Single-loop two-translation parallel mechanism with closed-loop position solution

Abstract

The present invention relates to the fields of mechanism and robotics technology, and in particular to a single-loop two-translation parallel mechanism with a closed position solution, comprising a simple branch chain 1, a simple branch chain 2, a moving platform and a static platform. The simple branch chain 1 is composed of a rotating pair 1, a rotating pair 2 and a rotating pair 3 whose axes are parallel to each other, which are connected in series in sequence; the simple branch chain 2 is composed of a moving pair 2, a rotating pair group 1 and a rotating pair group 2, which are connected in series in sequence; the moving platform is respectively connected to the rotating pair 3 and the rotating pair in the rotating pair group 2 that is away from the rotating pair group 1, and the static platform is respectively connected to the rotating pair 1 and the moving pair 2. The moving platform of the present invention can generate two translation movements; when the driving pair of the simple branch chain 1 or the simple branch chain 2 is locked, the parallel mechanism is a two-translation parallel mechanism with one degree of freedom, and one translation is a non-independent derivative movement. In both cases, the mechanism coupling degree is zero, and both have a closed position positive solution.

Description

Technical Field

[0001] The present invention relates to the field of mechanism and robotics technology, in particular to a single-loop two-translation parallel mechanism with a position closed solution. Background Art

[0002] Currently, there is little research on two-degree-of-freedom two-translation parallel mechanisms.

[0003] Wang Shijie [1] A 3-UPS&U redundant drive parallel mechanism with two rotation outputs was proposed, which has good comprehensive kinematic performance; Liu Pingan [2] Using the constraint screw theory, a two-degree-of-freedom mechanism of spatial 2R type (rotation around the y-axis and z-axis) and 1R1T type (rotation around the z-axis and movement along the z-axis) was synthesized; Peng Binbin [3] Based on the singular configuration of the 3-UPU parallel mechanism, a new 2-DOF parallel translation mechanism with two constant postures was constructed. The mechanism has better stiffness due to the use of a spatial constraint structure. [4] A hyperbolic beam branched structure was proposed, and a two-degree-of-freedom compliant moving parallel mechanism was designed based on its motion characteristics, and applied to the docking device; Cao et al. [5] proposed and designed a new two-translation parallel robot for minimally invasive surgery and performed a kinematic analysis on it; Liu et al. [6] proposed a new two-degree-of-freedom (DOF) cable ring slider driven parallel mechanism, which does not require a rigid linkage mechanism or a spring-loaded cable connected to the end effector.

[0004] However, these two-degree-of-freedom translational parallel mechanisms have more complex structures and larger volumes. In applications with lower loads, slow speeds, and limited space, a single-loop parallel mechanism consisting of simple branches is a better choice.

[0005] [1] Wang Shijie, Feng Wei, Li Tiejun, Zhang Jianjun, Yang Dong, Liu Jinyue. Kinematic performance analysis of spatial 2-DOF redundant actuated parallel mechanism[J]. Journal of Mechanical Engineering, 2022, 58(23): 18-27;

[0006] [2] Liu Pingan, Huai Chuangfeng, Hu Changfeng. Synthesis of spatially symmetric 2-DOF parallel mechanisms using constrained screw theory [J]. China Mechanical Engineering, 2014, 25(18): 2506-2510;

[0007] [3] Peng Binbin, Xiao Jie, Chen Xiaogang, Sun Yu. Configuration and motion performance of a new 2-DOF parallel translation mechanism[J]. Mechanical Design and Research, 2010, 26(01):36-39+47. DOI:10.13952 / j.cnki.jofmdr.2010.01.023;

[0008] [4] Yang Yi, Lu Bizhou, Li Xiaomao, Yao Junfeng, Pu Huayan, Peng Yan. Research on a 2-DOF compliant mobile parallel mechanism and its application in docking device[J]. Journal of Mechanical Engineering, 2019, 55(11): 114-122;

[0009] [5]Cao, W., Xu, S., Rao, K., and Ding, T. (May 23, 2019). "Kinematic Design of a Novel Two Degree-of-Freedom Parallel Mechanism for Minimally InvasiveSurgery." ASME.J.Mech.Des.October 2019;141(10):104501;

[0010] [6] Liu, H., Gosselin, C., and Laliberté, T. (October 31, 2013). "Two-Degree-of-Freedom Decoupled Nonredundant Cable-Loop-Driven Parallel Mechanism." ASME.J.Mechanisms Robotics.February 2014; 6(1):014501;

