinese Patent Publication Nos.: CN101058185A, CN101927491A, CN103968207A, CN102303313A, it is not difficult to find that current research mainly focuses on the three-degree-of-freedom completely isotropic parallel mechanism, but the five-degree-of-freedom parallel robot mechanism is very unique in the few-degree-of-freedom parallel robot mechanism. One kind of application potential, there are also some invention patents for three-moving, three-rotating, five-degree-of-freedom parallel mechanisms, such as Chinese patent application numbers: 200310115539.3, 200510101134.3, 200910108016.3, etc., but the five-degree-of-freedom parallel mechanism of the above invention is not suitable for the above existing As far as the mechanism is concerned, they all have problems such as strong kinematic coupling and singular configurations.

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