Parallel robot with complete decoupling characteristic and capable of moving along instantaneous center surface of spherical 4R mechanism in two dimensions and method

Abstract

The invention discloses a parallel robot having a complete decoupling characteristic and moving in two dimensions along the instantaneous center surface of a spherical 4R mechanism, which comprises a base and a movable platform, and a first kinematic chain and a second kinematic chain are arranged between the base and the movable platform; the first kinematic chain is also connected with the second kinematic chain; the first kinematic chain comprises a twenty-fifth rotating pair R25, a seventh connecting rod, a twenty-fourth moving pair P24, a sixth connecting rod assembly, a twenty-eighth moving pair P28, a tenth connecting rod, a twenty-seventh rotating pair R27, an eleventh connecting rod and a twenty-sixth moving pair P26 which are connected in sequence; the twenty-fifth rotating pair R25 is further connected with the movable platform, and the twenty-sixth moving pair P26 is further connected with the base; the sixth connecting rod assembly is further connected with the second branch chain. The parallel robot can improve the model precision of the ruled curved surface, so that the precision of the curved surface of the machined part is improved. The invention further discloses a driving method of the parallel robot which has the complete decoupling characteristic and moves along the instantaneous center surface of the spherical 4R mechanism in a two-dimensional mode.

Description

Technical Field

[0001] The present invention belongs to the field of robot technology, and specifically relates to a parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center plane of a spherical 4R mechanism, and also relates to a driving method for the parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center plane of a spherical 4R mechanism. Background Art

[0002] The ruled surface formed by the instantaneous center line of the spherical mechanism connecting rod in the fixed coordinate system and the ruled surface formed by the instantaneous center line of the connecting rod coordinate system perform pure rolling relative motion. Generally speaking, the surface equation of the instantaneous center surface of the spherical mechanism connecting rod is relatively complex, and it is very difficult to obtain its analytical surface equation. Therefore, it is only possible to obtain discrete data of the approximate ruled surface by discretizing the surface equation. When the fingerprint surface is processed by the discretized surface data, errors will be generated, affecting the processing accuracy of the ruled surface, thereby affecting the motion accuracy. Summary of the invention

[0003] The first objective of the present invention is to provide a parallel robot with fully decoupled characteristics that moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism. The parallel robot does not require numerical discretization of the ruled surface, and can improve the model accuracy of the ruled surface, thereby improving the surface accuracy of the processed parts.

[0004] The second object of the present invention is to provide a driving method for a parallel robot that moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism and has a completely decoupled characteristic.

[0005] The first technical solution adopted by the present invention is a parallel robot with complete decoupling characteristics and two-dimensional movement along the instantaneous center surface of a spherical 4R mechanism, comprising a base and a moving platform, a first kinematic chain and a second kinematic chain are arranged between the base and the moving platform; the first kinematic chain is also connected to the second kinematic chain; The first kinematic chain includes a twenty-fifth rotation pair R25, a seventh connecting rod, a twenty-fourth mobile pair P24, a sixth connecting rod assembly, a twenty-eighth mobile pair P28, a tenth connecting rod, a twenty-seventh rotation pair R27, an eleventh connecting rod and a twenty-sixth mobile pair P26 which are connected in sequence; The twenty-fifth rotation pair R25 is also connected to the moving platform, the twenty-sixth translation pair P26 is also connected to the base; the sixth connecting rod assembly is also connected to the second branch chain.

[0006] The present invention is also characterized in that: The moving platform is a broken line connecting rod, and the first end of the moving platform is connected to the seventh connecting rod through the twenty-fifth rotation pair R25; the second end of the moving platform is connected to the second kinematic chain.

[0007] The sixth connecting rod assembly includes a first support rod, a second support rod and a third support rod; the first end of the first support rod, the first end of the second support rod and the first end of the third support rod intersect at a point; the second end of the first support rod is connected to the seventh connecting rod through the twenty-fourth movable pair P24; the second end of the second support rod is connected to the tenth connecting rod through the twenty-eighth movable pair P28; the second end of the third support rod is connected to the second kinematic chain.

[0008] The second branch chain includes the fifteenth rotating pair R15, the fourth connecting rod, the fourteenth moving pair P14, the third connecting rod, the thirteenth moving pair P13 and the base connecting assembly which are connected in sequence. The base connecting assembly is also connected to the base and the second end of the third branch rod. The fifteenth rotating pair R15 is also connected to the second end of the moving platform.