[0011] In view of this, the present invention aims to provide a type of parallel mechanism with two single-loop two-degree-of-freedom drives that can still generate two translational motions, so as to meet the production process requirements of smaller operating range, higher speed and precision in the industrial production field. Summary of the Invention

[0012] The technical problem to be solved by the present invention is: in order to solve the deficiencies in the prior art, a single-loop two-translation parallel mechanism with a position closed solution is provided. The two-translation parallel mechanism is spatially arranged and composed of low pairs. It has the advantages of simple structure, easy manufacturing and good dynamic performance.

[0013] The technical solution adopted by the present invention to solve the technical problem is: a single-loop two-translation parallel mechanism with a position closed solution, comprising:

[0014] Simple branch chain 1, composed of revolving pair 1, revolving pair 2 and revolving pair 3 connected in series with their axes parallel to each other;

[0015] A simple branched chain 2 is formed by connecting a moving pair 2, a rotating pair group 1, and a rotating pair group 2 in series, wherein the rotating pair group 1 and the rotating pair group 2 each include two rotating pairs connected in series with mutually parallel axes, the moving direction of the moving pair 2 is perpendicular to the axis of the rotating pair in the rotating pair group 1, and the axis of the rotating pair in the rotating pair group 1 is perpendicular to the axis of the rotating pair in the rotating pair group 2;

[0016] The movable platform is respectively connected to the third rotating pair and the rotating pair in the second rotating pair group that is away from the first rotating pair group, and the axis of the third rotating pair is perpendicular to the axis of the rotating pair in the second rotating pair group;

[0017] and a static platform, respectively connected to the rotating pair 1 and the moving pair 2, wherein the axis of the rotating pair 1 is perpendicular to the moving direction of the moving pair 2, or the axis of the rotating pair 1 is parallel to the moving direction of the moving pair 2.

[0018] Furthermore, the first rotational pair group includes a sixth rotational pair and a seventh rotational pair whose axes are parallel to each other, and the second rotational pair group includes a fourth rotational pair and a fifth rotational pair whose axes are parallel to each other;

[0019] The rotating pair 4, the rotating pair 5, the rotating pair 6 and the rotating pair 7 are connected in series in sequence. The rotating pair 4 is connected to the moving platform, and the rotating pair 7 is connected to the moving pair 2.

[0020] Furthermore, the axis of the first rotating pair is 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;

[0021] The moving direction of the second moving pair is parallel to the X-axis direction, the axis of the fourth rotating pair is parallel to the Y-axis direction, and the axis of the sixth rotating pair is parallel to the Z-axis direction;

[0022] Alternatively, the moving direction of the second moving pair and the axis of the fourth rotating pair are both parallel to the Y-axis direction, and the axis of the sixth rotating pair is parallel to the Z-axis direction;

[0023] Alternatively, the moving direction of the second moving pair is parallel to the X-axis direction, the axis of the fourth rotating pair is parallel to the Z-axis direction, and the axis of the sixth rotating pair is parallel to the Y-axis direction;

[0024] Alternatively, the moving direction of the second moving pair and the axis of the fourth rotating pair are parallel to the Z-axis direction, and the axis of the sixth rotating pair is parallel to the Y-axis direction.

[0025] The present invention also provides a single-loop two-translation parallel mechanism with a position closed solution, comprising:

[0026] A simple branch chain 1 is composed of a moving pair 1, a rotating pair 2, and a rotating pair 3 connected in series in sequence, wherein the axis of the rotating pair 2 and the axis of the rotating pair 3 are parallel to each other, and the moving direction of the moving pair 1 is perpendicular to the axis of the rotating pair 2;

[0027] A simple branched chain 2 is formed by connecting a moving pair 2, a rotating pair group 1, and a rotating pair group 2 in series, wherein the rotating pair group 1 and the rotating pair group 2 each include two rotating pairs connected in series with mutually parallel axes, the moving direction of the moving pair 2 is perpendicular to the axis of the rotating pair in the rotating pair group 1, and the axis of the rotating pair in the rotating pair group 1 is perpendicular to the axis of the rotating pair in the rotating pair group 2;

[0028] The movable platform is respectively connected to the third rotating pair and the rotating pair in the second rotating pair group that is away from the first rotating pair group, and the axis of the third rotating pair is perpendicular to the axis of the rotating pair in the second rotating pair group;

[0029] and a static platform, respectively connected to the moving pair 1 and the moving pair 2, wherein the moving direction of the moving pair 1 is perpendicular to the moving direction of the moving pair 2, or the moving direction of the moving pair 1 is parallel to the moving direction of the moving pair 2.

