Three-freedom-degree decoupling spherical surface parallel mechanism

Abstract

The invention provides a three-freedom-degree decoupling spherical surface parallel mechanism. The three-freedom-degree decoupling spherical surface parallel mechanism comprises a fixed platform, a rotating part, a movable platform, a first arc-shaped branched chain, a second arc-shaped branched chain, a first arc-shaped connection rod and a second arc-shaped connection rod. According to the three-freedom-degree decoupling spherical surface parallel mechanism, the rotating part can drive the movable platform to rotate by 360 degrees in the direction perpendicular to the fixed platform, the first arc-shaped connection rod and the second arc-shaped connection rod do reciprocating motion in the tangential direction of the first arc-shaped branched chain and the tangential direction of the second arc-shaped branched chain correspondingly so that the movable platform can rotate around the axis of the plane where the first arc-shaped branched chain or the second arc-shaped branched chain is located, in this way, the movable platform rotates in three directions, rotation in three directions is driven by three drive units which are in three directions and are independent from one another, and three rotation actions of the mechanism have decoupling performance.

Description

technical field [0001] The invention relates to the technical field of parallel mechanisms, in particular to a three-degree-of-freedom decoupling spherical parallel mechanism. Background technique [0002] Since the parallel robot was first proposed in 1938, it has been widely used in various fields of society due to its characteristics of large rigidity, strong carrying capacity, small error, high precision, small self-weight-to-load ratio, good dynamic performance, and easy control. At present, there are 2-degree-of-freedom, 3-degree-of-freedom, 4-degree-of-freedom, and 6-degree-of-freedom parallel mechanisms; at present, 3-degree-of-freedom parallel mechanisms are the most studied and widely used type of parallel mechanisms with few degrees of freedom. It can be divided into four categories according to the degree of freedom of the moving platform: 3-rotation parallel mechanism, 2-rotation 1-movement parallel mechanism, 1-rotation 2-movement parallel mechanism, and 3-move...

AI Technical Summary

Problems solved by technology

[0007] Most of the kinematic pair configurations of these mechanism branch chains include RR or RRR, and the axes of these kinematic pairs intersect at one point to realize the movement of the three degrees of freedom of the moving platform. Among them, Lin Rongfu of Shanghai Jiaotong University uses arc-shaped moving The arc-shaped configuration of the vice allows the moving platform to be constrained by forces in three directions, and can only rotate in three directions around the center of the arc, without partial decoupling

Images