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

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.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of four-degree-of-freedom parallel mechanisms, in particular to a three-branched-chain space four-degree-of-freedom parallel mechanism. BACKGROUND

[0002] Three-translational-rotation parallel mechanisms play a good role in high-speed grabbing, positioning assembly, carrying, sorting, feeding and other processes. Parallel mechanisms with three-translational-rotation function are indispensable in occasions where the attitude of a workpiece needs to be adjusted. Many three-translational-rotation parallel mechanisms are disclosed in the prior art, for example:

[0003] [1] YANG S F, SUN T, HUANG T. Type synthesis of parallel mechanisms having 3T1R motion with variable rotational axis [J]. Mechanism and Machine Theory, 2017, 109: 220-230;

[0004] [2] KIM S M, KIM W, YI B J. Kinematic analysis and optimal design of a 3T1R type parallel mechanism [C]. IEEE International Conference on Robotics and Automation, 2009: 2199-2204;

[0005] [3] SHEN H P, XU Z K, XU K, et al. Design and analysis of a 3T1R parallel mechanism with low coupling degree and partial decoupling [J]. Transactions of the Chinese Society of Agricultural Machinery, 2019, 50 (2): 373-383, 419;

[0006] [4] ZHU X R, HU Y, SHEN H P, et al. Decoupling design and analysis of 3T1R parallel mechanism [J]. Transactions of the Chinese Society of Agricultural Machinery, 2018, 49 (12): 393-401;

[0007] [5] ZHAO Z L. Analysis, optimization and trajectory planning of 3T1R parallel mechanism for collaborative assembly [D]. Harbin Institute of Technology, 2021;

[0008] However, the existing three-translational-rotation parallel mechanisms are difficult to be compatible in rigidity and motion decoupling. The three-translational-rotation parallel mechanisms with good rigidity are often difficult to obtain positive solutions of position symbols and have poor motion decoupling. SUMMARY

[0009] The technical problem solved by the present application is to provide a three-branch-chain spatial four-degree-of-freedom parallel mechanism to solve the problems in the prior art.

[0010] The technical solution adopted by the present application to solve the technical problem is a three-branch-chain spatial four-degree-of-freedom parallel mechanism, comprising a static platform, a hybrid branch chain, a simple branch chain one, a simple branch chain two and a moving platform.

[0011] The hybrid branch chain comprises a branch chain one, a branch chain two and a rotary pair seven, the branch chain one is composed of a moving pair one, a rotary pair one, a rotary pair two and a rotary pair three which are coaxial and connected in series, the branch chain two is composed of a moving pair two, a rotary pair four, a rotary pair five and a rotary pair six which are coaxial and connected in series, the rotary pair three is connected with the rotary pair six through an output rod coaxially arranged with the rotary pair three, the output rod is provided with the rotary pair seven whose axis is in the vertical direction, and the axis of the rotary pair three and the axis of the rotary pair six are both perpendicular to the axis of the rotary pair seven.

[0012] The simple branch chain one is composed of a moving pair three, a rotary pair eight, a rotary pair nine, a rotary pair ten and a rotary pair eleven which are connected in series, the axis of the moving pair three is perpendicular to the axis of the rotary pair eight, the axis of the rotary pair eight is parallel to the axis of the rotary pair nine, the axis of the rotary pair ten is parallel to the axis of the rotary pair eleven, and the axis of the rotary pair nine is perpendicular to the axis of the rotary pair ten.

[0013] The simple branch chain two is composed of a moving pair four, a rotary pair twelve, a rotary pair thirteen, a rotary pair fourteen and a rotary pair fifteen which are connected in series, the axis of the moving pair four is perpendicular to the axis of the rotary pair twelve, the axis of the rotary pair twelve is parallel to the axis of the rotary pair thirteen, the axis of the rotary pair fourteen is parallel to the axis of the rotary pair fifteen, and the axis of the rotary pair thirteen is perpendicular to the axis of the rotary pair fourteen.

[0014] The rotary pair seven, the rotary pair eleven and the rotary pair fifteen are all connected with the moving platform, and the axis of the rotary pair seven, the axis of the rotary pair eleven and the axis of the rotary pair fifteen are parallel to each other.

[0015] The moving pair one, the moving pair two, the moving pair three and the moving pair four are all arranged on the static platform, the axis of the moving pair one is perpendicular to the axis of the moving pair two, the axis of the moving pair three is parallel to the axis of the moving pair one, and the axis of the moving pair four is parallel to the axis of the moving pair two.

[0016] Further, when the moving pair one, the moving pair two, the moving pair three and the moving pair four are driving pairs, the moving platform can realize the output motion of spatial three-dimensional movement and one-dimensional rotation around the axis of the rotary pair seven.

[0017] The axis of the first moving pair and the axis of the third moving pair are parallel to the Y-axis direction, the axis of the second moving pair and the axis of the fourth moving pair are parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other;

[0018] The input of the first moving pair determines the displacement of the moving platform in the Y-axis direction.

[0019] The input of the second moving pair determines the displacement of the moving platform in the X-axis direction.

[0020] The displacement of the moving platform in the Z-axis direction and the rotation of the moving platform around the axis of the seventh rotating pair are determined by the input of the first moving pair, the input of the second moving pair, the input of the third moving pair and the input of the fourth moving pair.

[0021] The application also provides a three-branch space four-degree-of-freedom parallel mechanism, which comprises a static platform, a mixed branch, a simple branch one, a simple branch two and a moving platform.

[0022] The mixed branch comprises a branch chain one, a branch chain two and a seventh rotating pair, the branch chain one is composed of the first moving pair, the first rotating pair, the second rotating pair and the third rotating pair which are coaxial and connected in sequence, the branch chain two is composed of the second moving pair, the fourth rotating pair, the fifth rotating pair and the sixth rotating pair which are coaxial and connected in sequence, the third rotating pair is connected with the sixth rotating pair through an output rod which is coaxial with the third rotating pair, the output rod is provided with the seventh rotating pair whose axis is in the vertical direction, and the axis of the third rotating pair and the axis of the sixth rotating pair are perpendicular to the axis of the seventh rotating pair.

[0023] The simple branch one is composed of the third moving pair, the eighth rotating pair, the ninth rotating pair, the tenth rotating pair and the eleventh rotating pair which are connected in sequence, the axis of the third moving pair is perpendicular to the axis of the eighth rotating pair, the axis of the eighth rotating pair is parallel to the axis of the ninth rotating pair, the axis of the tenth rotating pair and the axis of the eleventh rotating pair are parallel, and the axis of the ninth rotating pair is perpendicular to the axis of the tenth rotating pair.

[0024] The simple branch two is composed of the fourth moving pair, the twelfth rotating pair, the thirteenth rotating pair and the first spherical pair which are connected in sequence, the axis of the fourth moving pair, the axis of the twelfth rotating pair and the axis of the thirteenth rotating pair are parallel.

[0025] The seventh rotating pair, the eleventh rotating pair and the first spherical pair are connected with the moving platform, and the axis of the seventh rotating pair and the axis of the eleventh rotating pair are parallel.