[0030] Furthermore, the first rotational pair group includes a sixth rotational pair and a seventh rotational pair whose axes are parallel to each other, and the second rotational pair group includes a fourth rotational pair and a fifth rotational pair whose axes are parallel to each other;

[0031] The rotating pair 4, the rotating pair 5, the rotating pair 6 and the rotating pair 7 are connected in series in sequence. The rotating pair 4 is connected to the moving platform, and the rotating pair 7 is connected to the moving pair 2.

[0032] Furthermore, the moving direction of the first moving pair is parallel to the Y-axis direction or the Z-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other;

[0033] The axis of the rotating pair 3 and the moving direction of the moving pair 2 are parallel to the X-axis direction, the axis of the rotating pair 4 is parallel to the Y-axis direction, and the axis of the rotating pair 6 is parallel to the Z-axis direction;

[0034] Alternatively, the axis of the rotating pair 3 is parallel to the X-axis direction, the moving direction of the moving pair 2 and the axis of the rotating pair 4 are both parallel to the Y-axis direction, and the axis of the rotating pair 6 is parallel to the Z-axis direction;

[0035] Alternatively, the axis of the third revolving pair and the moving direction of the second moving pair are parallel to the X-axis direction, the axis of the fourth revolving pair is parallel to the Z-axis direction, and the axis of the sixth revolving pair is parallel to the Y-axis direction;

[0036] Alternatively, the axis of the rotating joint three is parallel to the X-axis direction, the moving direction of the moving joint two and the axis of the rotating joint four are parallel to the Z-axis direction, and the axis of the rotating joint six is ​​parallel to the Y-axis direction.

[0037] The beneficial effects of the present invention are as follows: when the single-loop two-translation parallel mechanism with a closed position solution of the present invention uses the lower pair connecting the simple branch chain 1 and the simple branch chain 2 with the static platform as the driving pair, the parallel mechanism has two degrees of freedom, and the dynamic platform can generate two translational motions; when the driving pair of the simple branch chain 1 or the simple branch chain 2 is locked, the parallel mechanism becomes a two-translation parallel mechanism with one degree of freedom, and one translation is a non-independent derivative motion. In both cases, the mechanism coupling degree is zero, and both have a closed position positive solution; and the parallel mechanism is entirely composed of the lower pair, and has the advantages of simple structure, easy manufacturing, smooth motion, good dynamic performance, high operating precision and good rigidity, and can be used as an independent module in modern manufacturing.

[0038] A closed-form solution is one where the position equations for the input and output of a mechanism are single-variable, high-order equations. The advantage is that once such equations are derived, the positional solution for any size mechanism can be readily determined, facilitating subsequent kinematic and dynamic analysis of the mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present invention will be further described below with reference to the accompanying drawings and examples.

[0040] Figure 1 Schematic diagram of Example 1 of a single-loop two-translation parallel mechanism with a position closed-loop solution;

[0041] Figure 2 Schematic diagram of Example 2 of a single-loop two-translation parallel mechanism with a position closed-loop solution;

[0042] Figure 3 1 is a schematic diagram of Example 3 of a single-loop two-translation parallel mechanism having a position closed-loop solution;

[0043] Figure 4 1 is a schematic diagram of Example 4 of a single-loop two-translation parallel mechanism having a position closed-loop solution;

[0044] Figure 5 Schematic diagram of Example 5 of a single-loop two-translation parallel mechanism with a position closed-loop solution;

[0045] Figure 6 Schematic diagram of Example 6 of a single-loop two-translation parallel mechanism with a position closed-loop solution;

[0046] Figure 7 Schematic diagram of Example 7 of a single-loop two-translation parallel mechanism with a position closed-loop solution;

[0047] Figure 8 Schematic diagram of Example 8 of a single-loop two-translation parallel mechanism with a position closed-loop solution;

[0048] Figure 9Schematic diagram of Example 9 of a single-loop two-translation parallel mechanism with a position closed-loop solution;

[0049] Figure 10 is a schematic diagram of Example 10 of a single-loop two-translation parallel mechanism having a position closed-loop solution;

[0050] Figure 11 is a schematic diagram of Example 11 of a single-loop two-translation parallel mechanism having a position closed-loop solution;

[0051] Figure 12 It is a schematic diagram of Example 12 of a single-loop two-translation parallel mechanism with a position closed-loop solution.

