Four-branched chain parallel mechanism

Abstract

The invention discloses a four-branched chain parallel mechanism which comprises a fixed platform, a moveable platform, and an RRPS (Round Robin Path Scheduling) movement branch chain and three SPS (Satellite Power System) movement branch chains, wherein the fixed platform and the moveable platform are connected through the RRPS movement branch chain and the three SPS movement branch chains; the RRPS movement branch chain comprises a first revolute joint, a second revolute joint, a first movement joint and a first spherical pair; the axis of the first revolute joint is perpendicular to the fixed platform; the first revolute joint, the second revolute joint, the first movement joint and the first spherical pair are sequentially connected through a first connecting rod, a second connecting rod and a third connecting rod; the SPS movement branch chain comprises a second spherical pair, a second movement joint and a third spherical pair; the second spherical pair, the second movement jointand the third spherical pair are sequentially connected through a fourth connecting rod and a fifth connecting rod; the first spherical pair and the third spherical pair are connected with the moveable platform; and the first revolute joint and the second revolute joint are connected with the fixed platform. The four-branched chain parallel mechanism is rich in freedom degree, large in rigidity,large in moveable platform working space and easy to control.

Description

technical field [0001] The invention belongs to the field of robot and machinery manufacturing, and more specifically relates to a four-chain parallel mechanism. Background technique [0002] The parallel mechanism can be defined as a closed-loop mechanism in which the moving platform and the fixed platform are connected by at least two independent motion branches, have two or more degrees of freedom, and are driven in parallel. The parallel mechanism has the advantages of high motion precision, high stiffness, and good dynamic response. However, the six-degree-of-freedom parallel mechanism has many branch chains. Due to the interference of the motion branch chains, the movement space is generally small. The existing four-branch parallel mechanism is free The degree of freedom is generally less, which seriously restricts the application of parallel mechanisms in the fields of industry and robotics. Therefore, it is of great application value to study parallel mechanisms with...

AI Technical Summary

Problems solved by technology

The parallel mechanism has the advantages of high motion precision, high stiffness, and good dynamic response. However, the six-degree-of-freedom parallel mechanism has many branch chains. Due to the interference of the motion branch chains, the movement space is generally small. The existing four-branch parallel mechanism is free The degrees of freedom are generally less, which seriously restricts the application of parallel mechanisms in the fields of industry and robotics. Therefore, it is of great application value to study parallel mechanisms with four branches, six degrees of freedom and a larger workspace.

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