Two-degree of freedom centering parallel mechanism driven by coaxial rotation

Abstract

The invention relates to a moving mechanism, in particularly to a two-degree of freedom centering parallel mechanism driven by coaxial rotation. The two-degree of freedom centering parallel mechanismincludes a moving platform, a double-layer shaft system and a first, a second and a third kinematic chains which are arranged between the moving platform and the double-layer shaft system. The double-layer shaft system includes an inner layer shaft, an outer layer hollow shaft and a double-layer shaft system outer shell which are in rotation connection from inside to outside in sequence. The innerlayer shaft is connected with the first kinematic chain. The outer layer hollow shaft is connected with the second kinematic chain. The double-layer shaft system outer shell is connected with the third kinematic chain. The double-layer shaft system drives the moving platform to do pitching or yawing movement through the three kinematic chains. According to the two-degree of freedom centering parallel mechanism driven by coaxial rotation, rotation of two directions of pitching and yawing can be centered achieved; the centering parallel mechanism is convenient to combine with other all kinds ofkinematic mechanisms and is easy to solve; modularization is easy to realize; the two-degree of freedom centering parallel mechanism driven by coaxial rotation is compact in structure and flexible inmovement; and has very wide application prospects.

Description

technical field [0001] The invention relates to a motion mechanism, in particular to a two-degree-of-freedom centering parallel mechanism driven by coaxial rotation. technical background [0002] The parallel mechanism is a multi-ring, multi-degree-of-freedom mechanism with flexible and fast movement and high rigidity. The load of the parallel structure is shared by each motion branch chain, so the load capacity is strong. At present, among the disclosed parallel mechanisms, there are many different implementation forms from two degrees of freedom to six degrees of freedom, which are suitable for different application occasions such as different machine tool processing, product sorting, and flight simulators. The two-degree-of-freedom centering-rotating parallel mechanism is very suitable for installation at the moving end of other mechanisms to increase the degree of freedom of rotation of the mechanism. And because the central position of the rotating mechanism is fixed,...

AI Technical Summary

Problems solved by technology

Most of the parallel mechanisms need to be driven by a linear mechanism, and the motor cannot directly provide power for it. It needs to convert the rotation into a linear motion through a screw pair, which makes the system more complicated and introduces transmission errors.

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