[0026] The first moving pair, the second moving pair, the third moving pair and the fourth moving pair are arranged on the static platform, the axis of the first moving pair is perpendicular to the axis of the second moving pair, the axis of the third moving pair is parallel to the axis of the first moving pair, and the axis of the fourth moving pair is parallel to the axis of the second moving pair.

[0027] Further, when the moving pairs one, two, three and four are driving pairs, the moving platform can realize the output motion of three-dimensional space movement and one-dimensional rotation around the axis of the rotating pair seven;

[0028] The axis of the moving pair one and the axis of the moving pair three are parallel to the Y-axis direction, the axis of the moving pair two and the axis of the moving pair four are parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other;

[0029] The input of the moving pair one determines the displacement of the moving platform in the Y-axis direction;

[0030] The input of the moving pair two determines the displacement of the moving platform in the X-axis direction;

[0031] The displacement of the moving platform in the Z-axis direction and the rotation around the axis of the rotating pair seven are determined by the input of the moving pair one, the input of the moving pair two, the input of the moving pair three and the input of the moving pair four.

[0032] The application further provides 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 moving platform;

[0033] The mixed branch chain comprises a branch chain one, a branch chain two and a rotating pair seven, the branch chain one is composed of the moving pair one, the rotating pair one, the rotating pair two and the rotating pair three which are coaxial and connected in series, the branch chain two is composed of the moving pair two, the rotating pair four, the rotating pair five and the rotating pair six which are coaxial and connected in series, the rotating pair three is connected with the rotating pair six through an output rod arranged coaxially with the rotating pair three, the rotating pair seven is arranged on the output rod and has an axis in the vertical direction, and the axis of the rotating pair three and the axis of the rotating pair six are perpendicular to the axis of the rotating pair seven;

[0034] The simple branch chain one is composed of the moving pair three, the rotating pair eight, the rotating pair nine, the rotating pair ten and the rotating pair eleven which are connected in series, the axis of the moving pair three, the axis of the rotating pair eight and the axis of the rotating pair nine are parallel to each other, the axis of the rotating pair ten and the axis of the rotating pair eleven are parallel to each other, and the axis of the rotating pair nine is perpendicular to the axis of the rotating pair ten;

[0035] The simple branch chain two is composed of the moving pair four, the rotating pair twelve, the rotating pair thirteen, the rotating pair fourteen and the rotating pair fifteen which are connected in series, the axis of the moving pair four, the axis of the rotating pair twelve and the axis of the rotating pair thirteen are parallel to each other, the axis of the rotating pair fourteen and the axis of the rotating pair fifteen are parallel to each other, and the axis of the rotating pair thirteen is perpendicular to the axis of the rotating pair fourteen;

[0036] The rotation pair seven, the rotation pair eleven and the rotation pair fifteen are connected with the moving platform, the axis of the rotation pair seven, the axis of the rotation pair eleven and the axis of the rotation pair fifteen are parallel to each other;

[0037] The moving pair one, the moving pair two, the moving pair three and the moving pair four are arranged on the static platform, the axis of the moving pair one is perpendicular to the axis of the moving pair two, the axis of the moving pair three is parallel to the axis of the moving pair one, and the axis of the moving pair four is parallel to the axis of the moving pair two.

[0038] Further, when the moving pair one, the moving pair two, the moving pair three and the moving pair four are driving pairs, the moving platform can realize the output motion of three-dimensional space movement and one-dimensional rotation around the axis of the rotation pair seven;

[0039] The axis of the moving pair one and the axis of the moving pair three are parallel to the Y-axis direction, the axis of the moving pair two and the axis of the moving pair four are parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other;

[0040] The input of the moving pair one determines the displacement of the moving platform in the Y-axis direction;

[0041] The input of the moving pair two determines the displacement of the moving platform in the X-axis direction;

[0042] The displacement of the moving platform in the Z-axis direction and the rotation around the axis of the rotation pair seven are determined by the input of the moving pair one, the input of the moving pair two, the input of the moving pair three and the input of the moving pair four.

[0043] The application further provides a three-branch chain space four-degree-of-freedom parallel mechanism, comprising a static platform, a mixed branch chain, a simple branch chain one, a simple branch chain two and a moving platform;

[0044] The mixed branch chain comprises a branch chain one, a branch chain two and a rotation pair seven, the branch chain one is composed of the moving pair one, the rotation pair one, the rotation pair two and the rotation pair three which are coaxial and connected in sequence, the branch chain two is composed of the moving pair two, the rotation pair four, the rotation pair five and the rotation pair six which are coaxial and connected in sequence, the rotation pair three is connected with the rotation pair six through an output rod arranged coaxially with the rotation pair three, the output rod is provided with the rotation pair seven with the axis in the vertical direction, and the axis of the rotation pair three and the axis of the rotation pair six are perpendicular to the axis of the rotation pair seven;

[0045] The simple branch chain one is composed of the moving pair three, the rotation pair eight, the rotation pair nine and the spherical pair two which are connected in sequence, the axis of the moving pair three, the axis of the rotation pair eight and the axis of the rotation pair nine are parallel to each other;

[0046] The simple branched chain two is composed of a moving pair four, a rotating pair twelve, a rotating pair thirteen and a spherical pair one in series, the axis of the moving pair four, the axis of the rotating pair twelve and the axis of the rotating pair thirteen are parallel to each other;

[0047] The rotating pair seven, the spherical pair two and the spherical pair one are connected with the moving platform;

[0048] The moving pair one, the moving pair two, the moving pair three and the moving pair four are arranged on the static platform, the axis of the moving pair one is perpendicular to the axis of the moving pair two, the axis of the moving pair three is parallel to the axis of the moving pair one, and the axis of the moving pair four is parallel to the axis of the moving pair two.

[0049] Further, when the moving pair one, the moving pair two, the moving pair three and the moving pair four are driving pairs, the moving platform can realize the output motion of three-dimensional space movement and one-dimensional rotation around the axis of the rotating pair seven;

[0050] The axis of the moving pair one and the axis of the moving pair three are parallel to the Y-axis direction, the axis of the moving pair two and the axis of the moving pair four are parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other;

[0051] The input of the moving pair one determines the displacement of the moving platform in the Y-axis direction;

[0052] The input of the moving pair two determines the displacement of the moving platform in the X-axis direction;

[0053] The displacement of the moving platform in the Z-axis direction and the rotation around the axis of the rotating pair seven need to be determined by the input of the moving pair one, the input of the moving pair two, the input of the moving pair three and the input of the moving pair four.

[0054] The three branched chain space four-degree-of-freedom parallel mechanism has one space sub-branch chain type mixed branch chain and two simple branched chains, forms a basic motion chain containing three loops, and has the advantages of good rigidity and high precision. BRIEF DESCRIPTION OF DRAWINGS

[0055] The application will be further described below in combination with the drawings and examples.

[0056] Figure 1 It is a schematic view of Example 1.

[0057] Figure 2 This is a schematic diagram of Example 2;

[0058] Figure 3 This is a schematic diagram of Example 3;

[0059] Figure 4 This is a schematic diagram of Example 4.

[0060] In the diagram: 0, stationary platform; 1, moving platform; 2, output rod.