[0052] In the figure: 0, static platform, 1, dynamic platform;

[0053] P1, mobile pair one, P8, mobile pair two;

[0054] R1, rotation pair one, R2, rotation pair two, R3, rotation pair three, R4, rotation pair four, R5, rotation pair five, R6, rotation pair six, R7, rotation pair seven. DETAILED DESCRIPTION

[0055] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams that illustrate the basic structure of the present invention only in a schematic manner. Therefore, they only show components relevant to the present invention, and directions and references (e.g., up, down, left, right, etc.) may be used solely to facilitate the description of features in the drawings. The following detailed description is therefore not to be taken in a limiting sense, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents.

[0056] Example 1

[0057] like Figure 1 As shown, a single-loop two-translation parallel mechanism with a position closed solution includes a simple branch chain 1, a simple branch chain 2, a moving platform 1, and a static platform 0;

[0058] A simple branch chain is composed of a revolving pair 1 R1, a revolving pair 2 R2 and a revolving pair 3 R3 which are parallel to each other in series;

[0059] The simple branch chain 2 is formed by connecting the second moving pair P8, the first rotating pair group, and the second rotating pair group in series. The first rotating pair group and the second rotating pair group each include two rotating pairs connected in series with mutually parallel axes. The moving direction of the second moving pair P8 is perpendicular to the axis of the rotating pair in the first rotating pair group, and the axis of the rotating pair in the first rotating pair group is perpendicular to the axis of the rotating pair in the second rotating pair group.

[0060] The movable platform 1 is respectively connected to the third rotational pair R3 and the rotational pair in the second rotational pair group that is away from the first rotational pair group. The axis of the third rotational pair R3 is perpendicular to the axis of the rotational pair in the second rotational pair group.

[0061] The static platform 0 is connected to the first rotating pair R1 and the second moving pair P8 respectively, and the axis of the first rotating pair R1 is parallel to the moving direction of the second moving pair P8.

[0062] The first rotational pair group includes a sixth rotational pair R6 and a seventh rotational pair R7, whose axes are parallel to each other; the second rotational pair group includes a fourth rotational pair R4 and a fifth rotational pair R5, whose axes are parallel to each other;

[0063] The rotating pair 4 R4, the rotating pair 5 R5, the rotating pair 6 R6 and the rotating pair 7 R7 are connected in series in sequence. The rotating pair 4 R4 is connected to the moving platform 1, and the rotating pair 7 R7 is connected to the moving pair 2 P8.

[0064] The axis of the revolving pair R1 is 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;

[0065] The axis of the rotating pair R1, the axis of the rotating pair R2, the axis of the rotating pair R3 and the moving direction of the movable pair P8 are all parallel to the X-axis direction, the axis of the rotating pair R4 and the axis of the rotating pair R5 are both parallel to the Y-axis direction, and the axis of the rotating pair R6 and the axis of the rotating pair R7 are both parallel to the Z-axis direction.

[0066] When the rotating pair R1 on the static platform 0 and the moving pair P8 on the static platform 0 are the driving pairs of the single-loop two-translation parallel mechanism with a closed position solution, the degree of freedom of the parallel mechanism is two, and the dynamic platform 1 can generate two translation movements in the Y-axis direction and the Z-axis direction; when the rotating pair R1 or the moving pair P8 as the driving pair is locked, the parallel mechanism is a two-translation parallel mechanism with one degree of freedom, and one translation is a non-independent derivative motion. It is worth noting that according to actual needs, the translation in the Y-axis direction can be taken as a non-independent derivative motion, or the translation in the Z-axis direction can be taken as a non-independent derivative motion; in both cases, the coupling degree of the mechanism is zero, and both have a closed position positive solution; and the parallel mechanism is entirely composed of low pairs, and has the advantages of simple structure, easy manufacturing, smooth movement, good dynamic performance, high operating precision and good rigidity, and can be used as an independent module in modern manufacturing.

