Three-branched space four-degree-of-freedom parallel mechanism

By designing a three-branch, four-degree-of-freedom parallel mechanism and adopting a specific axis arrangement and connection method, the problem of incompatibility between rigidity and motion decoupling in existing mechanisms is solved, realizing a parallel mechanism with high rigidity, high precision, and good decoupling, which is suitable for motion control and trajectory planning.

CN116852337BActive Publication Date: 2025-11-25CHANGZHOU UNIV
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Patent Information

Application Number
CN202310935012.2
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-07-27
Publication Date
2025-11-25
Estimated Expiration
2043-07-27

AI Technical Summary

Technical Problem

Existing parallel mechanisms with three translations and one rotation are difficult to reconcile with rigidity and motion decoupling. Mechanisms with good rigidity have difficulty in finding the correct position sign and have poor motion decoupling.

Method used

Design a three-branch, four-degree-of-freedom parallel mechanism, comprising a static platform, a hybrid branch, a simple branch one, and a simple branch two. Through a specific arrangement and connection of axes, the mechanism enables three-dimensional spatial movement of the moving platform and one-dimensional rotation around the axis of the revolute joint. The displacement and rotation of the moving platform in the X, Y, and Z axes are controlled by multiple prismatic joints.

Benefits of technology

It achieves a parallel mechanism with high rigidity and high precision, has good motion decoupling, is easy to control motion and track planning, has a large three-dimensional position workspace for the moving platform, strong rotation capability, and is not easy to interfere between branches.

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Abstract

The application relates to the technical field of four-degree-of-freedom parallel mechanisms, in particular to a three-branch-chain space four-degree-of-freedom parallel mechanism which comprises a static platform, a mixed branch chain, a simple branch chain one, a simple branch chain two and a dynamic platform; the application has a mixed branch chain of a space sub-branch chain type and two simple branch chains, forms a basic motion chain containing three loops, thereby realizing the advantages of good rigidity and high precision, the displacement of the dynamic platform in the X-axis and Y-axis directions is controlled by two moving pairs respectively, the displacement in the Z-axis direction and the rotation around the Z-axis direction are controlled by four moving pairs, therefore, the application has good partial motion decoupling, the symbolic position direct solution is easy to obtain, thereby facilitating the motion control, trajectory planning and dynamics analysis of the parallel mechanism, and the three-dimensional position working space of the dynamic platform is large, the rotation capacity is strong, and the branch chains are not prone to interference.
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