[0009] The base connection assembly includes an eleventh rotation pair R11, a second connecting rod, a twelfth rotation pair R12, an eighth connecting rod, a twenty-second rotation pair R22, a fifth connecting rod and a twenty-first rotation pair R21 which are connected in sequence; the twenty-first rotation pair R21 and the eleventh rotation pair R11 are also connected to the base; and also includes a thirteenth movement pair P13 connected to the second connecting rod and a twenty-third movement pair P23 connected to the fifth connecting rod; The second connecting rod is a T-shaped connecting rod, including a first cross rod and a first vertical rod, the first end of the first vertical rod is connected to the rod body of the first cross rod, and the second end of the first vertical rod is connected to the third connecting rod through a thirteenth movable pair P13; the first end of the first cross rod is connected to the eighth connecting rod through a twelfth rotation pair R12, and the second end of the first cross rod is connected to the base through an eleventh rotation pair R11; The fifth connecting rod is a T-shaped connecting rod, including a second cross rod and a second vertical rod. The first end of the second vertical rod is connected to the rod body of the second cross rod, and the second end of the second vertical rod is connected to the second end of the third support rod through the twenty-third movable pair P23; the first end of the second cross rod is connected to the eighth connecting rod through the twenty-second rotation pair R22, and the second end of the second cross rod is connected to the base through the twenty-first rotation pair R21.

[0010] The eleventh rotating pair R11 is connected to a driving rotating motor.

[0011] The twenty-sixth moving pair P26 is connected to a driving moving motor.

[0012] The second technical solution adopted by the present invention is a driving method for the above-mentioned parallel robot with fully decoupling characteristics that moves in two dimensions along the instantaneous center surface of the spherical 4R mechanism, specifically: controlling the driving rotating motor connected to the eleventh rotating pair R11 to control the direction of spatial movement with the rotation center as the polar coordinate center when the moving platform moves along the ruled surface where the instantaneous rotation center of the spherical 4R mechanism is located; controlling the driving moving motor connected to the twenty-sixth moving pair P26 to control the distance with the rotation center as the polar coordinate center when the moving platform moves along the straight line where the instantaneous rotation center of the spherical 4R mechanism is located.

[0013] The beneficial effects of the present invention are: (1) The parallel robot with completely decoupled characteristics and two-dimensional movement along the instantaneous center surface of the spherical 4R mechanism proposed in the present invention has a ruled surface movement motion of the robot end effector. The movement direction of any generatrix of the ruled surface is controlled by one drive, and the movement length of any generatrix of the ruled surface is controlled by one drive. It has completely decoupled two-dimensional movement motion characteristics, a simple control method, and is relatively easy to achieve position control.

[0014] (2) The parallel robot proposed in the present invention has a completely decoupled characteristic and moves in two dimensions along the instantaneous center surface of the spherical 4R mechanism. The workspace where the end of the parallel robot moves is a ruled surface formed by the instantaneous center line of the spherical 4R mechanism. A three-dimensional printing nozzle or machining tool can be arranged at the end of the robot to machine the surface of a part with such ruled surface features. The parallel robot does not need to perform numerical discretization on the ruled surface, which can improve the model accuracy of the ruled surface, thereby improving the accuracy of the machined part surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of a parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism; 1. base, 2. second connecting rod, 3. third connecting rod, 4. fourth connecting rod, 5. fifth connecting rod, 6. sixth connecting rod assembly, 7. seventh connecting rod, 8. eighth connecting rod, 9. moving platform, 10. tenth connecting rod, 11. eleventh connecting rod; 2-1. The first horizontal bar, 2-2. The first vertical bar; 5-1. The second horizontal bar, 5-2. The second vertical bar; 6-1. The first pole, 6-2. The second pole, 6-3. The third pole; R11. the eleventh rotating pair, R12. the twelfth rotating pair, P13. the thirteenth moving pair, P14. the fourteenth moving pair, R15. the fifteenth rotating pair, R21. the twenty-first rotating pair, R22. the twenty-second rotating pair, P23. the twenty-third moving pair, P24. the twenty-fourth moving pair, R25. the twenty-fifth rotating pair, P26. the twenty-sixth moving pair, R27. the twenty-seventh rotating pair, P28. the twenty-eighth moving pair. DETAILED DESCRIPTION

[0016] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] The present invention provides a parallel robot with complete decoupling characteristics and capable of moving in two dimensions along the instantaneous center surface of a spherical 4R mechanism, such as Figure 1 As shown, it includes a base 1 and a moving platform 9, and a first kinematic chain and a second kinematic chain are arranged between the base 1 and the moving platform 9; the first kinematic chain is also connected to the second kinematic chain; The first kinematic chain includes a twenty-fifth rotation pair R25, a seventh connecting rod 7, a twenty-fourth mobile pair P24, a sixth connecting rod assembly 6, a twenty-eighth mobile pair P28, a tenth connecting rod 10, a twenty-seventh rotation pair R27, an eleventh connecting rod 11 and a twenty-sixth mobile pair P26 which are connected in sequence; The twenty-fifth rotation pair R25 is also connected to the moving platform 9, the twenty-sixth translation pair P26 is also connected to the base 1; the sixth connecting rod assembly 6 is also connected to the second branch chain.

