Angular platform parallel mechanism with RSR branched chains

Abstract

The invention discloses an angular platform parallel mechanism with RSR branched chains. The angular platform parallel mechanism with the RSR branched chains comprises a moving platform and a fixed platform, wherein the moving platform is in a cubic angular platform shape, and the fixed platform is in a cubic angular platform shape. The moving platform is connected with the fixed platform throughthe three branched chains to be in a cubic shape. Each branched chain comprises a rotating pair R1, wherein the rotating pair R1 is connected with the fixed platform. Each rotating pair R1 is connected with a spherical pair S through a first connecting rod, each spherical pair S is connected with a rotating pair R2 through a second connecting rod, each rotating pair R2 is connected with the movingplatform, and the three rotating pairs R1 are connected with a driving motor. The parallel mechanism comprises the three branched chains, and solves the problems that due to the fact that the degreesof freedom of a parallel mechanism are multiple, the manufacturing process is complex, the cost is high, and control is difficult. The angular platform parallel mechanism with the RSR branched chainshas the advantages that the bearing rigidity is high, the accuracy is high, and the flexibility is high. The bearing rigidity of the moving platform is high, and therefore motion simulation equipment, exercise rehabilitation equipment and the like can be designed on the basis of the mechanism.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to an angle platform parallel mechanism with RSR branch chains. Background technique [0002] The parallel robot mechanism is a closed-chain form with multiple degrees of freedom and multiple loops in space. Since the 1980s, parallel mechanisms have been widely used in virtual axis machine tools, micro-motion consoles, motion simulators and multi-dimensional force sensors because of their high rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. Widely used in other industries. Parallel mechanisms have 2, 3, 4, 5 or 6 degrees of freedom. At present, the research on parallel mechanisms with 6 degrees of freedom is relatively comprehensive and in-depth, but the more degrees of freedom, the higher the cost of manufacturing and control, and It is not easy to control, and the manufacturing and installation process is complicated. ...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a parallel mechanism of angle platform with RSR branch chain, which solves the problem that the manufacturing process is complicated and difficult to control due to the many degrees of freedom of the parallel mechanism. Only 3 degrees of freedom are independent of the 6 degrees of freedom, and the rigidity is high. high precision

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