Weak symmetric one-transverse movement two-rotating spherical coordinate zero-coupling parallel mechanism

Abstract

The invention discloses a weak symmetric one-transverse movement two-rotating spherical coordinate zero-coupling parallel mechanism which comprises complex branches I and II for connecting static / moving platforms. The complex branch I is characterized in that sub-chains I and III are connected in parallel to be connected with a rotating pair V in series; the sub-chain I comprises a rotating pair Iand a moving pair I, the sub-chain III includes a rotating pair III and a moving pair III, and the tail ends are all hinged to the moving platform; the rotating pairs I and III rotate around the axisof the rotating pair V; the complex branch II is characterized in that sub-chains II and IV are connected in parallel to connect with a rotating pair VI in series; the sub-chain II includes a rotating pair II and a moving pair II, and the tail ends are hinged to the moving platform; the sub-chain IV includes a rotating pair IV and a moving pair IV, and the tail ends are fixedly connected to the moving platform; the rotating pairs II and IV rotate around the axis of the rotating pair VI at the same time; the moving pairs I, II and III are subjected to active input, and the moving platform generates movement vertical to the static platform and rotation around axes of the rotating pairs I and V. The base of the mechanism is of a quadrilateral structure, the degree of coupling is zero, kinematics positive solution analysis of the mechanism is facilitated, and real-time control over the operating position of the mechanism is facilitated.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a weak symmetry-translation and two-rotation spherical coordinate zero-coupling parallel mechanism, which provides a new weak symmetry-translation and two-rotation configuration for robot actuators and mechanism types. Background technique [0002] In recent years, spherical coordinate parallel mechanisms with 1T2R (one translation, two rotations) output have been widely used. Patent US4732525 proposes a widely used Tricept hybrid robot. The hybrid robot consists of two rotations in series of a 1T2R parallel mechanism, which has the characteristics of good static / dynamic performance, large working space / base volume ratio, and reconfigurability. However, the coupling degree of the parallel main structure is high, the structure is complex, and the number of mechanism hinges and components is too large, resulting in high manufacturing costs and complicated processes. The TriVariant-A hybrid ...

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