A four-degree-of-freedom working platform capable of continuous rotation

Abstract

A four-degree-of-freedom working platform capable of continuous rotation, including a working platform, a base, and three branch chains installed between them; the first and third branch chains each include a first hinge a, a first connecting rod, and a first hinge b. The first gear turntable, the first bearing, the first drive gear and the first rotary actuator, the second branch chain includes the second Hooke hinge, the second sliding column, the second sliding sleeve, the second gear turntable, the second The second bearing a, the second bearing b, the second linear actuator, the second gear and the second rotary actuator; the rotation centers of the first hinge a, the second Hooke hinge and the third hinge a are on the working platform The three orthographic points of the three orthographic projections constitute the three vertices of a triangle; during motion, the orthographic projection points of the third hinge b, the first hinge b, and the rotation center of the second gear turntable on the xoy plane of the coordinate system always constitute a The three vertices of the triangle. The invention has the advantages of high rigidity, stable structure, large bearing capacity, small cumulative error, small motion inertia and large rotary working angle.

Description

technical field [0001] The invention relates to a continuously rotatable four-degree-of-freedom working platform, which belongs to the field of designing robot mechanisms. Background technique [0002] The parallel mechanism is driven by multiple branch chains, which makes the parallel mechanism more rigid and stable in structure, and also makes the parallel mechanism have more significant driving ability under the condition of the same moving part mass. Since the errors from each joint will be accumulated and amplified, the error at the end of the series mechanism will be larger, reducing the accuracy of the whole machine. [0003] The parallel mechanism is usually driven by multiple kinematic chains, and there is no such error accumulation and amplification, which makes the error of the parallel mechanism smaller. Moreover, the driving device of the series mechanism is generally placed on the moving arm in a moving state, thereby increasing the mass of the moving part, wh...

AI Technical Summary

Problems solved by technology

Although they all have the function of realizing continuous rotation, some actuators are on the moving mechanism, which increases the inertia of the moving mechanism, which is not conducive to improving the dynamic performance of the overall mechanism, and the entire parallel mechanism is placed on a turntable (moving pair ), there is also a larger cumulative effect of terminal errors and the quality of the increased moving part

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