[0067] Example 2

[0068] like Figure 2As shown, the difference between Example 2 and Example 1 is that the axis of the rotating pair R1, the axis of the rotating pair R2, and the axis of the rotating pair R3 are all parallel to the X-axis direction; the moving direction of the movable pair P8, the axis of the rotating pair R4, and the axis of the rotating pair R5 are all parallel to the Y-axis direction; the axis of the rotating pair R6 and the axis of the rotating pair R7 are both parallel to the Z-axis direction.

[0069] When the rotating pair R1 and the movable pair P8 are driving pairs, the dynamic platform 1 can generate two translational movements in the Y-axis direction and the Z-axis direction; when the rotating pair R1 or the movable pair P8 as the driving pair is locked, the parallel mechanism is a two-translation parallel mechanism with one degree of freedom, and one translation is a non-independent derivative motion.

[0070] Example 3

[0071] like Figure 3 As shown, the difference between Example 3 and Example 1 is that the axis of the rotating pair 1 R1, the axis of the rotating pair 2 R2, the axis of the rotating pair 3 R3 and the moving direction of the movable pair 2 P8 are all parallel to the X-axis direction, the axis of the rotating pair 4 R4 and the axis of the rotating pair 5 R5 are both parallel to the Z-axis direction, and the axis of the rotating pair 6 R6 and the axis of the rotating pair 7 R7 are both parallel to the Y-axis direction.

[0072] When the rotating pair R1 and the movable pair P8 are driving pairs, the dynamic platform 1 can generate two translational movements in the Y-axis direction and the Z-axis direction; when the rotating pair R1 or the movable pair P8 as the driving pair is locked, the parallel mechanism is a two-translation parallel mechanism with one degree of freedom, and one translation is a non-independent derivative motion.

[0073] Example 4

[0074] like Figure 4 As shown, the difference between Example 4 and Example 1 is that the axis of the rotating pair 1 R1, the axis of the rotating pair 2 R2, and the axis of the rotating pair 3 R3 are all parallel to the X-axis direction, the moving direction of the movable pair 2 P8, the axis of the rotating pair 4 R4, and the axis of the rotating pair 5 R5 are all parallel to the Z-axis direction, and the axis of the rotating pair 6 R6 and the axis of the rotating pair 7 R7 are all parallel to the Y-axis direction.

[0075] When the rotating pair R1 and the movable pair P8 are driving pairs, the dynamic platform 1 can generate two translational movements in the Y-axis direction and the Z-axis direction; when the rotating pair R1 or the movable pair P8 as the driving pair is locked, the parallel mechanism is a two-translation parallel mechanism with one degree of freedom, and one translation is a non-independent derivative motion.

[0076] Example 5

[0077] like Figure 5As shown, a single-loop two-translation parallel mechanism with a position closed solution includes a simple branch chain 1, a simple branch chain 2, a moving platform 1, and a static platform 0;

[0078] The simple branch chain 1 is composed of a movable pair 1 P1, a rotating pair 2 R2 and a rotating pair 3 R3 connected in series in sequence. The axis of the rotating pair 2 R2 and the axis of the rotating pair 3 R3 are parallel to each other, and the moving direction of the movable pair 1 P1 is perpendicular to the axis of the rotating pair 2 R2.

[0079] The simple branch chain 2 is formed by connecting the second moving pair P8, the first rotating pair group, and the second rotating pair group in series. The first rotating pair group and the second rotating pair group each include two rotating pairs connected in series with mutually parallel axes. The moving direction of the second moving pair P8 is perpendicular to the axis of the rotating pair in the first rotating pair group, and the axis of the rotating pair in the first rotating pair group is perpendicular to the axis of the rotating pair in the second rotating pair group.

[0080] The movable platform 1 is respectively connected to the third rotational pair R3 and the rotational pair in the second rotational pair group that is away from the first rotational pair group. The axis of the third rotational pair R3 is perpendicular to the axis of the rotational pair in the second rotational pair group.

[0081] The static platform 0 is connected to the moving pair 1 P1 and the moving pair 2 P8 respectively, and the moving direction of the moving pair 1 P1 is perpendicular to the moving direction of the moving pair 2 P8, or the moving direction of the moving pair 1 P1 is parallel to the moving direction of the moving pair 2 P8.

