Two-freedom-degree rotation parallel mechanism

Abstract

The invention discloses a two-freedom-degree rotation parallel mechanism. The parallel mechanism comprises a movable platform, a fixed platform, two driving branch chains and a suitable constraint branch chain, the two driving branch chains have the same structural form, and each driving branch chain is composed of a parallelogram structure, rotation pairs and ball pairs. The suitable restraint branch chain is formed by connecting a first rotating pair and a second rotating pair in series, wherein the axes of the first rotating pair and the second rotating pair are perpendicular. The third ball pair of the first driving branch chain is connected with a restraining connecting rod of the suitable restraint branch chain, and the sixth ball pair in the second driving branch chain is connected with the movable platform. The speed jacobian matrix of the parallel mechanism is a diagonal matrix, and in other words, one output motion of the movable platform is only controlled by the input motion of one driving pair, and the defect that the kinematics and dynamics coupling performance of a common parallel mechanism is high is overcome; and meanwhile, by introducing the suitable constraint branch chain, the overall stability and the bearing capacity of the parallel mechanism can be enhanced, the precision of the parallel mechanism can be improved, and uncontrollable errors can be controlled.

Description

technical field [0001] The invention relates to the technical field of space robot mechanisms, in particular to a two-degree-of-freedom rotating parallel mechanism. Background technique [0002] The parallel mechanism refers to the closed-loop mechanism that connects the moving platform and the fixed platform through two or more independent motion branch chains, and controls the movement of the moving platform. Since the 1980s, the parallel mechanism has high rigidity, large carrying capacity, Small cumulative error, good dynamic characteristics, and compact structure have been widely used. For example, the Chinese patent application number 201610407036.0 discloses a parallel mechanism with three degrees of freedom in space, and the Chinese patent application number 201821373632.2 discloses a three-freedom rotation mechanism. Degree of parallel mechanism. However, the current parallel mechanism with few degrees of freedom still has problems such as complex structure, diffic...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the deficiencies in the prior art, the present invention provides a two-degree-of-freedom rotating parallel mechanism, which can solve the problems of strong coupling and difficult control of the existing few-degree-of-freedom rotating parallel mechanism, and improve the stability of the parallel mechanism sex and carrying capacity

Images