Four-degree-of-freedom parallel mechanism

Abstract

The invention relates to the technical field of automobile parts, in particular to a four-degree-of-freedom parallel mechanism. The four-degree-of-freedom parallel mechanism comprises a fixed frame, a movable platform and four branch chains. The branch chains are symmetrically arranged between the fixed frame and the movable platform and of the same structure. The movable platform is mainly composed of a main platform and a vice platform. The vice platform is connected with the main platform in a sleeving mode through a bevel gear pair. The axis of a big bevel gear of the bevel gear pair and the axis center of the main platform are coaxial, and the big bevel gear is fixed to one side of the vice platform. A small bevel gear of the bevel gear pair is installed on the main platform. The axis of the big bevel gear is perpendicular to the axis of the small bevel gear. An end effector is installed on the lower portion of the small bevel gear. The four-degree-of-freedom parallel mechanism is simple in structure and clear in motion mode. A large rotation angle range is obtained due to the large transmission ratio of the bevel gear pair, so that a magnification mechanism does not need to be used, and the motion speed is greatly increased.

Description

technical field [0001] The invention relates to the technical field of parallel manipulators, in particular to a four-degree-of-freedom parallel mechanism. Background technique [0002] Since the parallel manipulator was proposed and put into application in the 1880s, the parallel mechanism itself has many advantages compared with the series mechanism, such as high rigidity, stable structure, large bearing capacity, high micro-motion precision, and small motion load, and has been favored by various fields. attention and further development. Multi-degree-of-freedom parallel mechanisms play a huge role in many fields, such as medicine and industry. However, there are still many problems to be solved urgently in the further development of multi-degree-of-freedom parallel mechanisms. As we all know, more degrees of freedom endow the parallel mechanism with more functions, however, it also makes the parallel mechanism more complicated, and its kinematics and dynamics solution p...

AI Technical Summary

Problems solved by technology

[0003] At present, the existing four-degree-of-freedom parallel mechanism that can realize three-dimensional translation and one-dimensional rotation, in order to realize the rotation of the end effector around the axis of the platform, is supplemented by an amplifying mechanism to expand the range of rotation angle. , it will increase the weight of the moving platform, reduce the running speed of the mechanism, and the movement is complicated, and the positive and negative solutions of the movement are very difficult, which increases the cost of development and application

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