[0018] The moving platform 9 is a broken line connecting rod, and the first end of the moving platform 9 is connected to the seventh connecting rod 7 through the twenty-fifth rotation pair R25; the second end of the moving platform 9 is connected to the second kinematic chain.

[0019] The sixth connecting rod assembly 6 includes a first support rod 6-1, a second support rod 6-2 and a third support rod 6-3; the first end of the first support rod 6-1, the first end of the second support rod 6-2 and the first end of the third support rod 6-3 intersect at a point; the second end of the first support rod 6-1 is connected to the seventh connecting rod 7 through the twenty-fourth movable pair P24; the second end of the second support rod 6-2 is connected to the tenth connecting rod 10 through the twenty-eighth movable pair P28; the second end of the third support rod 6-3 is connected to the second kinematic chain.

[0020] The second branch chain includes the fifteenth rotating pair R15, the fourth connecting rod 4, the fourteenth movable pair P14, the third connecting rod 3, the thirteenth movable pair P13 and the base connecting assembly which are connected in sequence. The base connecting assembly is also connected to the base 1 and the second end of the third branch rod 6-3. The fifteenth rotating pair R15 is also connected to the second end of the moving platform 9.

[0021] The base connection assembly includes an eleventh rotation pair R11, a second connecting rod 2, a twelfth rotation pair R12, an eighth connecting rod 8, a twenty-second rotation pair R22, a fifth connecting rod 5 and a twenty-first rotation pair R21 which are connected in sequence; the twenty-first rotation pair R21 and the eleventh rotation pair R11 are also connected to the base 1; and also includes a thirteenth movement pair P13 connected to the second connecting rod 2 and a twenty-third movement pair P23 connected to the fifth connecting rod 5; The second connecting rod 2 is a T-shaped connecting rod, including a first cross bar 2-1 and a first vertical bar 2-2, the first end of the first vertical bar 2-2 is connected to the rod body of the first cross bar 2-1, and the second end of the first vertical bar 2-2 is connected to the third connecting rod 3 through the thirteenth movable joint P13; the first end of the first cross bar 2-1 is connected to the eighth connecting rod 8 through the twelfth rotation joint R12, and the second end of the first cross bar 2-1 is connected to the base 1 through the eleventh rotation joint R11; The fifth connecting rod 5 is a T-shaped connecting rod, including a second cross bar 5-1 and a second vertical rod 5-2. The first end of the second vertical rod 5-2 is connected to the rod body of the second cross bar 5-1, and the second end of the second vertical rod 5-2 is connected to the second end of the third support rod 6-3 through the twenty-third movable pair P23; the first end of the second cross bar 5-1 is connected to the eighth connecting rod 8 through the twenty-second rotation pair R22, and the second end of the second cross bar 5-1 is connected to the base 1 through the twenty-first rotation pair R21.

[0022] The eleventh rotating pair R11 is connected to a driving rotating motor.

[0023] The twenty-sixth moving pair P26 is connected to a driving moving motor.

[0024] The present invention also provides a driving method for a parallel robot with a completely decoupled characteristic that moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism, specifically: controlling the driving rotating motor connected to the eleventh rotating pair R11 can control the moving platform 9 to move along the ruled surface where the instantaneous rotation center of the spherical 4R mechanism is located, and control the direction of movement in the space with the rotation center as the polar coordinate center. Controlling the driving moving motor connected to the twenty-sixth moving pair P26 can control the moving platform 9 to move along the ruled surface where the instantaneous rotation center of the spherical 4R mechanism is located, and control the distance with the rotation center as the polar coordinate center.

[0025] like Figure 1 As shown, the base 1 is rotationally connected to the second end of the first cross bar 2-1 in the second link 2 through the eleventh rotation pair R11, the first end of the first cross bar 2-1 in the second link 2 is rotationally connected to the eighth link 8 through the twelfth rotation pair R12, the eighth link 8 is rotationally connected to the first end of the second cross bar 5-1 in the fifth link 5 through the twenty-second rotation pair R22, and the second end of the second cross bar 5-1 in the fifth link 5 is rotationally connected to the base 1 through the twenty-first rotation pair R21.

