Parallel-connection mechanism including suitable constraint branched chain and compound driving branched chain

Abstract

The invention discloses a parallel-connection mechanism including a suitable constraint branched chain and a compound driving branched chain. The parallel-connection mechanism comprises a fixed platform, a moving platform, a first branched chain, a second branched chain and a third branched chain, wherein the parallel-connection mechanism has a freedom degree of transitional motion at three timesand rotation at two times. The parallel-connection mechanism disclosed by the invention has the advantages that firstly, through arrangement of two groups of driving assemblies, compound driving of the branched chain is realized, so that the quantity of branched chains is reduced, interference is reduced, and a working space of the mechanism is widened; and with comparison with a conventional compound driving way such as the way of directly driving revolute pairs, the compound driving way mentioned in the invention has the advantage that the control difficulty is reduced; secondly, by adoptingcooperation between a suitable constraint active branched chain and the compound driving branched chain, the mechanism is wholly plane-symmetrical, uncontrolled errors of the moving platform can be effectively reduced, the kinematics and the kinetics performance of the plane-symmetry can be achieved, and the isotropic performance is improved; and finally, the compound driving branched chain selects a plate-shaped rod, and by comparing with a conventional telescopic rod, the plate-shaped rod adopted by the mechanism disclosed by the invention can enhance the radial rigidity of the branched chains, enhance the bearing capacity of the mechanism, and improve the motion stability.

Description

technical field [0001] The invention belongs to the technical field of parallel mechanisms, in particular to a five-degree-of-freedom parallel mechanism with just constraints and compound drive branch chains. Background technique [0002] In the modern equipment manufacturing industry, space free-form surface parts have been widely used in many important fields, such as automobile shells, turbine blades, aircraft skins, etc. The mechanism to realize this kind of complex surface processing should have high flexibility, and at least five degrees of freedom of motion are required. Compared with the multi-axis serial processing mechanism, the parallel mechanism has the advantages of compact structure, high rigidity, strong bearing capacity and fast response speed. [0003] The configuration of the compound drive branch chain is applied to the parallel mechanism, which has the advantages of simplifying the structure, reducing interference and increasing the working space. Chine...

AI Technical Summary

Problems solved by technology

At present, the compound drive branch chains used in parallel mechanisms mostly use telescopic rods or revolving pairs as direct drives, but only using telescopic rods will reduce the radial stiffness, and the control of direct drive revolving pairs is difficult, which will affect the performance of compound drive branch chains

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