Parallel-series mixing device with four branched chains driving single branch chain for servo

Abstract

The invention provides a parallel-series mixing device with four branched chains driving a single branch chain for servo. The parallel-series mixing device comprises a base, a moving platform, electric cylinders, cross hinges, ball hinges and a servo branch chain; the lower end of each electric cylinder is connected with the upper surface of the base through the corresponding cross hinge, and theupper end of each electric cylinder is connected with the lower surface of the moving platform through the corresponding ball hinge, the lower end of the servo branch chain is connected with the middle of the base through the cross hinges, the upper end of the servo branch chain is connected with the lower surface of the moving platform, the moving platform is provided with two rotational freedomdegrees and one lifting freedom degree, all electric cylinders work synergistically, and the rotation in any direction and the lifting within a certain range are achieved.

Description

technical field [0001] The invention belongs to the field of hybrid robot mechanics, and relates to a parallel-series hybrid device driven by a four-branched chain and followed by a single-branched chain. Background technique [0002] With the continuous deepening of the research field of parallel mechanisms, scholars have found that the use of the six-degree-of-freedom workspace is relatively rare in the operation of many practical tasks. It has become a hot spot, and the most classic one is the 3-RPS parallel mechanism, but it has disadvantages such as small working space and poor stiffness performance. [0003] Scholars at home and abroad have conducted in-depth research on the three-degree-of-freedom parallel mechanism. The most widely used is the 3-RPS parallel mechanism, which uses three RPS branches including a rotating pair, a ball pair, and a moving pair to connect the dynamic and static platforms. Its structure is simple , low cost, convenient operation and easy d...

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Problems solved by technology

[0002] With the continuous deepening of the research field of parallel mechanisms, scholars have found that in the process of many practical tasks, the use of six degrees of freedom work space is relatively rare, while the research on three degrees of freedom parallel mechanisms in the research of parallel mechanisms with few degrees of freedom is gradually It has become a hot topic, and the most classic one is the 3-RPS parallel mechanism, but it has disadvantages such as small working space and weak rigidity performance.

[0003] Scholars at home and abroad have carried out in-depth research on the three-degree-of-freedom parallel mechanism, the most extensive of which is the 3-RPS parallel mechanism, which uses three RPS branches including a rotating pair, a spherical pair, and a moving pair to connect the dynamic and static platforms, and its structure is simple. , low cost, convenient operation, and easy decoupling have become an important form of scientific research and industrial applications of parallel mechanisms with few degrees of freedom. However, due to the lack of degrees of freedom, the traditional 3-RPS parallel mechanism itself is subject to the anti-deformation ability of constant external loads. Weaker, compared with the multi-degree-of-freedom parallel mechanism, the static stiffness performance is poor

On the other hand, when a single branch chain fails, it is difficult for the parallel mechanism to work normally, and some parallel mechanisms designed with multi-branch chains have too many branches and redundancy, and the structure is complex The degree of increase increases, the difficulty of operation control increases, and the cost of products shows an increasing trend

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