Parallel mechanism with three motion modes of 3R, 2R1T and 1R2T

Abstract

The invention discloses a parallel mechanism with three motion modes of 3R, 2R1T and 1R2T. The parallel mechanism comprises a fixed platform and a movable platform; the fixed platform is connected tothe movable platform through a first branch chain, a second branch chain, a third branch chain and an eighth connecting rod; the movable platform is curved; one end of the first branch chain is connected to the fixed platform; the other end of the first branch chain is connected to the movable platform; one end of the second branch chain is connected to the fixed platform, and the other end of thesecond branch chain is connected to a free end of the eighth connecting rod; one end of the third branch chain is connected to the fixed platform; the other end of the third branch chain is connectedto a free end of the eighth connecting rod; the other free end of the eighth connecting rod is connected with a rotating pair R4; and the rotating pair R4 is connected to the movable platform. The parallel mechanism disclosed by the invention can meet the requirements of complex curved surface processing. The parallel mechanism is suitable for manipulators working on curved surfaces, can be usedfor welding airframes, and can be used for aircraft wing assembling.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a parallel mechanism with three motion modes of 3R, 2R1T and 1R2T. 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 reduction of degrees of freedom in parallel mechanisms will make the mechanism structure simpler, manufacturing and control The cost is relatively low, so in the cas...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a parallel mechanism with three motion modes of 3R, 2R1T and 1R2T, which solves the problem that the parallel mechanism with three motion modes of 3R, 2R1T, and 2T1R at the same time has a complicated transformation process. The parallel mechanism of the present invention The mechanism can meet the requirements of complex curved surface processing

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