[0061] R 12 Rotating joint 1, R 13 Rotating joint two, R 14 Rotating joint three, R 15 Rotating joint seven; R 22 Rotating joint four, R 23 Rotating joint five, R 24 Rotating joint six; R 32 Rotating pair eight, R 33 Rotate the auxiliary nine, R 34 Rotating pair ten, R 35 Rotating pair eleven, R 42 Rotating pair twelve, R 43 Rotating pair thirteen, R 44 Rotating joint fourteen, R 45 Rotating pair 15; S 34 , Ball secondary, S 44 , Ball Vice One.

[0062] P 11 , Moving sub-one, P 21 1. Moving secondary, P 31 1. Mobile Sub-3, P 41 1. Move the fourth sub-unit;

[0063] I. Mixed branch, II. Simple branch one, III. Simple branch two. Detailed Implementation

[0064] The invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention in a schematic manner. Therefore, they only show the components relevant to the invention. Orientations and references (e.g., up, down, left, right, etc.) are only used to aid in the description of the features in the drawings. Therefore, the following specific embodiments are not intended to be restrictive, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents.

[0065] Example 1, such as Figure 1 As shown, a three-branch spatial four-degree-of-freedom parallel mechanism includes a static platform 0, a hybrid branch I, a simple branch I II, a simple branch II III, and a dynamic platform 1.

[0066] The mixed branch chain I comprises a branch chain one, a branch chain two and a revolute pair seven R 15 The branch chain one is composed of a prismatic pair one P 11 , a revolute pair one R 12 , a revolute pair two R 13 and a revolute pair three R 14 , the axis of the prismatic pair one P 11 represents the moving direction of the prismatic pair one P 11 , that is, the moving direction of the prismatic pair one P 11 , the axis of the revolute pair one R 12 , the axis of the revolute pair two R 13 and the axis of the revolute pair three R 14 are parallel to each other; the branch chain two is composed of a prismatic pair two P 21 , a revolute pair four R 22 , a revolute pair five R 23 and a revolute pair six R 24 , the axis of the prismatic pair two P 21 represents the moving direction of the prismatic pair two P 21 , that is, the moving direction of the prismatic pair two P 21 , the axis of the revolute pair four R 22 , the axis of the revolute pair five R 23 and the axis of the revolute pair six R 24 are parallel to each other; the revolute pair three R 14 is connected with the revolute pair six R 24 through an output rod 2, the revolute pair three R 14 is coaxially arranged with the output rod 2, the output rod 2 is provided with a revolute pair seven R 15 , the axis of which is located in the vertical direction, and the axis of the revolute pair three R 14 and the axis of the revolute pair six R 24 are both perpendicular to the axis of the revolute pair seven R 15 ;

[0067] The simple branch chain one II is composed of a prismatic pair three P 31 , a revolute pair eight R 32 , a revolute pair nine R 33 , a revolute pair ten R 34 and a revolute pair eleven R 35 in sequence, the axis of the prismatic pair three P 31 represents the moving direction of the prismatic pair three P 31 , the axis of the prismatic pair three P 31 is perpendicular to the axis of the revolute pair eight R 32 , the axis of the revolute pair eight R 32 is parallel to the axis of the revolute pair nine R 33 , the prismatic pair three P31 The axis of the rotating joint octagon 32 The axis and the revolute joint 9R 33 The axes of both are simultaneously perpendicular to the rotational joint R. 34 The axis and the revolute joint eleven R 35 The axis of rotation, the tenth R 34 The axis is parallel to the eleventh revolute joint R 35 The axis;

[0068] Simple branch II III consists of moving sub-P. 41 Rotating pair twelveR 42 Rotating pair 13R 43 Rotating joint fourteen R 44 and rotating joint 15R 45 Composed of sequentially connected series, a four-pole moving subunit. 41 The axis represents the sliding joint four P 41 The direction of movement, the moving sub-P 41 The axis of the revolute joint 12, R 42 The axis is perpendicular, and the rotating pair twelve R 42 The axis and the revolute joint thirteenR 43 The axes are parallel, and the fourteenth revolute joint is oriented as follows: 44 The axis is parallel to the revolute joint 15R 45 The axis, the moving joint four P 41 The axis, the revolute pair twelveR 42 The axis and the thirteenth R revolute 43 The axes of all are simultaneously perpendicular to the fourteenth R of the revolute joint. 44 The axis and the revolute joint 15R 45 The axis;

[0069] The moving platform 1 has a first end, a second end, and a third end arranged in a triangle, and a rotating joint 7R. 15 Connected to the first end of the moving platform 1, rotating pair eleven R 35 Connected to the second end of the moving platform 1, the rotating joint 15R 45 Connected to the third end of the moving platform 1, the rotating joint 7R 15 The axis, the revolute joint eleven R 35 The axis and the rotating joint 15R 45 The axes are parallel to each other, and at the same time, the rotating joint 7R 15 The axis, the revolute joint eleven R 35 The axis and the rotating joint 15R 45 The axes are all in the vertical direction; the end member of the hybrid branch I can produce three-dimensional movement and rotation around the rotating joint R. 15 One-dimensional rotation of the axis, the end component of hybrid branch I is the moving platform 1 and the revolute joint 7R 15 The connection point;

[0070] Moving pair one P 11 Moving pair two P 21 Moving pair three P 31 Moving pair four P 41 are all arranged on the static platform 0, the axis of the moving pair one P 11 is perpendicular to the axis of the moving pair two P 21 , the axis of the moving pair three P 31 is parallel to the axis of the moving pair one P 11 , and the axis of the moving pair four P 41 is parallel to the axis of the moving pair two P 21 .

[0071] In some examples, the moving pair one P 11 , the moving pair two P 21 , the moving pair three P 31 , and the moving pair four P 41 are driving pairs, the moving platform 1 can realize spatial three-dimensional movement and output motion of one-dimensional rotation around the axis of the rotating pair seven R 15 .

[0072] The axis of the moving pair one P 11 and the axis of the moving pair three P 31 are both parallel to the Y-axis direction, the axis of the moving pair two P 21 and the axis of the moving pair four P 41 are both parallel to the X-axis direction, and the X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other.

[0073] The input of the moving pair one P 11 is the displacement of the moving pair one P 11 in the Y-axis direction, the input of the moving pair two P 21 is the displacement of the moving pair two P 21 in the X-axis direction, the input of the moving pair three P 31 is the displacement of the moving pair three P 31 in the Y-axis direction, and the input of the moving pair four P 41 is the displacement of the moving pair four P 41 in the Y-axis direction.

[0074] The input of the moving pair one P 11 determines the displacement of the moving platform 1 in the Y-axis direction.

[0075] The input of the moving pair two P 21 determines the displacement of the moving platform 1 in the X-axis direction.

[0076] The displacement of the moving platform 1 in the Z-axis direction and the rotation around the axis of the rotating pair seven R 15 (around the Z-axis direction) need to be determined by the input of the moving pair one P 11 , the input of the moving pair two P21 Input, movement, and three-way P 31 Input and movement of the quad P 41 The inputs together determine the outcome.

[0077] This three-branched spatial four-degree-of-freedom parallel mechanism includes a basic kinematic chain with three loops, namely BKC(1,0,-1), with a coupling degree of 1 and good rigidity; it also has motion decoupling and symbolic positive position solution.