[0082] The first rotational pair group includes a sixth rotational pair R6 and a seventh rotational pair R7, whose axes are parallel to each other; the second rotational pair group includes a fourth rotational pair R4 and a fifth rotational pair R5, whose axes are parallel to each other;

[0083] The rotating pair 4 R4, the rotating pair 5 R5, the rotating pair 6 R6 and the rotating pair 7 R7 are connected in series in sequence. The rotating pair 4 R4 is connected to the moving platform 1, and the rotating pair 7 R7 is connected to the moving pair 2 P8.

[0084] The moving direction of the movable pair P1 is parallel to the Y-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other;

[0085] The axis of the second rotating pair R2, the axis of the third rotating pair R3 and the moving direction of the second movable pair P8 are all parallel to the X-axis direction, the axis of the fourth rotating pair R4 and the axis of the fifth rotating pair R5 are all parallel to the Y-axis direction, and the axis of the sixth rotating pair R6 and the axis of the seventh rotating pair R7 are all parallel to the Z-axis direction.

[0086] When the moving pair P1 on the static platform 0 and the moving pair P8 on the static platform 0 are the driving pairs of the single-loop two-translation parallel mechanism with a closed position solution, the parallel mechanism has two degrees of freedom, and the dynamic platform 1 can generate two translation movements in the Y-axis direction and the Z-axis direction; when the moving pair P1 or the moving pair P8 as the driving pair is locked, the parallel mechanism is a two-translation parallel mechanism with one degree of freedom, and one translation is a non-independent derivative motion. In both cases, the coupling degree of the mechanism is zero, and both have a closed position positive solution; and the parallel mechanism is entirely composed of low pairs, and has the advantages of simple structure, easy manufacturing, smooth movement, good dynamic performance, high operation precision, etc., and can be used as an independent module in modern manufacturing.

[0087] Example 6

[0088] like Figure 6 As shown, the difference between Example 6 and Example 5 is that the axis of the second rotating pair R2 and the axis of the third rotating pair R3 are parallel to the X-axis direction, the moving direction of the second movable pair P8, the axis of the fourth rotating pair R4 and the axis of the fifth rotating pair R5 are all parallel to the Y-axis direction, and the axis of the sixth rotating pair R6 and the axis of the seventh rotating pair R7 are all parallel to the Z-axis direction.

[0089] When the moving pair 1 P1 and the moving pair 2 P8 are driving pairs, the dynamic platform 1 can generate two translational movements in the Y-axis direction and the Z-axis direction; when the rotating pair 1 R1 or the moving pair 2 P8 as the driving pair is locked, the parallel mechanism is a two-translation parallel mechanism with one degree of freedom, and one translation is a non-independent derivative motion.

[0090] Example 7

[0091] like Figure 7 As shown, the difference between Example 7 and Example 5 is that the axis of the second rotating pair R2, the axis of the third rotating pair R3 and the moving direction of the second movable pair P8 are all parallel to the X-axis direction, the axis of the fourth rotating pair R4 and the axis of the fifth rotating pair R5 are all parallel to the Z-axis direction, and the axis of the sixth rotating pair R6 and the axis of the seventh rotating pair R7 are all parallel to the Y-axis direction.

[0092] When the moving pair 1 P1 and the moving pair 2 P8 are driving pairs, the dynamic platform 1 can generate two translational movements in the Y-axis direction and the Z-axis direction; when the rotating pair 1 R1 or the moving pair 2 P8 as the driving pair is locked, the parallel mechanism is a two-translation parallel mechanism with one degree of freedom, and one translation is a non-independent derivative motion.

[0093] Example 8

[0094] like Figure 8As shown, the difference between Example 8 and Example 5 is that the axis of the second rotation pair R2 and the axis of the third rotation pair R3 are both parallel to the X-axis direction, the moving direction of the second movable pair P8, the axis of the fourth rotation pair R4 and the axis of the fifth rotation pair R5 are all parallel to the Z-axis direction, and the axis of the sixth rotation pair R6 and the axis of the seventh rotation pair R7 are both parallel to the Y-axis direction.

[0095] When the moving pair 1 P1 and the moving pair 2 P8 are driving pairs, the dynamic platform 1 can generate two translational movements in the Y-axis direction and the Z-axis direction; when the rotating pair 1 R1 or the moving pair 2 P8 as the driving pair is locked, the parallel mechanism is a two-translation parallel mechanism with one degree of freedom, and one translation is a non-independent derivative motion.

[0096] Example 9

[0097] like Figure 9 As shown, the difference between Example 9 and Example 5 is that the moving direction of the moving pair P1 is parallel to the Z-axis direction.

