Three-translation parallel mechanism

Abstract

The invention discloses a three-translation parallel mechanism comprising a movable platform, a fixed platform and three motion branch chains for connecting the movable platform and the fixed platform. The second motion branch chain and the third motion branch chain are symmetrically arranged relative to the movable platform, and the first motion branch chain is arranged at the middle positions ofthe second motion branch chain and the third motion branch chain; the first motion branch chain and the second motion branch chain each comprise an upper connecting rod and a lower connecting rod which are connected with each other, and the third motion branch chain comprises a first moving part and a second moving part which are connected with each other; and the first moving part and the secondmoving part can be moved relatively for forming a moving pair of the third motion branch chain. The three-translation parallel mechanism disclosed by the invention has the advantages of simple configuration of the moving pair, easy guarantee of manufacturing accuracy, low assembly requirement and motion coupling, easy solving of kinematic forward and inverse solutions, easy control, and high rigidity, force stability and motion stability.

Description

technical field [0001] The invention relates to the field of parallel mechanisms, in particular to a three-translation parallel mechanism. Background technique [0002] The parallel mechanism has the advantages of low inertia, high rigidity, and strong load capacity, and parallel robots are widely used in CNC machine tools, sensors, aerospace, 3D printing, medicine and other fields. [0003] But the current parallel robot has great limitations: [0004] (1) The motion coupling is strong, the control is difficult, and the inertial force is large in high-speed occasions; [0005] (2) The forward solution of kinematics is complex; [0006] (3) The working space is small; [0007] (4) Manufacturing accuracy is difficult to guarantee. [0008] The rapid development of science and technology has put forward higher requirements for parallel robots. Among them, the 3D printer that realizes the spatial three-translation movement has the characteristics of high efficiency, low co...

AI Technical Summary

Problems solved by technology

[0003] But the current parallel robot has great limitations:

[0004] (1) The motion coupling is strong, the control is difficult, and the inertial force is large in high-speed occasions;

[0005] (2) The forward solution of kinematics is complex;

[0007] (4) Manufacturing accuracy is difficult to guarantee

However, the existing parallel mechanism cannot solve the above problems, so it cannot adapt to higher precision requirements, etc.

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