[0078] The three-branch spatial four-degree-of-freedom parallel mechanism of this embodiment has a hybrid branch I of spatial sub-branch type and two simple branches, forming a basic kinematic chain containing three loops, thereby achieving the advantages of good rigidity and high precision. At the same time, the displacement of the moving platform 1 in the X and Y axis directions is controlled by two separate prismatic joints, while the displacement in the Z axis direction and the rotation around the Z axis direction are jointly controlled by four prismatic joints. Therefore, it has good partial motion decoupling and it is easy to obtain the symbolic positive position solution, which is beneficial to the motion control, trajectory planning and dynamic analysis of this parallel mechanism. Moreover, the moving platform 1 has a large three-dimensional position working space, strong rotational capability, and is not prone to interference between branches.

[0079] Example 2, as Figure 2 As shown, a three-branch spatial four-degree-of-freedom parallel mechanism includes a static platform 0, a hybrid branch I, a simple branch I II, a simple branch II III, and a dynamic platform 1.

[0080] Hybrid branch I includes branch chain one, branch chain two, and rotatable joint seven R. 15 A branch chain consists of parallel sliding joints P connected in series. 11 Rotating joint R 12 Rotating pair 2R 13 and rotating joint three R 14 Composition, moving sub-P 11 The axis represents the sliding joint P. 11 The direction of movement is the movement pair P. 11 The direction of movement, the rotational joint R 12 The axis, the revolute joint R 13 The axis and the three-axis revolute joint 14 The axes are parallel to each other; branch chain two consists of two parallel sliding joints P connected in series. 21 Rotating pair four R 22 Rotating joint five R 23 and rotating joint six R 24 Composition, moving sub-P 21 The axis represents the sliding joint P. 21 The direction of movement is the same as that of the translating pair P. 21 The direction of movement, the rotational joint of the four R 22axis of the fifth revolute pair R5 23 axis of the sixth revolute pair R6 24 are parallel to each other; the third revolute pair R3 14 is connected with the output rod 2 through the sixth revolute pair R6 24 ; the third revolute pair R3 14 is coaxially arranged with the output rod 2, and the output rod 2 is provided with a seventh revolute pair R7 15 with an axis in the vertical direction, and the axis of the third revolute pair R3 14 and the axis of the sixth revolute pair R6 24 are both perpendicular to the axis of the seventh revolute pair R7 15 ;

[0081] The simple branched chain II is composed of the third prismatic pair P3 31 , the eighth revolute pair R8 32 , the ninth revolute pair R9 33 , the tenth revolute pair R10 34 and the eleventh revolute pair R11 35 in series, the axis of the third prismatic pair P3 31 represents the moving direction of the third prismatic pair P3 31 , the axis of the third prismatic pair P3 31 is perpendicular to the axis of the eighth revolute pair R8 32 , the axis of the eighth revolute pair R8 32 is parallel to the axis of the ninth revolute pair R9 33 , the axis of the third prismatic pair P3 31 , the axis of the eighth revolute pair R8 32 and the axis of the ninth revolute pair R9 33 are all perpendicular to the axis of the tenth revolute pair R10 34 and the axis of the eleventh revolute pair R11 35 , and the axis of the tenth revolute pair R10 34 and the axis of the eleventh revolute pair R11 35 ;

[0082] The simple branched chain II is composed of the third prismatic pair P3 41 , the eighth revolute pair R8 42 , the ninth revolute pair R9 43 and the spherical pair S1 44 in series, the axis of the third prismatic pair P3 41 , the axis of the eighth revolute pair R8 42 and the axis of the ninth revolute pair R9 43 are parallel to each other;

[0083] The seventh revolute pair R7 15 , the eleventh revolute pair R11 35 and the spherical pair S1 44 are all connected with the moving platform 1, specifically, the moving platform 1 has a first end, a second end and a third end which are distributed in a triangular shape, the seventh revolute pair R7 15The first end connected to the moving platform 1, the revolute pair eleven R 35 The second end connected to the moving platform 1, the spherical pair one S 44 The third end connected to the moving platform 1, the revolute pair seven R 15 The axis of the revolute pair eleven R 35 The axis of the revolute pair eleven R 35 The axis of the revolute pair eleven R

[0084] The first moving pair P 11 The second moving pair P 21 The third moving pair P 31 The fourth moving pair P 41 All are arranged on the static platform 0, the axis of the first moving pair P 11 The axis of the second moving pair P 21 The axis of the third moving pair P 31 The axis of the fourth moving pair P 11 The axis of the fourth moving pair P 41 The axis of the fourth moving pair P 21 The axis of the fourth moving pair P

[0085] In some examples, when the first moving pair P 11 The second moving pair P 21 The third moving pair P 31 The fourth moving pair P 41 The moving platform 1 can realize the output motion of three-dimensional space movement and one-dimensional rotation around the axis of the revolute pair seven R 15 ;

[0086] The axis of the first moving pair P 11 The axis of the third moving pair P 31 The axis of the second moving pair P 21 The axis of the fourth moving pair P 41 The X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other;

[0087] The input of the first moving pair P 11 The displacement of the first moving pair P 11 The displacement of the second moving pair P 21 The displacement of the second moving pair P 21 The axis of the third moving pair P 31 The displacement of the third moving pair P 31 The displacement of the third moving pair P 31 The displacement of the third moving pair P 31 The axis of the fourth moving pair P 41 The displacement of the fourth moving pair P 41 The displacement of the fourth moving pair P 41 The displacement of the fourth moving pair P41 Displacement along the Y-axis;

[0088] Mobile Sub-P 11 The input determines the displacement of the moving platform 1 in the Y-axis direction;

[0089] Mobile secondary P 21 The input determines the displacement of the moving platform 1 in the X-axis direction;

[0090] Displacement of moving platform 1 in the Z-axis direction and about the revolute joint R 15 Rotation of the axis (about the Z-axis) requires the movement of the sliding joint P. 11 Input, movement of the second P 21 Input, movement, and three-way P 31 Input and movement of the quad P 41 The inputs together determine the outcome.

[0091] This three-branched spatial four-degree-of-freedom parallel mechanism includes a basic kinematic chain with three loops, namely BKC(1,0,-1), with a coupling degree of 1 and good rigidity; it also has motion decoupling and symbolic positive position solution.

[0092] The three-branch spatial four-degree-of-freedom parallel mechanism of this embodiment has a hybrid branch I of spatial sub-branch type and two simple branches, forming a basic kinematic chain containing three loops, thereby achieving the advantages of good rigidity and high precision. At the same time, the displacement of the moving platform 1 in the X and Y axis directions is controlled by two separate prismatic joints, while the displacement in the Z axis direction and the rotation around the Z axis direction are jointly controlled by four prismatic joints. Therefore, it has good partial motion decoupling and it is easy to obtain the symbolic positive position solution, which is beneficial to the motion control, trajectory planning and dynamic analysis of this parallel mechanism. Moreover, the moving platform 1 has a large three-dimensional position working space, strong rotational capability, and is not prone to interference between branches.

[0093] Example 3, as Figure 3 As shown, a three-branch spatial four-degree-of-freedom parallel mechanism includes a static platform 0, a hybrid branch I, a simple branch I II, a simple branch II III, and a dynamic platform 1.

