Parallel robot with complete decoupling characteristics and method for two-dimensional movement along the instantaneous center surface of spherical 4R mechanism

Abstract

The present invention discloses a parallel robot with fully decoupled characteristics that moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism. The robot comprises a base and a moving platform, with a first kinematic chain and a second kinematic chain disposed 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 25th revolving pair R25, a 7th connecting rod, a 24th moving pair P24, a 6th connecting rod assembly, a 28th moving pair P28, a 10th connecting rod, a 27th revolving pair R27, an 11th connecting rod, and a 26th moving pair P26, which are connected in sequence. The 25th revolving pair R25 is also connected to the moving platform, and the 26th moving pair P26 is also connected to the base. The 6th connecting rod assembly is also connected to the second branch chain. The parallel robot can improve the model accuracy of ruled surfaces, thereby improving the surface accuracy of machined parts. A driving method for the parallel robot with fully decoupled characteristics that moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism is also disclosed.

Description

Technical Field

[0001] The present invention belongs to the field of robotics, and in particular 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 centerline of a spherical mechanism connecting rod in a fixed coordinate system and the ruled surface formed by the instantaneous centerline of the connecting rod in the connecting rod coordinate system undergo pure rolling relative motion. Generally, the surface equation of the instantaneous centerline of a spherical mechanism connecting rod is complex, making it difficult to obtain an analytical surface equation. Therefore, the surface equation can only be discretized to obtain discrete data that approximates the ruled surface. When this discretized surface data is used to machine the fingerprint surface, errors will be generated, affecting the machining accuracy of the ruled surface and, consequently, the motion accuracy. Summary of the Invention

[0003] The first object 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 with complete decoupling characteristics.

[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, wherein a first kinematic chain and a second kinematic chain are arranged between the base and the moving platform; the first kinematic chain is further connected to the second kinematic chain;

[0006] The first kinematic chain includes a twenty-fifth rotational 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 rotational pair R27, an eleventh connecting rod and a twenty-sixth mobile pair P26 connected in sequence;

[0007] The twenty-fifth rotation pair R25 is also connected to the moving platform, the twenty-sixth movement pair P26 is also connected to the base; the sixth connecting rod assembly is also connected to the second branch chain.

[0008] The present invention is also characterized in that:

[0009] 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.

[0010] 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 mobile pair P24; the second end of the second support rod is connected to the tenth connecting rod through the twenty-eighth mobile pair P28; the second end of the third support rod is connected to the second kinematic chain.

[0011] 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 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.

[0012] The base connection assembly includes an eleventh rotational pair R11, a second connecting rod, a twelfth rotational pair R12, an eighth connecting rod, a twenty-second rotational pair R22, a fifth connecting rod, and a twenty-first rotational pair R21, which are connected in sequence; the twenty-first rotational pair R21 and the eleventh rotational pair R11 are also connected to the base; and further includes a thirteenth motion pair P13 connected to the second connecting rod and a twenty-third motion pair P23 connected to the fifth connecting rod.

[0013] The second connecting rod is a T-shaped connecting rod, including a first transverse rod and a first vertical rod. The first end of the first vertical rod is connected to the rod body of the first transverse rod, and the second end of the first vertical rod is connected to the third connecting rod via a thirteenth translation joint P13; the first end of the first transverse rod is connected to the eighth connecting rod via a twelfth rotation joint R12, and the second end of the first transverse rod is connected to the base via an eleventh rotation joint R11;

[0014] The fifth connecting rod is a T-shaped connecting rod, including a second horizontal rod and a second vertical rod. The first end of the second vertical rod is connected to the rod body of the second horizontal 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 horizontal rod is connected to the eighth connecting rod through the twenty-second rotation pair R22, and the second end of the second horizontal rod is connected to the base through the twenty-first rotation pair R21.

[0015] The eleventh rotating pair R11 is connected to a driving rotating motor.