[0026] The second end of the first vertical rod 2-2 in the second connecting rod 2 is movably connected to the third connecting rod 3 through the thirteenth moving pair P13, the third connecting rod 3 is movably connected to the fourth connecting rod 4 through the fourteenth moving pair P14, and the fourth connecting rod 4 is rotatably connected to the moving platform 9 through the fifteenth rotation pair R15. The moving platform 9 is rotatably connected to the seventh connecting rod 7 through the twenty-fifth rotation pair R25. The seventh connecting rod 7 is movably connected to the first support rod 6-1 in the sixth connecting rod assembly 6 through the twenty-fourth moving pair P24. The third support rod 6-3 in the sixth connecting rod assembly 6 is movably connected to the second end of the second vertical rod 5-2 in the fifth connecting rod 5 through the twenty-third moving pair P23.

[0027] The second support rod 6-2 in the sixth connecting rod assembly 6 is movably connected to the tenth connecting rod 10 through the twenty-eighth movable pair P28. The tenth connecting rod 10 is movably connected to the eleventh connecting rod 11 through the twenty-seventh rotation pair R27. The eleventh connecting rod 11 is movably connected to the base 1 through the twenty-sixth movable pair P26.

[0028] Figure 1 In the shown mechanism configuration, the axes of the eleventh rotational pair R11, the twelfth rotational pair R12, the twenty-second rotational pair R22 and the twenty-first rotational pair R21 intersect at point O. Figure 1 In the shown mechanism configuration, the axes of the eleventh rotational pair R11, the twelfth rotational pair R12, the twenty-second rotational pair R22 and the twenty-first rotational pair R21 are not coplanar.

[0029] Figure 1 In the shown configuration, the moving directions of the thirteenth moving pair P13 and the fourteenth moving pair P14 are parallel to the plane where the axes of the eleventh rotation pair R11 and the twelfth rotation pair R12 are located. Figure 1 In the shown mechanism configuration, the moving direction of the thirteenth movable pair P13 is parallel to the axis of the eleventh rotation pair R11, and the moving direction of the fourteenth movable pair P14 is parallel to the axis of the twelfth rotation pair R12.

[0030] Figure 1 In the shown mechanism configuration, the axis of the fifteenth rotation pair R15 is parallel to the axis of the eleventh rotation pair R11.

[0031] Figure 1 In the shown configuration, the moving directions of the twenty-third moving pair P23 and the twenty-fourth moving pair P24 are parallel to the plane where the axes of the twenty-first rotation pair R21 and the twenty-second rotation pair R22 are located. Figure 1 In the shown mechanism configuration, the moving direction of the twenty-third movable pair P23 is parallel to the axis of the twenty-first rotation pair R21, and the moving direction of the twenty-fourth movable pair P24 is parallel to the axis of the twenty-second rotation pair R22.

[0032] Figure 1In the shown mechanism configuration, the axis of the twenty-fifth rotation pair R25 is parallel to the axis of the twenty-first rotation pair R21.

[0033] Figure 1 In the shown mechanism configuration, the moving direction of the twenty-sixth moving pair P26 is parallel to the axis of the twenty-first rotation pair R21. The axis of the twenty-seventh rotation pair R27 coincides with the axis of the twenty-first rotation pair R21. The moving direction of the twenty-eighth moving pair P28 is parallel to the plane where the axes of the twenty-first rotation pair R21 and the twenty-second rotation pair R22 are located.

[0034] The eleventh rotating pair R11 is connected to a driving rotating motor.

[0035] The twenty-sixth moving pair P26 is connected to a driving moving motor.

[0036] By controlling the driving rotation motor connected to the eleventh rotation pair R11, the moving platform 9 can be controlled to move along the ruled surface where the instantaneous rotation center of the spherical surface 4R mechanism is located, and the direction of movement in the space with the rotation center as the polar coordinate center can be controlled. By controlling the driving movement motor connected to the twenty-sixth movement pair P26, the moving platform 9 can be controlled to move along the ruled surface where the instantaneous rotation center of the spherical surface 4R mechanism is located, and the distance with the rotation center as the polar coordinate center can be controlled.