[0094] Hybrid branch I includes branch chain one, branch chain two, and rotatable joint seven R. 15 A branch chain consists of parallel sliding joints P connected in series. 11 Rotating joint R 12 Rotating pair 2R 13 and rotating joint three R 14 Composition, moving sub-P 11 The axis represents the sliding joint P. 11 The direction of movement is the movement pair P. 11 The direction of movement, the rotational joint R12 The axis, the revolute joint R 13 The axis and the three-axis revolute joint 14 The axes are parallel to each other; branch chain two consists of two parallel sliding joints P connected in series. 21 Rotating pair four R 22 Rotating joint five R 23 and rotating joint six R 24 Composition, moving sub-P 21 The axis represents the sliding joint P. 21 The direction of movement is the same as that of the translating pair P. 21 The direction of movement, the rotation joint of the four R 22 The axis, the five-axis revolute joint 23 The axis and the six-axis revolute joint 24 The axes are parallel to each other; the three revolute joints are parallel to each other. 14 Through output rod 2 and rotary joint 6R 24 Connect, rotating joint three R 14 The output rod 2 is coaxially mounted with a rotary joint 7R whose axis is located in the vertical direction. 15 And rotating pair three R 14 The axis and the revolute joint of the six R 24 The axes of all are with the rotating joint 7R 15 The axis is perpendicular;

[0095] Simple branch 1II consists of moving sub-P 31 Rotating pair 8R 32 Rotating pair nine R 33 Rotating joint ten R 34 and rotating pair eleven R 35 Composed of sequentially connected series, the moving sub-pole 3P 31 The axis represents the sliding joint three P 31 The direction of movement, the movement of the third P 31 The axis of the rotating joint octagon 32 The axis and the revolute joint 9R 33 The axes are parallel to each other, and the revolute joint is R. 34 The axis and the revolute joint eleven R 35 The axes are parallel, and the revolute joint is R. 34 The axis and the revolute joint eleven R 35 The axes of all three are simultaneously perpendicular to the sliding joint P. 31 The axis of the rotating joint octagon 32 The axis and the revolute joint 9R 33 The axis;

[0096] Simple branch II III consists of moving sub-P. 41 Rotating pair twelveR 42 Rotating pair 13R 43 Rotating joint fourteen R44 and the axis of the fifth revolute pair R 45 are connected in series, the fourth prismatic pair P 41 is connected to the third revolute pair R 42 , the axis of the twelfth revolute pair R 43 is parallel to the axis of the thirteenth revolute pair R 44 , the axis of the fourteenth revolute pair R 45 is parallel to the axis of the fifteenth revolute pair R 44 , the axis of the fourteenth revolute pair R 45 and the axis of the fifteenth revolute pair R 41 are both perpendicular to the axis of the fourth prismatic pair P 42 , the axis of the twelfth revolute pair R 43 and the axis of the thirteenth revolute pair R

[0097] the seventh revolute pair R 15 , the eleventh revolute pair R 35 and the fifteenth revolute pair R 45 are connected to the movable platform 1; for example, the movable platform 1 has a first end, a second end and a third end arranged in a triangular shape, the seventh revolute pair R 15 is connected to the first end of the movable platform 1, the eleventh revolute pair R 35 is connected to the second end of the movable platform 1, and the fifteenth revolute pair R 45 is connected to the third end of the movable platform 1; the axis of the seventh revolute pair R 15 , the axis of the eleventh revolute pair R 35 and the axis of the fifteenth revolute pair R 45 are parallel to each other, and specifically, the axis of the seventh revolute pair R 15 , the axis of the eleventh revolute pair R 35 and the axis of the fifteenth revolute pair R 45 are all in the plumb direction.

[0098] the first prismatic pair P 11 , the second prismatic pair P 21 , the third prismatic pair P 31 and the fourth prismatic pair P 41 are arranged on the static platform 0, the axis of the first prismatic pair P 11 is perpendicular to the axis of the second prismatic pair P 21 , the axis of the third prismatic pair P 31 is parallel to the axis of the first prismatic pair P 11 , and the axis of the fourth prismatic pair P 41 is parallel to the axis of the second prismatic pair P 21 .

[0099] In some examples, the first prismatic pair P 11 , the second prismatic pair P 21 , the third prismatic pair P 31 and the fourth prismatic pair P 41For driving the pair, the moving platform 1 can realize spatial three-dimensional movement and rotation around the rotation pair seven R 15 Output movement of one-dimensional rotation of the axis;

[0100] The moving pair one P 11 The axis of the moving pair three P 31 The axis of the moving pair two P 21 The axis of the moving pair four P 41 The X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other;

[0101] The input of the moving pair one P 11 The displacement of the moving pair one P 11 The input of the moving pair two P 21 The displacement of the moving pair two P 21 The input of the moving pair three P 31 The displacement of the moving pair three P 31 The input of the moving pair four P 41 The displacement of the moving pair four P 41 The displacement of the moving pair four P

[0102] The input of the moving pair one P 11 The displacement of the moving platform 1 in the Y-axis direction is determined by the input of the moving pair one P

[0103] The displacement of the moving platform 1 in the X-axis direction is determined by the input of the moving pair two P 21

[0104] The displacement of the moving platform 1 in the Z-axis direction and the rotation around the axis of the rotation pair seven R 15 The displacement of the moving platform 1 in the Z-axis direction and the rotation around the axis of the rotation pair seven R 11 The displacement of the moving platform 1 in the Z-axis direction and the rotation around the axis of the rotation pair seven R 21 The displacement of the moving platform 1 in the Z-axis direction and the rotation around the axis of the rotation pair seven R 31 The displacement of the moving platform 1 in the Z-axis direction and the rotation around the axis of the rotation pair seven R 41

[0105] The three-chain spatial four-degree-of-freedom parallel mechanism includes a basic motion chain containing three loops, that is, BKC(1, 0, -1), the coupling degree is 1, the rigidity is good; and has motion decoupling and symbolic position forward solution.

[0106] ​​The three-branch spatial four-degree-of-freedom parallel mechanism of the embodiment has a mixed branch I of a spatial sub-branch type and two simple branches, forms a basic motion chain containing three loops, and has the advantages of good rigidity and high precision. The displacement of the moving platform 1 in the X-axis and Y-axis directions is controlled by two separate moving pairs, the displacement in the Z-axis direction and the rotation around the Z-axis direction are controlled by four moving pairs, and therefore, the mechanism has good partial motion decoupling, is easy to obtain a symbolic position positive solution, and is beneficial to motion control, trajectory planning, and dynamics analysis of the parallel mechanism. In addition, the three-dimensional position workspace of the moving platform 1 is large, the rotation ability is strong, and the branches are not easy to interfere with each other.

