Split type five-degree-of-freedom parallel mechanism

Abstract

The invention discloses a split type five-degree-of-freedom parallel mechanism. The split type three-degree-of-freedom parallel mechanism comprises a fixed platform, a movable platform, a first branchchain, a second branch chain and a third branch chain, and has three translational degrees of freedom and two rotational degrees of freedom. The split type five-degree-of-freedom parallel mechanism has the advantages that on the one hand, the fixed platform is of a split structure, three driving pairs are arranged on sub-platforms, so that the motion characteristics of the movable platform are guaranteed, a driving system is centralized, the influence of a control system on the movable platform is reduced, the parallel mechanism is modularized, and the batch maintenance difficulty of the mechanism is reduced; and on the other hand, the whole mechanism is symmetrical, a plurality of spherical hinges are adopted, the flexibility and isotropy of the mechanism are improved, the movement performance of the mechanism is improved, and meanwhile, the split structure is adopted, so that the working space of the movable platform is enlarged. The split type five-degree-of-freedom parallel mechanism is suitable for processing environments with high requirements on flexibility and working space, such as part processing and assembling.

Description

technical field [0001] The invention belongs to the technical field of parallel mechanisms, in particular to a split five-degree-of-freedom parallel mechanism. Background technique [0002] Parallel mechanism has been widely used in various fields in recent years. It has the advantages of high precision, stable operation and high work efficiency, so parallel mechanism has high application value. [0003] The five-degree-of-freedom parallel mechanism has also been widely used in recent years. Because it has one less degree of freedom, the structure is simpler and has good stability. It can complete some processing processes that cannot be completed by six-degree-of-freedom mechanisms; such as China Patent Publication No. CN201821923752.5 discloses a new type of five-degree-of-freedom parallel mechanism, which has a very simple mechanism and strong carrying capacity, but the working space is small, and the movement is easily interfered; the split structure can increase the siz...

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Problems solved by technology

[0003] The five-degree-of-freedom parallel mechanism has also been widely used in recent years. Because it has one less degree of freedom, the structure is simpler and has good stability. It can complete some processing processes that cannot be completed by six-degree-of-freedom mechanisms; such as China Patent Publication No. CN201821923752.5 discloses a new type of five-degree-of-freedom parallel mechanism, which has a very simple mechanism and strong carrying capacity, but the working space is small, and the movement is easily interfered; the split structure can enlarge the mechanism space and reduce interference, so the use of split mechanisms on the basis of five-degree-of-freedom parallel mechanisms has a good prospect

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