[0037] Example 1 A parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism, such as Figure 1 As shown, it includes a base 1 and a moving platform 9, and a first kinematic chain and a second kinematic chain are arranged between the base 1 and the moving platform 9; the first kinematic chain is also connected to the second kinematic chain; The first kinematic chain includes a twenty-fifth rotation pair R25, a seventh connecting rod 7, a twenty-fourth mobile pair P24, a sixth connecting rod assembly 6, a twenty-eighth mobile pair P28, a tenth connecting rod 10, a twenty-seventh rotation pair R27, an eleventh connecting rod 11 and a twenty-sixth mobile pair P26 which are connected in sequence; The twenty-fifth rotation pair R25 is also connected to the moving platform 9, the twenty-sixth translation pair P26 is also connected to the base 1; the sixth connecting rod assembly 6 is also connected to the second branch chain.

[0038] Example 2 A parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism, such as Figure 1 As shown, it includes a base 1 and a moving platform 9, and a first kinematic chain and a second kinematic chain are arranged between the base 1 and the moving platform 9; the first kinematic chain is also connected to the second kinematic chain; The first kinematic chain includes a twenty-fifth rotation pair R25, a seventh connecting rod 7, a twenty-fourth mobile pair P24, a sixth connecting rod assembly 6, a twenty-eighth mobile pair P28, a tenth connecting rod 10, a twenty-seventh rotation pair R27, an eleventh connecting rod 11 and a twenty-sixth mobile pair P26 which are connected in sequence; The twenty-fifth rotation pair R25 is also connected to the moving platform 9, the twenty-sixth translation pair P26 is also connected to the base 1; the sixth connecting rod assembly 6 is also connected to the second branch chain.

[0039] The moving platform 9 is a broken line connecting rod, and the first end of the moving platform 9 is connected to the seventh connecting rod 7 through the twenty-fifth rotation pair R25; the second end of the moving platform 9 is connected to the second kinematic chain.

[0040] Example 3 A parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism, such as Figure 1 As shown, it includes a base 1 and a moving platform 9, and a first kinematic chain and a second kinematic chain are arranged between the base 1 and the moving platform 9; the first kinematic chain is also connected to the second kinematic chain; The first kinematic chain includes a twenty-fifth rotation pair R25, a seventh connecting rod 7, a twenty-fourth mobile pair P24, a sixth connecting rod assembly 6, a twenty-eighth mobile pair P28, a tenth connecting rod 10, a twenty-seventh rotation pair R27, an eleventh connecting rod 11 and a twenty-sixth mobile pair P26 which are connected in sequence; The twenty-fifth rotation pair R25 is also connected to the moving platform 9, the twenty-sixth translation pair P26 is also connected to the base 1; the sixth connecting rod assembly 6 is also connected to the second branch chain.

[0041] The moving platform 9 is a broken line connecting rod, and the first end of the moving platform 9 is connected to the seventh connecting rod 7 through the twenty-fifth rotation pair R25; the second end of the moving platform 9 is connected to the second kinematic chain.

[0042] The sixth connecting rod assembly 6 includes a first support rod 6-1, a second support rod 6-2 and a third support rod 6-3; the first end of the first support rod 6-1, the first end of the second support rod 6-2 and the first end of the third support rod 6-3 intersect at a point; the second end of the first support rod 6-1 is connected to the seventh connecting rod 7 through the twenty-fourth movable pair P24; the second end of the second support rod 6-2 is connected to the tenth connecting rod 10 through the twenty-eighth movable pair P28; the second end of the third support rod 6-3 is connected to the second kinematic chain.

[0043] Example 4 A parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism, such as Figure 1 As shown, it includes a base 1 and a moving platform 9, and a first kinematic chain and a second kinematic chain are arranged between the base 1 and the moving platform 9; the first kinematic chain is also connected to the second kinematic chain; The first kinematic chain includes a twenty-fifth rotation pair R25, a seventh connecting rod 7, a twenty-fourth mobile pair P24, a sixth connecting rod assembly 6, a twenty-eighth mobile pair P28, a tenth connecting rod 10, a twenty-seventh rotation pair R27, an eleventh connecting rod 11 and a twenty-sixth mobile pair P26 which are connected in sequence; The twenty-fifth rotation pair R25 is also connected to the moving platform 9, the twenty-sixth translation pair P26 is also connected to the base 1; the sixth connecting rod assembly 6 is also connected to the second branch chain.

[0044] The moving platform 9 is a broken line connecting rod, and the first end of the moving platform 9 is connected to the seventh connecting rod 7 through the twenty-fifth rotation pair R25; the second end of the moving platform 9 is connected to the second kinematic chain.

