Reconfigurable parallel operating platform with six degrees of freedom

Abstract

The invention belongs to the technical field of parallel mechanism theories and robots, and discloses a reconfigurable parallel operating platform with six degrees of freedom. The reconfigurable parallel operating platform is provided with six driving chains, and each driving chain is composed of an electric cylinder, a spherical hinge and a hooke hinge. The upper ends of the driving chains are connected with a moving platform through the hooke hinges, and the lower ends of the driving chains are connected with circular gears through the spherical hinges, wherein shafts of the circular gears slide on an annular guide rail. The six circular gears are engaged with a central gear. The annular guide rail is mounted on a fixing platform and concentric with the fixing platform. The central gearis mounted at the axis center of the fixing platform through a transmission shaft, a flange support and the like. The circular gears can move on the annular guide rail through arc moving blocks and also can rotate around own axes, and the rotating shafts of the circular gears can be fixed through fastening screws. The position of the central gear is adjusted through a screw rod so that the engaging relation between the central gear and the circular gears can be changed, the circular gears on the annular guide rail can be moved or rotated to change the configuration of the operating platform with six degrees of freedom, the process is simple and rapid, and the reconfigurable parallel operating platform is safe and reliable.

Description

technical field [0001] The invention belongs to the field of parallel mechanism and robot technology, in particular to a reconfigurable six-degree-of-freedom parallel operation platform. Background technique [0002] The parallel mechanism refers to the mechanism with two or more degrees of freedom, which is formed by connecting the moving platform and the fixed platform with two or more drive chains. Compared with the series mechanism, it has the advantages of strong bearing capacity, no accumulation of transmission errors and simple kinematics inverse solution solution. Therefore, parallel mechanisms, especially six-degree-of-freedom parallel mechanisms, are widely used in fields such as flight simulators, aircraft docking, parallel machine tools, parallel force sensors, joint rehabilitation, adjustment of large radar antenna secondary reflectors, and precision operations. However, the currently used six-degree-of-freedom parallel mechanism platform is determined to be a ...

AI Technical Summary

Problems solved by technology

[0003] To sum up, the problems existing in the existing technology are: the currently applied six-degree-of-freedom parallel mechanism platform limits the adaptability of the kinematics and dynamics of the mechanism to different operating tasks, which is not conducive to its use as a robot operating mechanism

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