[0107] Embodiment 4, as shown in the figure, a three-branch spatial four-degree-of-freedom parallel mechanism, comprising a static platform 0, a mixed branch I, a simple branch I II, a simple branch II III and a moving platform 1; Figure 4

[0108] The mixed branch I comprises a branch chain I, a branch chain II and a rotating pair R 15 The branch chain I is composed of a moving pair P 11 , a rotating pair R 12 , a rotating pair R 13 and a rotating pair R 14 , the axis of the moving pair P 11 represents the moving direction of the moving pair P 11 , that is, the moving direction of the moving pair P 11 , the axis of the rotating pair R 12 , the axis of the rotating pair R 13 and the axis of the rotating pair R 14 are parallel to each other; the branch chain II is composed of a moving pair P 21 , a rotating pair R 22 , a rotating pair R 23 and a rotating pair R 24 , the axis of the moving pair P 21 represents the moving direction of the moving pair P 21 , that is, the moving direction of the moving pair P 21 , the axis of the rotating pair R 22 , the axis of the rotating pair R 23 and the axis of the rotating pair R 24 are parallel to each other; the rotating pair R 14 is connected with the rotating pair R 24 through an output rod 2, the rotating pair R 14 is coaxially arranged with the output rod 2, the output rod 2 is provided with a rotating pair R 15 whose axis is located in the vertical direction, and the axis of the rotating pair R 14 and the axis of the rotating pair R​24 the axis of the revolute pair eight R 15 is perpendicular to the axis of the revolute pair nine R

[0109] The simple branch chain I is composed of the prismatic pair three P 31 , the revolute pair eight R 32 , the revolute pair nine R 33 , the revolute pair ten R 34 and the revolute pair eleven R 35 in series, the axis of the prismatic pair three P 31 represents the moving direction of the prismatic pair three P 31 , the axis of the prismatic pair three P 31 is perpendicular to the axis of the revolute pair eight R 32 , the axis of the revolute pair eight R 32 is parallel to the axis of the revolute pair nine R 33 , the axis of the prismatic pair three P 31 , the axis of the revolute pair eight R 32 and the axis of the revolute pair nine R 33 are all perpendicular to the axis of the revolute pair ten R 34 and the axis of the revolute pair eleven R 35 , the axis of the revolute pair ten R 34 is parallel to the axis of the revolute pair eleven R 35 ;

[0110] The simple branch chain II is composed of the prismatic pair three P 31 , the revolute pair eight R 32 , the revolute pair nine R 33 and the spherical pair two S 34 in series, the axis of the prismatic pair three P 31 , the axis of the revolute pair eight R 32 and the axis of the revolute pair nine R 33 are parallel to each other;

[0111] The simple branch chain III is composed of the prismatic pair four P 41 , the revolute pair twelve R 42 , the revolute pair thirteen R 43 and the spherical pair one S 44 in series, the axis of the prismatic pair four P 41 , the axis of the revolute pair twelve R 42 and the axis of the revolute pair thirteen R 43 are parallel to each other;

[0112] The revolute pair seven R 15 , the spherical pair two S 34 and the spherical pair one S 44 are all connected with the moving platform 1, the moving platform 1 has a first end, a second end and a third end which are distributed in a triangular shape, the revolute pair seven R 15 is connected to the first end of the moving platform 1, the spherical pair two S34 Connected to the second end of the moving platform 1, ball joint S 44 Connected to the third end of the moving platform 1;

[0113] Mobile Sub-P 11 Mobile secondary P 21 Mobile secondary 3P 31 and mobile secondary four-P 41 All are set on static platform 0, with the moving sub-P. 11 The axis is perpendicular to the sliding joint P. 21 The axis, the moving joint three P 31 The axis is parallel to the sliding joint P. 11 The axis, the moving joint four P 41 The axis is parallel to the sliding joint P. 21 The axis.

[0114] Mobile Sub-P 11 Mobile secondary P 21 Mobile secondary 3P 31 and mobile secondary four-P 41 When driven by the rotating joint, the moving platform 1 can achieve three-dimensional spatial movement and rotation around the rotating joint. 15 Output motion of one-dimensional rotation of the axis;

[0115] Mobile Sub-P 11 The axis and the sliding joint of the three P 31 The axes of both are parallel to the Y-axis direction, and the sliding joint 2P 21 Axis and sliding joint four P 41 The axes are all parallel to the X-axis, and the X-axis, Y-axis, and Z-axis are perpendicular to each other;

[0116] Mobile Sub-P 11 The input is the moving pair P. 11 Displacement along the Y-axis, prismatic joint 2P 21 The input is the moving pair P. 21 Displacement along the X-axis, prismatic joint 3P 31 The axis and the sliding joint of the three P 31 The movement direction is consistent, and the movement of the three Ps is consistent. 31 The input is a moving sub-P 31 Displacement along the Y-axis, prismatic joint four P 41 The axis and the four-P sliding joint 41 The movement direction is consistent, and the moving pair is four P. 41 The input is a moving quad P. 41 Displacement along the Y-axis;

[0117] Mobile Sub-P 11 The input determines the displacement of the moving platform 1 in the Y-axis direction;

[0118] Moving pair two P 21 The input of the moving pair one P determines the displacement of the moving platform 1 in the X-axis direction;

[0119] The displacement of the moving platform 1 in the Z-axis direction and the rotation around the Z-axis direction are determined by the input of the moving pair one P, the input of the moving pair two P, the input of the moving pair three P and the input of the moving pair four P. 15 11 21 31 41

[0120] The three-branched space four-degree-of-freedom parallel mechanism comprises a basic motion chain with three loops, i.e. BKC (1, 0, -1), the coupling degree is 1, the rigidity is good, and the motion decoupling and the symbolic position forward solution are achieved.

[0121] The three-branched space four-degree-of-freedom parallel mechanism of the embodiment has a mixed branched chain I of a space sub-branched chain type and two simple branched chains, forms a basic motion chain with three loops, thereby achieving the advantages of good rigidity and high precision, the displacement of the moving platform 1 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 partial motion decoupling is good, the symbolic position forward solution is easy to obtain, thereby facilitating the motion control, trajectory planning and dynamics analysis of the parallel mechanism, and the three-dimensional position workspace of the moving platform 1 is large, the rotation ability is strong, and the branched chains are not easy to interfere with each other.

[0122] The above ideal embodiment according to the present application is for the purpose of inspiration, through the above description, relevant personnel can make various changes and modifications without deviating from the technical idea of the present application. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of the claims.​​​​​

