A Parallel Mechanism with Motion Bifurcation Characteristics

Abstract

The invention discloses a parallel mechanism with motion bifurcation characteristics, which relates to the field of mechanics and robot technology, and includes a fixed platform, a moving platform, two first branch chains, a second branch chain and a third branch chain; The two sides are respectively connected with the bottom end of a first branch chain, and the two sides of the moving platform are respectively connected with the top end of a first branch chain; one end of the fixed platform is connected with the bottom end of the second branch chain, and the One end is connected with the top of the second branch chain; the other end of the fixed platform is connected with the bottom end of the third branch chain, and the other end of the moving platform is connected with the top of the third branch chain. In the initial position, when the dynamic platform is parallel to the fixed platform and the second rotating pair is parallel to the fixed platform, it has two rotational degrees of freedom and two moving degrees of freedom. When only the second rotating pair is driven, the third branch chain is subject to two constraints. The force limit is 2R1T mode; after returning to the initial configuration, when only the third revolving pair is driven, the third branch chain is subject to a constraint force and a constraint force couple, which is 2T1R mode.

Description

technical field [0001] The invention relates to the technical fields of mechanisms and robots, in particular to a parallel mechanism with motion bifurcation characteristics. Background technique [0002] The field of mechanism research has traditionally focused on parallel mechanisms with fixed degrees of freedom. It has the characteristics of high rigidity, large bearing capacity, high fretting precision, and small motion load. At present, parallel robots are widely used in industrial robots, motion simulators, attitude controllers, medical robots, virtual axis machine tools, 3D printing, etc. [0003] However, with the development of science and technology, in many fields such as industrial production, medical rehabilitation, and space exploration, it is necessary to apply multi-functional, multi-operation modes, and reconfigurable motion modes that can change according to the operating environment. In this context, scholars have gradually deepened the research on reconf...

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Problems solved by technology

In this context, scholars have gradually deepened the research on reconfigurable parallel mechanisms. Reconfigurable parallel mechanisms are mainly divided into two types, mainly including kinematic bifurcated parallel mechanisms and metamorphic parallel mechanisms. Scholars design metamorphic kinematic pairs A series of reconfigurable parallel mechanisms have been designed, such as multi-mode units, lockable joints, singular internal constraints between branch chains, and single-loop closed chains with motion bifurcation characteristics. However, such multi-motion mode parallel mechanisms are still rare at present.

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