[0098] When the moving pair 1 P1 and the moving pair 2 P8 are driving pairs, the dynamic platform 1 can generate two translational movements in the Y-axis direction and the Z-axis direction; when the rotating pair 1 R1 or the moving pair 2 P8 as the driving pair is locked, the parallel mechanism is a two-translation parallel mechanism with one degree of freedom, and one translation is a non-independent derivative motion.

[0099] Example 10

[0100] like Figure 10 As shown, the difference between Example 10 and Example 6 is that the moving direction of the moving pair P1 is parallel to the Z-axis direction.

[0101] When the moving pair 1 P1 and the moving pair 2 P8 are driving pairs, the dynamic platform 1 can generate two translational movements in the Y-axis direction and the Z-axis direction; when the rotating pair 1 R1 or the moving pair 2 P8 as the driving pair is locked, the parallel mechanism is a two-translation parallel mechanism with one degree of freedom, and one translation is a non-independent derivative motion.

[0102] Example 11

[0103] like Figure 11 As shown, the difference between Example 11 and Example 7 is that the moving direction of the first moving pair P1 is parallel to the Z-axis direction; the second rotation pair R2 and the third rotation pair R3 in this embodiment are negative degrees of freedom.

[0104] When the moving pair 1 P1 and the moving pair 2 P8 are driving pairs, the dynamic platform 1 can generate two translational movements in the Y-axis direction and the Z-axis direction; when the rotating pair 1 R1 or the moving pair 2 P8 as the driving pair is locked, the parallel mechanism is a two-translation parallel mechanism with one degree of freedom, and one translation is a non-independent derivative motion.

[0105] Example 12

[0106] like Figure 12 As shown, the difference between Example 12 and Example 8 is that the moving direction of the moving pair P1 is parallel to the Z-axis direction.

[0107] When the moving pair 1 P1 and the moving pair 2 P8 are driving pairs, the dynamic platform 1 can generate two translational movements in the Y-axis direction and the Z-axis direction; when the rotating pair 1 R1 or the moving pair 2 P8 as the driving pair is locked, the parallel mechanism is a two-translation parallel mechanism with one degree of freedom, and one translation is a non-independent derivative motion.

[0108] The above description of the preferred embodiments of the present invention is intended to serve as a guide. Based on the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. A single-loop two-translation parallel mechanism with a position closed-loop solution, characterized in that: include: Simple branch chain 1, composed of revolving pair 1 (R1), revolving pair 2 (R2) and revolving pair 3 (R3) connected in series with their axes parallel to each other; A simple branch chain 2 is formed by connecting a moving pair 2 (P8), a rotating pair group 1, and a rotating pair group 2 in series, wherein the rotating pair group 1 and the rotating pair group 2 each include two rotating pairs connected in series with mutually parallel axes, the moving direction of the moving pair 2 (P8) is perpendicular to the axis of the rotating pair in the rotating pair group 1, and the axis of the rotating pair in the rotating pair group 1 is perpendicular to the axis of the rotating pair in the forward pair group 2; The movable platform (1) is respectively connected to the third rotating pair (R3) and the rotating pair in the second rotating pair group that is away from the first rotating pair group, and the axis of the third rotating pair (R3) is perpendicular to the axis of the rotating pair in the second rotating pair group; And a static platform (0), respectively connected to the rotating pair 1 (R1) and the moving pair 2 (P8), wherein the axis of the rotating pair 1 (R1) is perpendicular to the moving direction of the moving pair 2 (P8), or the axis of the rotating pair 1 (R1) is parallel to the moving direction of the moving pair 2 (P8).

2. The single-loop two-translation parallel mechanism with a position closed solution according to claim 1, characterized in that: The first rotation pair group includes a sixth rotation pair (R6) and a seventh rotation pair (R7) whose axes are parallel to each other, and the second rotation pair group includes a fourth rotation pair (R4) and a fifth rotation pair (R5) whose axes are parallel to each other; The rotating pair 4 (R4), the rotating pair 5 (R5), the rotating pair 6 (R6) and the rotating pair 7 (R7) are connected in series in sequence, the rotating pair 4 (R4) is connected to the moving platform (1), and the rotating pair 7 (R7) is connected to the moving pair 2 (P8).