Claims

1. A three-prismatic spatial four-degree-of-freedom parallel mechanism, characterized in that: It includes static platform (0), mixed branch chain (I), simple branch chain one (II), simple branch chain two (III) and dynamic platform (1). The hybrid branch (I) includes branch chain one, branch chain two, and revolute joint seven (R). 15 The branch chain consists of parallel and sequentially connected sliding joints (P) 11 ), Rotary joint 1 (R) 12 ), Rotary joint two (R) 13 ) and rotating joint three (R 14 The second branch chain consists of two parallel and sequentially connected sliding joints (P). 21 ), Rotary joint four (R) 22 ), Rotary joint five (R) 23 ) and rotating joint six (R 24 Composed of; the rotating joint three (R) 14 ) is connected to the output rod (2) which is coaxially arranged with it and the rotary joint (R) 24 The output rod (2) is connected to a rotary joint (R) with its axis located in the vertical direction. 15 ), and rotating pair three (R) 14 The axis of the revolute joint and the six revolute joints (R) 24 The axes of all are aligned with the revolute joint 7 (R). 15 The axis is perpendicular to it; The simple branched one (II) is composed of moving pair three (P 31 ), rotating pair eight (R 32 ), rotating pair nine (R 33 ), rotating pair ten (R 34 ) and rotating pair eleven (R 35 ) in turn, the axis of moving pair three (P 31 ) is perpendicular to the axis of rotating pair eight (R 32 ), the axis of rotating pair eight (R 32 ) is parallel to the axis of rotating pair nine (R 33 ), the axis of rotating pair ten (R 34 ) and rotating pair eleven (R 35 ) are parallel, the axis of rotating pair nine (R 33 ) is perpendicular to the axis of rotating pair ten (R 34 ). The simple branched two (III) is composed of moving pair four (P 41 ), rotating pair twelve (R 42 ), rotating pair thirteen (R 43 ), rotating pair fourteen (R 44 ) and rotating pair fifteen (R 45 ) in turn, the axis of the moving pair four (P 41 ) is perpendicular to the axis of the rotating pair twelve (R 42 ), the axis of the rotating pair twelve (R 42 ) is parallel to the axis of the rotating pair thirteen (R 43 ), the axis of the rotating pair fourteen (R 44 ) and the axis of the rotating pair fifteen (R 45 ) are parallel, the axis of the rotating pair thirteen (R 43 ) is perpendicular to the axis of the rotating pair fourteen (R 44 ). The rotation pair seven (R 15 ), the rotation pair eleven (R 35 ) and the rotation pair fifteen (R 45 ) are connected with the moving platform (1), the axis of the rotation pair seven (R 15 ), the axis of the rotation pair eleven (R 35 ) and the axis of the rotation pair fifteen (R 45 ) are parallel to each other; The moving pair one (P 11 ), the moving pair two (P 21 ), the moving pair three (P 31 ) and the moving pair four (P 41 ) are arranged on the static platform (0), and are all driving pairs, the axis of the moving pair one (P 11 ) is perpendicular to the axis of the moving pair two (P 21 ), the axis of the moving pair three (P 31 ) is parallel to the axis of the moving pair one (P 11 ), and the axis of the moving pair four (P 41 ) is parallel to the axis of the moving pair two (P 21 ).

2. The three-prismatic spatial four-degree-of-freedom parallel mechanism according to claim 1, characterized in that: The moving platform (1) can realize the output motion of three-dimensional movement in space and one-dimensional rotation around the rotation pair seven (R 15 ) axis. The axis of the first moving pair (P 11 ) and the axis of the third moving pair (P 31 ) are parallel to the Y-axis direction, the axis of the second moving pair (P 21 ) and the axis of the fourth moving pair (P 41 ) are parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other. The input of the moving pair one (P 11 ) determines the displacement of the moving platform (1) in the Y-axis direction. The input of the moving pair two (P 21 ) determines the displacement of the moving platform (1) in the X-axis direction. The displacement of the moving platform (1) in the Z-axis direction and the rotation around the rotation pair seven (R 15 ) axis need to be determined by the input of the movement pair one (P 11 ), the input of the movement pair two (P 21 ), the input of the movement pair three (P 31 ) and the input of the movement pair four (P 41 ).

3. A three-prismatic spatial four-degree-of-freedom parallel mechanism, characterized in that: It includes static platform (0), mixed branch chain (I), simple branch chain one (II), simple branch chain two (III) and dynamic platform (1). The hybrid branch (I) includes branch chain one, branch chain two, and revolute joint seven (R). 15 The branch chain consists of parallel and sequentially connected sliding joints (P) 11 ), Rotary joint 1 (R) 12 ), Rotary joint two (R) 13 ) and rotating joint three (R 14 The second branch chain consists of two parallel and sequentially connected sliding joints (P). 21 ), Rotary joint four (R) 22 ), Rotary joint five (R) 23 ) and rotating joint six (R 24 Composed of; the rotating joint three (R) 14 ) is connected to the output rod (2) which is coaxially arranged with it and the rotary joint (R) 24 The output rod (2) is connected to a rotary joint (R) with its axis located in the vertical direction. 15 ), and rotating pair three (R) 14 The axis of the revolute joint and the revolute joint (R) 24 The axes of all are aligned with the revolute joint 7 (R). 15 The axis is perpendicular to it; The simple branched one (II) is composed of the moving pair three (P 31 ), the rotating pair eight (R 32 ), the rotating pair nine (R 33 ), the rotating pair ten (R 34 ) and the rotating pair eleven (R 35 ) in series, the axis of the moving pair three (P 31 ) is perpendicular to the axis of the rotating pair eight (R 32 ), the axis of the rotating pair eight (R 32 ) is parallel to the axis of the rotating pair nine (R 33 ), the axis of the rotating pair ten (R 34 ) is parallel to the axis of the rotating pair eleven (R 35 ), and the axis of the rotating pair nine (R 33 ) is perpendicular to the axis of the rotating pair ten (R 34 ). The simple branched two (III) is composed of a moving pair four (P 41 ), a rotating pair twelve (R 42 ), a rotating pair thirteen (R 43 ) and a spherical pair one (S 44 ) in series, the axis of the moving pair four (P 41 ), the axis of the rotating pair twelve (R 42 ) and the axis of the rotating pair thirteen (R 43 ) are parallel to each other; The revolute pair seven (R 15 ), the revolute pair eleven (R 35 ) and the spherical pair one (S 44 ) are connected with the moving platform (1), and the axis of the revolute pair seven (R 15 ) and the axis of the revolute pair eleven (R 35 ) are parallel. The moving pair one (P 11 ), the moving pair two (P 21 ), the moving pair three (P 31 ) and the moving pair four (P 41 ) are arranged on the static platform (0), and are all driving pairs, the axis of the moving pair one (P 11 ) is perpendicular to the axis of the moving pair two (P 21 ), the axis of the moving pair three (P 31 ) is parallel to the axis of the moving pair one (P 11 ), and the axis of the moving pair four (P 41 ) is parallel to the axis of the moving pair two (P 21 ).

4. The three-prismatic spatial four-degree-of-freedom parallel mechanism according to claim 3, characterized in that: The moving platform (1) can realize the output motion of three-dimensional movement in space and one-dimensional rotation around the rotation pair seven (R 15 ) axis. The axis of the first moving pair (P 11 ) and the axis of the third moving pair (P 31 ) are parallel to the Y-axis direction, the axis of the second moving pair (P 21 ) and the axis of the fourth moving pair (P 41 ) are parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other. The input of the moving pair one (P 11 ) determines the displacement of the moving platform (1) in the Y-axis direction. The input of the moving pair two (P 21 ) determines the displacement of the moving platform (1) in the X-axis direction. The displacement of the moving platform (1) in the Z-axis direction and the rotation around the rotation pair seven (R 15 ) axis need to be determined by the input of the movement pair one (P 11 ), the input of the movement pair two (P 21 ), the input of the movement pair three (P 31 ) and the input of the movement pair four (P 41 ).

