Four-degree-of-freedom complete decoupling compound drive parallel mechanism

Abstract

The invention discloses a four-degree-of-freedom complete decoupling compound drive parallel mechanism. The four-degree-of-freedom complete decoupling compound drive parallel mechanism comprises a base, a movable platform, a first branch chain, a second branch chain and a third branch chain, and has three translational degrees of freedom and one rotational degree of freedom. The four-degree-of-freedom complete decoupling compound drive parallel mechanism has the following advantages that each of four degrees of freedom of the mechanism is completely controlled by a single kinematic pair, so that complete decoupling is realized, and theoretical analysis of the mechanism and development of a control system are greatly simplified; the branch chains of the mechanism on a machine frame adopt two driving pairs and adopt composite driving, so that the number of the branch chains is reduced, the interference among the branch chains is avoided, the number of parts is reduced, and the manufacturing cost is further reduced; and the mechanism adopts a double-parallelogram branch chain to replace a common multi-revolute-pair decoupling branch chain, so that the motion stability is improved, andthe rigidity of the mechanism is improved.

Description

technical field [0001] The invention belongs to the technical field of parallel mechanisms, in particular to a four-degree-of-freedom complete decoupling compound drive parallel mechanism. Background technique [0002] The structure of the parallel mechanism is a plurality of series branch chains connecting the dynamic and static platforms, which has the advantages of high rigidity, fast speed and high precision; and in the field of processing, the parallel mechanism has the advantages of easy modularization and high versatility. One of the breakthroughs to high-end progress. [0003] Parallel mechanism is a research hotspot at home and abroad, but because of its strong coupling structure, compared with multi-spindle machine tools, the structure is complex, the difficulty of control system development and the problem of precision are the main bottlenecks restricting the development of parallel mechanism in the processing field, and the realization of complete decoupling How...

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Problems solved by technology

[0003] Parallel mechanism is a research hotspot at home and abroad. However, due to its structural characteristics, it has strong coupling. Compared with multi-spindle machine tools, the structure is complex. The difficulty of control system development and precision problems are the main bottlenecks restricting the development of parallel mechanisms in the processing field. To achieve complete decoupling However, the existing fully decoupled parallel mechanism has a complex structure, a large number of kinematic pairs in the branch chain, and less degrees of freedom, which has little engineering value and mostly only exists in the theoretical stage; in addition, the compound drive It can reduce the number of branches and greatly reduce the complexity of the mechanism. Therefore, it will be a revolutionary progress in the manufacturing industry to propose a fully decoupled compound drive parallel mechanism suitable for processing and manufacturing.

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