3. The single-loop two-translation parallel mechanism with a position closed solution according to claim 2, characterized in that: The axis of the first revolving pair (R1) is 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 moving direction of the second movable pair (P8) is parallel to the X-axis direction, the axis of the fourth rotating pair (R4) is parallel to the Y-axis direction, and the axis of the sixth rotating pair (R6) is parallel to the Z-axis direction; Alternatively, the moving direction of the second moving pair (P8) and the axis of the fourth rotating pair (R4) are both parallel to the Y-axis direction, and the axis of the sixth rotating pair (R6) is parallel to the Z-axis direction; Alternatively, the moving direction of the second moving pair (P8) is parallel to the X-axis direction, the axis of the fourth rotating pair (R4) is parallel to the Z-axis direction, and the axis of the sixth rotating pair (R6) is parallel to the Y-axis direction; Alternatively, the moving direction of the second moving pair (P8) and the axis of the fourth rotating pair (R4) are parallel to the Z-axis direction, and the axis of the sixth rotating pair (R6) is parallel to the Y-axis direction.

4. A single-loop two-translation parallel mechanism with a position closed-loop solution, characterized in that: include: A simple branch chain 1 is composed of a movable pair 1 (P1), a rotating pair 2 (R2) and a rotating pair 3 (R3) connected in series in sequence, wherein the axis of the rotating pair 2 (R2) and the axis of the rotating pair 3 (R3) are parallel to each other, and the moving direction of the movable pair 1 (P1) is perpendicular to the axis of the rotating pair 2 (R2); A simple branch chain 2 is formed by connecting a moving pair 2 (P8), a rotating pair group 1, and a rotating pair group 2 in series, wherein the rotating pair group 1 and the rotating pair group 2 each include two rotating pairs connected in series with mutually parallel axes, the moving direction of the moving pair 2 (P8) is perpendicular to the axis of the rotating pair in the rotating pair group 1, and the axis of the rotating pair in the rotating pair group 1 is perpendicular to the axis of the rotating pair in the forward pair group 2; The movable platform (1) is respectively connected to the third rotating pair (R3) and the rotating pair in the second rotating pair group that is away from the first rotating pair group, and the axis of the third rotating pair (R3) is perpendicular to the axis of the rotating pair in the second rotating pair group; and a static platform (0), which is respectively connected to the first moving pair (P1) and the second moving pair (P8), wherein the moving direction of the first moving pair (P1) is perpendicular to the moving direction of the second moving pair (P8), or the moving direction of the first moving pair (P1) is parallel to the moving direction of the second moving pair (P8).

5. The single-loop two-translation parallel mechanism with a position closed solution according to claim 4, characterized in that: The first rotation pair group includes a sixth rotation pair (R6) and a seventh rotation pair (R7) whose axes are parallel to each other, and the second rotation pair group includes a fourth rotation pair (R4) and a fifth rotation pair (R5) whose axes are parallel to each other; The rotating pair 4 (R4), the rotating pair 5 (R5), the rotating pair 6 (R6) and the rotating pair 7 (R7) are connected in series in sequence, the rotating pair 4 (R4) is connected to the moving platform (1), and the rotating pair 7 (R7) is connected to the moving pair 2 (P8).

6. The single-loop two-translation parallel mechanism with a position closed solution according to claim 5, characterized in that: The moving direction of the movable pair 1 (P1) is parallel to the Y-axis direction or the Z-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other; The axis of the third rotational pair (R3) and the moving direction of the second moving pair (P8) are parallel to the X-axis direction, the axis of the fourth rotational pair (R4) is parallel to the Y-axis direction, and the axis of the sixth rotational pair (R6) is parallel to the Z-axis direction; Alternatively, the axis of the third rotational pair (R3) is parallel to the X-axis direction, the moving direction of the second movable pair (P8) and the axis of the fourth rotational pair (R4) are both parallel to the Y-axis direction, and the axis of the sixth rotational pair (R6) is parallel to the Z-axis direction; Alternatively, the axis of the third rotational pair (R3) and the moving direction of the second moving pair (P8) are parallel to the X-axis direction, the axis of the fourth rotational pair (R4) is parallel to the Z-axis direction, and the axis of the sixth rotational pair (R6) is parallel to the Y-axis direction; Alternatively, the axis of the third rotational pair (R3) is parallel to the X-axis direction, the moving direction of the second movable pair (P8) and the axis of the fourth rotational pair (R4) are parallel to the Z-axis direction, and the axis of the sixth rotational pair (R6) is parallel to the Y-axis direction.

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