Completely-decoupled two-rotation and one-movement parallel mechanism

Abstract

The invention provides a completely-decoupled two-rotation one-movement parallel mechanism. The completely-decoupled two-rotation one-movement parallel mechanism has three degrees of freedom, namely rotation in two directions and movement in one direction, and when a first cylindrical pair in a first branch kinematic chain serves as a driving pair for independent input, a movable platform has onerotation degree of freedom; when a first moving pair in a second branch kinematic chain serves as the driving pair for independent input, the movable platform has another rotational degree of freedom;and when the linear displacement of the first cylindrical pair and the second cylindrical pair in the first branch kinematic chain and a third branch kinematic chain serves as the driving pair inputat the same time, and the input displacement is the same, the movable platform has one movement degree of freedom. Movement among the three branch kinematic chains of the parallel mechanism has a specific relation, the speed jacobian matrix of the parallel mechanism is a triangular matrix, the parallel mechanism has the kinematic characteristic of complete decoupling, the bearing capacity of the parallel mechanism is improved through the arrangement relation of the three branch kinematic chains, and the parallel mechanism has good development prospects in the fields of robots, machine tools, aerospace and the like.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a completely decoupled two-rotation-one-movement parallel mechanism. Background technique [0002] The parallel mechanism connects the fixed platform and the moving platform through two or more branch chains to form a special multi-closed-loop structure. As a new type of mechanism, parallel mechanism has the characteristics of high precision, small cumulative error, large bearing capacity and compact structure compared with traditional series mechanism. It has been widely used in high-tech fields such as industrial robots, parallel machine tools, and aerospace. [0003] Parallel robot mechanism with few degrees of freedom refers to a robot mechanism with degrees of freedom between 2 and 5. Compared with 6 degrees of freedom, parallel robot mechanism with few degrees of freedom has the advantages of higher stiffness, precision and carrying capacity. Since then, it has ...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a completely decoupled two-rotation-one-movement parallel mechanism to solve the problems of strong kinematic coupling, poor decoupling and small working space of the parallel mechanism existing in the prior art.

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