Corner-table parallel mechanism with three degree of freedom

Abstract

The invention discloses a corner-table parallel mechanism with the three degree of freedom. The corner-table parallel mechanism comprises a movable platform and a fixed platform in cubic corner-tableshapes, the movable platform is connected with the fixed platform through three branch chains, the structures and the sizes of the three branch chains are totally the same, each branch chain comprisesa parallelogram four-rod mechanism connected with the fixed platform, the parallelogram four-rod mechanisms are further sequentially connected with a revolute pair R15, a revolute pair R16 and a revolute pair R17, the revolute pair R17 is connected with the movable platform, and the axes of the revolute pair R15 and the revolute pair R16 are mutually perpendicular to the axis of the revolute pairR17 pairwise. The corner-table parallel mechanism with the three degree of freedom has the three degree of freedom on rotation, the rotating center of the movable platform is the crossing point of arotary shaft connected to the movable platform. The corner-table parallel mechanism has three branch chains, the bearing rigidity of the movable platform is high, and the equipment such as motion simulation and exercise rehabilitation can be designed based on the mechanism.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a three-degree-of-freedom angle platform parallel mechanism. 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 three-degree-of-freedom angle platform parallel mechanism, which solves the installation and arrangement problems of the existing parallel mechanism to a certain extent by using the virtual rotation center, and has the characteristics of high load-bearing rigidity, high precision and strong dexterity

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