[0045] The sixth connecting rod assembly 6 includes a first support rod 6-1, a second support rod 6-2 and a third support rod 6-3; the first end of the first support rod 6-1, the first end of the second support rod 6-2 and the first end of the third support rod 6-3 intersect at a point; the second end of the first support rod 6-1 is connected to the seventh connecting rod 7 through the twenty-fourth movable pair P24; the second end of the second support rod 6-2 is connected to the tenth connecting rod 10 through the twenty-eighth movable pair P28; the second end of the third support rod 6-3 is connected to the second kinematic chain.

[0046] The second branch chain includes the fifteenth rotating pair R15, the fourth connecting rod 4, the fourteenth movable pair P14, the third connecting rod 3, the thirteenth movable pair P13 and the base connecting assembly which are connected in sequence. The base connecting assembly is also connected to the base 1 and the second end of the third branch rod 6-3. The fifteenth rotating pair R15 is also connected to the second end of the moving platform 9.

[0047] Example 5 A parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism, such as Figure 1 As shown, it includes a base 1 and a moving platform 9, and a first kinematic chain and a second kinematic chain are arranged between the base 1 and the moving platform 9; the first kinematic chain is also connected to the second kinematic chain; The first kinematic chain includes a twenty-fifth rotation pair R25, a seventh connecting rod 7, a twenty-fourth mobile pair P24, a sixth connecting rod assembly 6, a twenty-eighth mobile pair P28, a tenth connecting rod 10, a twenty-seventh rotation pair R27, an eleventh connecting rod 11 and a twenty-sixth mobile pair P26 which are connected in sequence; The twenty-fifth rotation pair R25 is also connected to the moving platform 9, the twenty-sixth translation pair P26 is also connected to the base 1; the sixth connecting rod assembly 6 is also connected to the second branch chain.

[0048] The moving platform 9 is a broken line connecting rod, and the first end of the moving platform 9 is connected to the seventh connecting rod 7 through the twenty-fifth rotation pair R25; the second end of the moving platform 9 is connected to the second kinematic chain.

[0049] The sixth connecting rod assembly 6 includes a first support rod 6-1, a second support rod 6-2 and a third support rod 6-3; the first end of the first support rod 6-1, the first end of the second support rod 6-2 and the first end of the third support rod 6-3 intersect at a point; the second end of the first support rod 6-1 is connected to the seventh connecting rod 7 through the twenty-fourth movable pair P24; the second end of the second support rod 6-2 is connected to the tenth connecting rod 10 through the twenty-eighth movable pair P28; the second end of the third support rod 6-3 is connected to the second kinematic chain.

[0050] The second branch chain includes the fifteenth rotating pair R15, the fourth connecting rod 4, the fourteenth movable pair P14, the third connecting rod 3, the thirteenth movable pair P13 and the base connecting assembly which are connected in sequence. The base connecting assembly is also connected to the base 1 and the second end of the third branch rod 6-3. The fifteenth rotating pair R15 is also connected to the second end of the moving platform 9.

[0051] The base connection assembly includes an eleventh rotation pair R11, a second connecting rod 2, a twelfth rotation pair R12, an eighth connecting rod 8, a twenty-second rotation pair R22, a fifth connecting rod 5 and a twenty-first rotation pair R21 which are connected in sequence; the twenty-first rotation pair R21 and the eleventh rotation pair R11 are also connected to the base 1; and also includes a thirteenth movement pair P13 connected to the second connecting rod 2 and a twenty-third movement pair P23 connected to the fifth connecting rod 5; The second connecting rod 2 is a T-shaped connecting rod, including a first cross bar 2-1 and a first vertical bar 2-2, the first end of the first vertical bar 2-2 is connected to the rod body of the first cross bar 2-1, and the second end of the first vertical bar 2-2 is connected to the third connecting rod 3 through the thirteenth movable joint P13; the first end of the first cross bar 2-1 is connected to the eighth connecting rod 8 through the twelfth rotation joint R12, and the second end of the first cross bar 2-1 is connected to the base 1 through the eleventh rotation joint R11; The fifth connecting rod 5 is a T-shaped connecting rod, including a second cross bar 5-1 and a second vertical rod 5-2. The first end of the second vertical rod 5-2 is connected to the rod body of the second cross bar 5-1, and the second end of the second vertical rod 5-2 is connected to the second end of the third support rod 6-3 through the twenty-third movable pair P23; the first end of the second cross bar 5-1 is connected to the eighth connecting rod 8 through the twenty-second rotation pair R22, and the second end of the second cross bar 5-1 is connected to the base 1 through the twenty-first rotation pair R21.

