A Three-Rotation-One-Move Generalized Decoupled Parallel Robot Mechanism

Abstract

A three-rotating one-movement generalized decoupling parallel robot mechanism comprises a base, a movable platform and four branches connected with the base and the movable platform. One ends of the four branches are evenly arranged on the periphery of the base, and the other ends of the four branches are evenly distributed on the movable platform in a regular triangle mode. The first branch and the second branch share the same point of junction. One end of the first branch and one end of the second branch are connected with the base through movable pairs, and the other end of the first branch and the other end of the second branch are connected with the movable platform through rotating pairs with the axes being coincident. One end of the third branch and one end of the fourth branch are connected with the base through a rotating pair, and the other end of the third branch and the other end of the fourth branch are connected with the movable platform through rotating pairs. Three connecting rods in the first branch, four connecting rods in the second branch, five connecting rods in the third branch and five connecting rods in the fourth branch are connected through rotating pairs. According to the three-rotating one-movement generalized decoupling parallel robot mechanism, the four branches are different in constitution and decoupled completely, the structure is simple, control is easy, and complete decoupling of three rotations and movement in one direction can be achieved.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel mechanism. Background technique [0002] The traditional parallel mechanism has the characteristics of good structural rigidity, large bearing capacity, and small cumulative error, making it widely used in the fields of robots, virtual axis machine tools, and micro manipulators. However, due to the existence of strong coupling, there are many difficulties in configuration design, analysis and calculation, and mechanism control of parallel mechanisms, which limits the application of parallel mechanisms to a certain extent. [0003] Decoupling was originally a concept used in the control system, that is, adopting a certain structure or finding a suitable control law to eliminate the mutual coupling relationship between the control loops in the system, so as to maintain a one-to-one correspondence between the input and output , that is, each input controls only one output, and each...

AI Technical Summary

Problems solved by technology

Although researchers have discovered and applied parallel mechanisms with decoupling properties, there are very few studies on the decoupling properties of parallel mechanisms, and the research on decoupling of parallel mechanisms has not yet formed a systematic theory.

After searching the existing technology, it was found that the Chinese patent with the publication number CN105108734A discloses a three-rotation-one-transfer fully isotropic parallel robot mechanism, the purpose of which is to provide a four-degree-of-freedom motion input with one-dimensional movement and three-dimensional rotation. Output a parallel mechanism with complete one-to-one correspondence. The mechanism includes three branch chains with different structures, and the four driving motion pairs in the three branch chains are respectively the moving pair (P11), the rotating pair (Rz), (R21), (R32 ), has the advantages of low cost, good kinematics and force transmission performance, and can be applied to parallel robots, parallel machine tools, micro-motion robots, etc., but the mechanism only contains three branches, with low stiffness and weak carrying capacity

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