Arc-shaped spring driven three-degree-of-freedom decoupling parallel mechanism

Abstract

The invention provides an arc-shaped spring driven three-degree-of-freedom decoupling parallel mechanism. The arc-shaped spring driven three-degree-of-freedom decoupling parallel mechanism comprises afixed platform; a movable platform; a first motion branch chain, wherein the first motion branch chain comprises first heating parts, first shape memory alloy springs and a sliding part, the first heating parts are uniformly arranged on the fixed platform at intervals, the first shape memory alloy springs are arc-shaped, one end of each first shape memory alloy spring is connected with the corresponding first heating part, and the other end of each first shape memory alloy spring is connected with the sliding part, and the sliding part can slide on the fixed platform; and a second motion branch chain, wherein the second motion branch chain comprises second heating parts and second shape memory alloy springs, one end of each second shape memory alloy spring is connected with the corresponding second heating part, and the other end of each second shape memory alloy spring is rotationally connected with the movable platform. According to the parallel mechanism, the movable platform doesthree-degree-of-freedom motion around a space fixed point by utilizing the principle of heating extension and cooling shrinkage of the shape memory alloy springs, and the rotation of the movable platform around a Z axis has decoupling property relative to the rotation in other two directions.

Description

technical field [0001] The invention relates to the technical field of parallel mechanisms, in particular to an arc spring-driven three-degree-of-freedom decoupling parallel mechanism. Background technique [0002] Since the parallel robot was first proposed in 1938, it has been widely used in various fields of society because of its large rigidity, strong carrying capacity, small error, high precision, small self-weight-to-load ratio, good dynamic performance, and easy control. Among them, the spherical surface parallel mechanism belongs to the 3-rotation parallel mechanism, which can realize the arbitrary rotation of the center of the spherical surface around the reference point of the orbiting platform. radius rotation. Compared with the general parallel mechanism, the spherical parallel mechanism has the advantages of large working space, flexibility and reliability, and less interference. The decoupling of the parallel mechanism means that the movement (movement or ro...

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Problems solved by technology

[0004] In the prior art, the kinematic pair configurations of these mechanism branch chains mostly include RR, RRR, RPS, and the axes of these kinematic pairs intersect at one point to realize the movement of the three degrees of freedom of the moving platform; and the kinematic pair of these mechanism branch chains The large number, the axis deviation of the rotating pair or the moving pair will lead to the unsmooth movement of the moving platform, or even the phenomenon of jamming, which will seriously affect the overall motion performance of the mechanism

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