[0052] Example 6 A parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism, such as Figure 1 As shown, it includes a base 1 and a moving platform 9, and a first kinematic chain and a second kinematic chain are arranged between the base 1 and the moving platform 9; the first kinematic chain is also connected to the second kinematic chain; The first kinematic chain includes a twenty-fifth rotation pair R25, a seventh connecting rod 7, a twenty-fourth mobile pair P24, a sixth connecting rod assembly 6, a twenty-eighth mobile pair P28, a tenth connecting rod 10, a twenty-seventh rotation pair R27, an eleventh connecting rod 11 and a twenty-sixth mobile pair P26 which are connected in sequence; The twenty-fifth rotation pair R25 is also connected to the moving platform 9, the twenty-sixth translation pair P26 is also connected to the base 1; the sixth connecting rod assembly 6 is also connected to the second branch chain.

[0053] The moving platform 9 is a broken line connecting rod, and the first end of the moving platform 9 is connected to the seventh connecting rod 7 through the twenty-fifth rotation pair R25; the second end of the moving platform 9 is connected to the second kinematic chain.

[0054] The sixth connecting rod assembly 6 includes a first support rod 6-1, a second support rod 6-2 and a third support rod 6-3; the first end of the first support rod 6-1, the first end of the second support rod 6-2 and the first end of the third support rod 6-3 intersect at a point; the second end of the first support rod 6-1 is connected to the seventh connecting rod 7 through the twenty-fourth movable pair P24; the second end of the second support rod 6-2 is connected to the tenth connecting rod 10 through the twenty-eighth movable pair P28; the second end of the third support rod 6-3 is connected to the second kinematic chain.

[0055] The second branch chain includes the fifteenth rotating pair R15, the fourth connecting rod 4, the fourteenth movable pair P14, the third connecting rod 3, the thirteenth movable pair P13 and the base connecting assembly which are connected in sequence. The base connecting assembly is also connected to the base 1 and the second end of the third branch rod 6-3. The fifteenth rotating pair R15 is also connected to the second end of the moving platform 9.

[0056] The base connection assembly includes an eleventh rotation pair R11, a second connecting rod 2, a twelfth rotation pair R12, an eighth connecting rod 8, a twenty-second rotation pair R22, a fifth connecting rod 5 and a twenty-first rotation pair R21 which are connected in sequence; the twenty-first rotation pair R21 and the eleventh rotation pair R11 are also connected to the base 1; and also includes a thirteenth movement pair P13 connected to the second connecting rod 2 and a twenty-third movement pair P23 connected to the fifth connecting rod 5; The second connecting rod 2 is a T-shaped connecting rod, including a first cross bar 2-1 and a first vertical bar 2-2, the first end of the first vertical bar 2-2 is connected to the rod body of the first cross bar 2-1, and the second end of the first vertical bar 2-2 is connected to the third connecting rod 3 through the thirteenth movable joint P13; the first end of the first cross bar 2-1 is connected to the eighth connecting rod 8 through the twelfth rotation joint R12, and the second end of the first cross bar 2-1 is connected to the base 1 through the eleventh rotation joint R11; The fifth connecting rod 5 is a T-shaped connecting rod, including a second cross bar 5-1 and a second vertical rod 5-2. The first end of the second vertical rod 5-2 is connected to the rod body of the second cross bar 5-1, and the second end of the second vertical rod 5-2 is connected to the second end of the third support rod 6-3 through the twenty-third movable pair P23; the first end of the second cross bar 5-1 is connected to the eighth connecting rod 8 through the twenty-second rotation pair R22, and the second end of the second cross bar 5-1 is connected to the base 1 through the twenty-first rotation pair R21.

[0057] The eleventh rotating pair R11 is connected to a driving rotating motor.

Claims

1. A parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism, characterized in that: It comprises a base (1) and a moving platform (9), wherein a first kinematic chain and a second kinematic chain are arranged between the base (1) and the moving platform (9); the first kinematic chain is also connected to the second kinematic chain; The first kinematic chain comprises a twenty-fifth rotation pair R25, a seventh connecting rod (7), a twenty-fourth mobile pair P24, a sixth connecting rod assembly (6), a twenty-eighth mobile pair P28, a tenth connecting rod (10), a twenty-seventh rotation pair R27, an eleventh connecting rod (11) and a twenty-sixth mobile pair P26 which are connected in sequence; The twenty-fifth rotation pair R25 is also connected to the moving platform (9), the twenty-sixth movement pair P26 is also connected to the base (1); and the sixth connecting rod assembly (6) is also connected to the second branch chain.

