Generalized Decoupling Parallel Mechanism with Three Transfers and One Transfer

Abstract

The invention discloses a generalized decoupling and parallel connection mechanism with the three-rotation and one-movement property. The mechanism comprises a base, a movable platform and four branches for connecting the base with the movable platform. One end of each branch is connected with the base through a rotating pair or a moving pair. One end of the first branch and one end of the second branch are connected with the base through the moving pairs correspondingly, the other end of the first branch and the other end of the second branch are connected with the movable platform through the rotating pairs correspondingly, the axes of the rotating pairs connected with the movable platform coincide, one end of the third branch and one end of the fourth branch are connected with the base through the rotating pairs correspondingly, and the other end of the third branch and the other end of the fourth branch are connected with the movable platform through the moving pairs and the rotating pairs correspondingly. The mechanisms and the connection pairs of the four branches are different from one another, and the different branches are completely decoupled. The generalized decoupling and parallel connection mechanism is high in rigidity, simple in structure, easy to control and capable of completing decoupling of three rotation and movement in one direction.

Description

Technical field [0001] The invention belongs to the field of robots, and particularly relates to a parallel mechanism. Background technique [0002] The traditional parallel mechanism has the characteristics of good structural rigidity, large carrying capacity, and small cumulative error, which makes it widely used in the fields of robots, virtual axis machine tools, and micro manipulators. However, due to the existence of strong coupling, parallel mechanisms have many difficulties in configuration design, analysis and calculation, and mechanism control, which limits the application of parallel mechanisms to a certain extent. [0003] Decoupling was originally a concept used in control systems, that is, to use a certain structure or find a suitable control law to eliminate the mutual coupling relationship between the control loops in the system, and thereby maintain a one-to-one correspondence between input and output. , That is, each input only controls one output, and each outpu...

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 and output for one-dimensional movement and three-dimensional rotation Complete one-to-one correspondence parallel mechanism, 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.

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