A split-type five-degree-of-freedom parallel mechanism

Abstract

A split-type five-degree-of-freedom parallel mechanism. It includes a fixed platform, a moving platform, a first branch chain, a second branch chain and a third branch chain, and has three translational and two rotational degrees of freedom. The invention has the advantages: on the one hand, the fixed platform adopts a split structure, and three active pairs are arranged on the sub-platform, which ensures the motion characteristics of the moving platform, makes the driving system centralized, reduces the influence of the control system on the moving platform, and makes the parallel mechanism modularized , reduce the difficulty of batch maintenance of the mechanism; on the other hand, the mechanism is symmetrical as a whole, and multiple spherical hinges are used, which increases the flexibility and isotropy of the mechanism, and increases the movement performance of the mechanism. Workspace. The present invention is suitable for processing environments with high requirements on flexibility and large working space, such as parts processing and assembly.

Description

technical field [0001] The invention belongs to the technical field of parallel mechanisms, in particular to a split-type five-degree-of-freedom parallel mechanism. Background technique [0002] The 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 the 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, so the structure is simpler, and at the same time has good stability, it can complete some processing processes that cannot be completed by the six-degree-of-freedom mechanism; such as China Patent Publication No. CN201821923752.5 discloses a novel five-degree-of-freedom parallel mechanism, which has a very simple mechanism and strong bearing capacity, but has a small working space and is easily interfered with in motion; the split ...

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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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