Parallel decoupling mechanism with four- degree of freedom

Abstract

A 4-freedom-parallel decoupling mechanism has 3 same drive units which are orthogonal and connected between the supporting plates of frame and the movable platform, and another drive unit different from the first three in their single-freedom rotation sets. The said drive unit is composed of guide track fixed to supporting plate, slide table equipped to said guide track, driver fixed to guide track and connected to slide table, a planar 2-freedom moving set fixed to another end of slide table, and a single-freedom rotation set connected between said planar 2-freedom moving set and movable platform. Its advantages are simple structure, easy control, unconditional decoupling and high precision.

Description

technical field [0001] The invention relates to the field of mechanics, in particular to a four-degree-of-freedom parallel decoupling mechanism. The so-called decoupling mechanism refers to the parallel mechanism in which the translation or rotation of the parallel mechanism in a certain direction only depends on the action of the drive unit in this direction, while the drive units in other directions do not perform effective actions. The international patent classification number is proposed to be IPC.CL7.B25J9 / 08. Background technique [0002] Parallel mechanism refers to the mechanism in which two or more drive units are installed in parallel to complete the action together. It is widely used in heavy-duty simulation equipment, robots, CNC machine tools, sensors and micro-operations and other technical fields. Because the movement between the drive units of the parallel mechanism is coupled, that is, the movement of the overall output platform of the parallel mechanism a...

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Problems solved by technology

[0008] So far, the inventors have had some research results on the decoupling of parallel mechanisms: for example, the patent document "Six-DOF Virtual Axis Machine Tool" (see Chinese Invention Patent, Publication No. CN1261018A) reports that a parallel mechanism operates at a position in space (i.e. initial position) and thus reduces the coupling degree of the whole machine, but other positions are still coupled except the initial position, so this technology belongs to instantaneous decoupling or point decoupling; another example, the patent document "3 , 4, 5, 6 degrees of freedom structural decoupling parallel micro-manipulator" (see Chinese invention patents: ZL00100198.1, ZL 00100197.3, ZL00100196.5 and ZL99121020.4) and "recombinable modular 3-6 degrees of freedom structural solution Coupled Parallel Micro-Motion Robot” (see Chinese invention patent, publication number is CN1377757A) reported the progress in parallel decoupling research, but these parallel mechanisms are only applicable to the field of micro-motion, because the decoupling is approximate, and As the working space increases, the coupling degree between the drive units will increase correspondingly, which means that the actual working space of the parallel decoupling mechanism is only a few microns; in other words, in order to maintain the approximate solution between the input and output Coupling relationship, the parallel decoupling mechanism must be limited to a certain range of micro-motion operations, otherwise it is non-decoupling, so this technology still has the characteristics of instantaneous decoupling, and it is also instantaneous decoupling in essence.

In addition, there is no more relevant literature report on the parallel mechanism with conditional and unconditional decoupling, whether in the field of macro motion or in the field of micro motion

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