2. The parallel robot with complete decoupling characteristics and two-dimensional movement along the instantaneous center surface of the spherical 4R mechanism according to claim 1 is characterized in that: The movable platform (9) is a broken-line connecting rod, and the first end of the movable platform (9) is connected to the seventh connecting rod (7) via a twenty-fifth rotation pair R25; the second end of the movable platform (9) is connected to the second kinematic chain.

3. The parallel robot with complete decoupling characteristics and two-dimensional movement along the instantaneous center surface of the spherical 4R mechanism according to claim 2, characterized in that: The sixth connecting rod assembly (6) comprises a first supporting rod (6-1), a second supporting rod (6-2) and a third supporting rod (6-3); the first end of the first supporting rod (6-1), the first end of the second supporting rod (6-2) and the first end of the third supporting rod (6-3) intersect at a point; the second end of the first supporting rod (6-1) is connected to the seventh connecting rod (7) via a twenty-fourth movable pair P24; the second end of the second supporting rod (6-2) is connected to the tenth connecting rod (10) via a twenty-eighth movable pair P28; and the second end of the third supporting rod (6-3) is connected to the second kinematic chain.

4. The parallel robot with complete decoupling characteristics and two-dimensional movement along the instantaneous center surface of the spherical 4R mechanism according to claim 3 is characterized in that: The second branch chain comprises a fifteenth rotational pair R15, a fourth connecting rod (4), a fourteenth movable pair P14, a third connecting rod (3), a thirteenth movable pair P13 and a base connection assembly which are connected in sequence; the base connection assembly is also connected to the base (1) and the second end of the third branch rod (6-3); the fifteenth rotational pair R15 is also connected to the second end of the moving platform (9).

5. The parallel robot with complete decoupling characteristics and two-dimensional movement along the instantaneous center surface of the spherical 4R mechanism according to claim 4, characterized in that: The base connection assembly comprises an eleventh rotation pair R11, a second connecting rod (2), a twelfth rotation pair R12, an eighth connecting rod (8), a twenty-second rotation pair R22, a fifth connecting rod (5) and a twenty-first rotation pair R21 which are connected in sequence; the twenty-first rotation pair R21 and the eleventh rotation pair R11 are also connected to the base (1); and further comprises a thirteenth movement pair P13 connected to the second connecting rod (2) and a twenty-third movement pair P23 connected to the fifth connecting rod (5); The second connecting rod (2) is a T-shaped connecting rod, comprising a first cross rod (2-1) and a first vertical rod (2-2); the first end of the first vertical rod (2-2) is connected to the rod body of the first cross rod (2-1), and the second end of the first vertical rod (2-2) is connected to the third connecting rod (3) via a thirteenth movable pair P13; the first end of the first cross rod (2-1) is connected to the eighth connecting rod (8) via a twelfth rotation pair R12, and the second end of the first cross rod (2-1) is connected to the base (1) via an eleventh rotation pair R11; The fifth connecting rod (5) is a T-shaped connecting rod, comprising a second cross rod (5-1) and a second vertical rod (5-2); the first end of the second vertical rod (5-2) is connected to the rod body of the second cross rod (5-1), and the second end of the second vertical rod (5-2) is connected to the second end of the third support rod (6-3) via a twenty-third movable pair P23; the first end of the second cross rod (5-1) is connected to the eighth connecting rod (8) via a twenty-second rotation pair R22, and the second end of the second cross rod (5-1) is connected to the base (1) via a twenty-first rotation pair R21.

6. The parallel robot with complete decoupling characteristics and two-dimensional movement along the instantaneous center surface of the spherical 4R mechanism according to claim 5, characterized in that: The eleventh rotation pair R11 is connected to a driving rotation motor.

7. The parallel robot with complete decoupling characteristics and two-dimensional movement along the instantaneous center surface of the spherical 4R mechanism according to claim 1, characterized in that: The twenty-sixth moving pair P26 is connected to a driving moving motor.

8. The driving method of the parallel robot with complete decoupling characteristics and two-dimensional movement along the instantaneous center surface of the spherical 4R mechanism according to any one of claims 1 to 7, characterized in that: Specifically, the driving rotating motor connected to the eleventh rotating pair R11 is controlled to move the movable platform (9) along the ruled surface where the instantaneous rotation center of the spherical surface 4R mechanism is located, and the direction of movement in the space with the rotation center as the polar coordinate center is controlled; the driving moving motor connected to the twenty-sixth moving pair P26 is controlled to move the movable platform (9) along the ruled surface where the instantaneous rotation center of the spherical surface 4R mechanism is located, and the distance with the rotation center as the polar coordinate center is controlled.

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