Two freedom movement decoupling parallel mechanism

Abstract

The present invention is two- freedom kinematical decoupling parallel mechanism and belongs to the field of mechanical transmission technology. The structure of the two freedom kinematical decoupling parallel mechanism includes pedestal, two branch chain units fixed to the pedestal and I mutually orthogonal configuration, and movable platform connected to these two branch chain units. Each of the branch chain units includes guide seat connected to the pedestal, slipeway on the guide seat, and one single freedom motion pair with one end on the slipeway and the other end connected with the movable platform. The mechanism of the present invention has two unconditionally decoupling freedom translations, and thus the advantages of unlimited work space, simple structure, easy control, and high precision.

Description

technical field [0001] The invention relates to the field of mechanics, in particular to a two-degree-of-freedom motion decoupling parallel mechanism. Background technique [0002] Parallel mechanisms are widely used in heavy-duty simulation equipment, robots, CNC machine tools, sensors and micro-manipulation and other fields. However, the drive units of the parallel mechanism are coupled, that is, the movement of the overall output platform of the parallel mechanism in any direction is the synthesis of the motions of all drive units, and the movement of each drive unit is combined with the overall movement of the parallel mechanism (i.e. input and output ) is non-linear. This characteristic leads to complex control of parallel mechanism, difficult calibration, and restricts the improvement of accuracy. Therefore, how to achieve decoupling of parallel mechanisms to simplify control and calibration and improve motion accuracy has always been a difficult and challenging subj...

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Problems solved by technology

[0008] At present, there have been some achievements in the decoupling research of parallel mechanisms. The "six degrees of freedom virtual axis machine tool" proposed by CN 1261018A has realized the decoupling at one position in space (that is, the initial position), and thus reduced the coupling of the whole machine degree, but except the initial position, other positions are still coupled, so it is instantaneous decoupling; in addition, CN ZL00100198.1, CN00100197.3, CN 00100196.5, CN 99121020.4 proposed "3,4,5,6 degrees of freedom Decoupling parallel micro-robots" and CN1377757A proposed "reconfigurable modular 3-6 DOF structure decoupling parallel micro-robots", these mechanisms are only applicable to micro-motion fields, because their decoupling is approximate, and As the working space increases, the degree of coupling between the drive units increases

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