A fully decoupled compound drive parallel mechanism with four degrees of freedom

Abstract

A fully decoupled compound drive parallel mechanism with four degrees of freedom. It includes a base, a moving platform, a first branch chain, a second branch chain and a third branch chain, and the mechanism has three degrees of freedom of translation and one rotation. The invention has the following advantages: each of the four degrees of freedom of the mechanism is completely controlled by a single motion pair, which realizes complete decoupling, and greatly simplifies the theoretical analysis of the mechanism and the development of the control system; the branch chain of the mechanism on the frame Two active pairs are adopted, and a composite drive is adopted, which reduces the number of branches, avoids the interference between the branches, reduces the number of parts, and further reduces the manufacturing cost; the mechanism adopts a double parallelogram branch chain, which replaces the general chain. The multi-rotation pair decouples the branch chain, which increases the motion stability and improves the rigidity of the mechanism.

Description

technical field [0001] The invention belongs to the technical field of parallel mechanisms, in particular to a four-degree-of-freedom completely decoupled 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, high speed and high precision; and in the field of processing, the parallel mechanism has the advantages of easy modularization and high versatility, which is the most important part of the manufacturing industry in my country. 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 due to its structural characteristics, the structure of multi-spindle machine tools is more complex, and the difficulty of control system development and the problem of accuracy are the main bottlenecks restricting the deve...

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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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