5. A three-prismatic spatial four-degree-of-freedom parallel mechanism characterized in that: It includes static platform (0), mixed branch chain (I), simple branch chain one (II), simple branch chain two (III) and dynamic platform (1). The hybrid branch (I) includes branch chain one, branch chain two, and revolute joint seven (R). 15 The branch chain consists of parallel and sequentially connected sliding joints (P) 11 ), Rotary joint 1 (R) 12 ), Rotary joint two (R) 13 ) and rotating joint three (R 14 The second branch chain consists of two parallel and sequentially connected sliding joints (P). 21 ), Rotary joint four (R) 22 ), Rotary joint five (R) 23 ) and rotating joint six (R 24 Composed of; the rotating joint three (R) 14 ) is connected to the output rod (2) which is coaxially arranged with it and the rotary joint (R) 24 The output rod (2) is connected to a rotary joint (R) with its axis located in the vertical direction. 15 ), and rotating pair three (R) 14 The axis of the revolute joint and the revolute joint (R) 24 The axes of all are aligned with the revolute joint 7 (R). 15 The axis is perpendicular to it; The simple branched one (II) is composed of the moving pair three (P 31 ), the rotating pair eight (R 32 ), the rotating pair nine (R 33 ), the rotating pair ten (R 34 ) and the rotating pair eleven (R 35 ) in series, the axis of the moving pair three (P 31 ), the axis of the rotating pair eight (R 32 ) and the axis of the rotating pair nine (R 33 ) are parallel to each other, the axis of the rotating pair ten (R 34 ) and the axis of the rotating pair eleven (R 35 ) are parallel, and the axis of the rotating pair nine (R 33 ) is perpendicular to the axis of the rotating pair ten (R 34 ). The simple branched two (III) is composed of moving pair four (P 41 ), rotating pair twelve (R 42 ), rotating pair thirteen (R 43 ), rotating pair fourteen (R 44 ) and rotating pair fifteen (R 45 ) in series, the axis of the moving pair four (P 41 ), the axis of the rotating pair twelve (R 42 ) and the axis of the rotating pair thirteen (R 43 ) are parallel to each other, the axis of the rotating pair fourteen (R 44 ) and the axis of the rotating pair fifteen (R 45 ) are parallel, and the axis of the rotating pair thirteen (R 43 ) is perpendicular to the axis of the rotating pair fourteen (R 44 ). The rotation pair seven (R 15 ), the rotation pair eleven (R 35 ) and the rotation pair fifteen (R 45 ) are connected with the moving platform (1), the axis of the rotation pair seven (R 15 ), the axis of the rotation pair eleven (R 35 ) and the axis of the rotation pair fifteen (R 45 ) are parallel to each other; The moving pair one (P 11 ), the moving pair two (P 21 ), the moving pair three (P 31 ) and the moving pair four (P 41 ) are arranged on the static platform (0), and are all driving pairs, the axis of the moving pair one (P 11 ) is perpendicular to the axis of the moving pair two (P 21 ), the axis of the moving pair three (P 31 ) is parallel to the axis of the moving pair one (P 11 ), and the axis of the moving pair four (P 41 ) is parallel to the axis of the moving pair two (P 21 ).

6. The three-prismatic spatial four-degree-of-freedom parallel mechanism according to claim 5, characterized in that: The moving platform (1) can realize the output motion of three-dimensional movement in space and one-dimensional rotation around the rotation pair seven (R 15 ) axis. The axis of the first moving pair (P 11 ) and the axis of the third moving pair (P 31 ) are parallel to the Y-axis direction, the axis of the second moving pair (P 21 ) and the axis of the fourth moving pair (P 41 ) are parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other. The input of the moving pair one (P 11 ) determines the displacement of the moving platform (1) in the Y-axis direction. The input of the moving pair two (P 21 ) determines the displacement of the moving platform (1) in the X-axis direction. The displacement of the moving platform (1) in the Z-axis direction and the rotation around the rotation pair seven (R 15 ) axis need to be determined by the input of the movement pair one (P 11 ), the input of the movement pair two (P 21 ), the input of the movement pair three (P 31 ) and the input of the movement pair four (P 41 ).

7. A three-prismatic spatial four-degree-of-freedom parallel mechanism characterized in that: It includes static platform (0), mixed branch chain (I), simple branch chain one (II), simple branch chain two (III) and dynamic platform (1). It includes static platform (0), mixed branch chain (I), simple branch chain one (II), simple branch chain two (III) and dynamic platform (1). The hybrid branch (I) includes branch chain one, branch chain two, and revolute joint seven (R). 15 The branch chain consists of parallel and sequentially connected sliding joints (P) 11 ), Rotary joint 1 (R) 12 ), Rotary joint two (R) 13 ) and rotating joint three (R 14 The second branch chain consists of two parallel and sequentially connected sliding joints (P). 21 ), Rotary joint four (R) 22 ), Rotary joint five (R) 23 ) and rotating joint six (R 24 Composed of; the rotating joint three (R) 14 ) is connected to the output rod (2) which is coaxially arranged with it and the rotary joint (R) 24 The output rod (2) is connected to a rotary joint (R) with its axis located in the vertical direction. 15 ), and rotating pair three (R) 14 The axis of the revolute joint and the revolute joint (R) 24 The axes of all are aligned with the revolute joint 7 (R). 15 The axis is perpendicular to it; The simple branched chain one (II) is composed of the moving pair three (P 31 ), the rotating pair eight (R 32 ), the rotating pair nine (R 33 ) and the spherical pair two (S 34 ) in sequence, the axis of the moving pair three (P 31 ), the axis of the rotating pair eight (R 32 ) and the axis of the rotating pair nine (R 33 ) are parallel to each other; The simple branched two (III) is composed of a moving pair four (P 41 ), a rotating pair twelve (R 42 ), a rotating pair thirteen (R 43 ) and a spherical pair one (S 44 ) in series, the axis of the moving pair four (P 41 ), the axis of the rotating pair twelve (R 42 ) and the axis of the rotating pair thirteen (R 43 ) are parallel to each other; The revolute pair seven (R 15 ), the spherical pair two (S 34 ), and the spherical pair one (S 44 ) are all connected with the moving platform (1). The moving pair one (P 11 ), the moving pair two (P 21 ), the moving pair three (P 31 ) and the moving pair four (P 41 ) are arranged on the static platform (0), and are all driving pairs, the axis of the moving pair one (P 11 ) is perpendicular to the axis of the moving pair two (P 21 ), the axis of the moving pair three (P 31 ) is parallel to the axis of the moving pair one (P 11 ), and the axis of the moving pair four (P 41 ) is parallel to the axis of the moving pair two (P 21 ).

8. The three-prismatic spatial four-degree-of-freedom parallel mechanism according to claim 7, characterized in that: The moving platform (1) can realize the output motion of three-dimensional movement in space and one-dimensional rotation around the rotation pair seven (R 15 ) axis. The axis of the first moving pair (P 11 ) and the axis of the third moving pair (P 31 ) are parallel to the Y-axis direction, the axis of the second moving pair (P 21 ) and the axis of the fourth moving pair (P 41 ) are parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other. The input of the moving pair one (P 11 ) determines the displacement of the moving platform (1) in the Y-axis direction. The input of the moving pair two (P 21 ) determines the displacement of the moving platform (1) in the X-axis direction. The displacement of the moving platform (1) in the Z-axis direction and the rotation around the rotation pair seven (R 15 ) axis need to be determined by the input of the movement pair one (P 11 ), the input of the movement pair two (P 21 ), the input of the movement pair three (P 31 ) and the input of the movement pair four (P 41 ).

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