[0016] The twenty-sixth moving pair P26 is connected to a driving moving motor.

[0017] 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.

[0018] The beneficial effects of the present invention are:

[0019] (1) The parallel robot proposed in the present invention has a completely decoupled characteristic and moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism. The robot end effector moves on a ruled surface. The moving direction of any generatrix of the ruled surface is controlled by one drive, and the moving length of any generatrix of the ruled surface is controlled by one drive. It has a completely decoupled two-dimensional moving motion characteristic, a simple control method, and is relatively easy to achieve position control.

[0020] (2) The present invention proposes a parallel robot with fully decoupled characteristics that moves in two dimensions along the instantaneous center of a spherical 4R mechanism. The workspace in which the end of the parallel robot moves is a ruled surface formed by the instantaneous center of the spherical 4R mechanism. A three-dimensional printing nozzle or machining tool can be placed at the end of the robot to machine part surfaces with such ruled surface features. This parallel robot does not require numerical discretization of the ruled surface, which can improve the model accuracy of the ruled surface and thus improve the accuracy of the machined part surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of a parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center plane of a spherical 4R mechanism;

[0022] 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;

[0023] 2-1. First horizontal bar, 2-2. First vertical bar;

[0024] 5-1. Second horizontal bar, 5-2. Second vertical bar;

[0025] 6-1. First pole, 6-2. Second pole, 6-3. Third pole;

[0026] 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

[0027] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] The present invention provides a parallel robot with complete decoupling characteristics and capable of moving in two dimensions along the instantaneous center plane 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 set between the base 1 and the moving platform 9; the first kinematic chain is also connected to the second kinematic chain;

[0029] The first kinematic chain includes the twenty-fifth rotational pair R25, the seventh link 7, the twenty-fourth motion pair P24, the sixth link assembly 6, the twenty-eighth motion pair P28, the tenth link 10, the twenty-seventh rotational pair R27, the eleventh link 11 and the twenty-sixth motion pair P26, which are connected in sequence;

[0030] 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; the sixth connecting rod assembly 6 is also connected to the second branch chain.

[0031] 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.

[0032] 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.

[0033] The second branch chain includes the fifteenth rotating pair R15, the fourth connecting rod 4, the fourteenth moving pair P14, the third connecting rod 3, the thirteenth moving pair P13 and the base connecting assembly 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.

[0034] The base connection assembly includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, an eighth connecting rod 8, a twenty-second rotational pair R22, a fifth connecting rod 5, and a twenty-first rotational pair R21, which are connected in sequence; the twenty-first rotational pair R21 and the eleventh rotational pair R11 are also connected to the base 1; and also includes a thirteenth motion pair P13 connected to the second connecting rod 2 and a twenty-third motion pair P23 connected to the fifth connecting rod 5.

[0035] The second connecting rod 2 is a T-shaped connecting rod, including a first transverse 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 transverse 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 joint P13; the first end of the first transverse rod 2-1 is connected to the eighth connecting rod 8 via a twelfth rotation joint R12, and the second end of the first transverse rod 2-1 is connected to the base 1 via an eleventh rotation joint R11;

[0036] The fifth connecting rod 5 is a T-shaped connecting rod, including a second horizontal 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 horizontal 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 through the twenty-third movable pair P23; the first end of the second horizontal rod 5-1 is connected to the eighth connecting rod 8 through the twenty-second rotation pair R22, and the second end of the second horizontal rod 5-1 is connected to the base 1 through the twenty-first rotation pair R21.

[0037] The eleventh rotating pair R11 is connected to a driving rotating motor.

[0038] The twenty-sixth moving pair P26 is connected to a driving moving motor.

[0039] The present invention also provides a driving method for a parallel robot with fully decoupled characteristics that moves in two dimensions along the instantaneous center surface of a spherical 4R mechanism. Specifically, the method comprises: controlling the driving rotation motor connected to the eleventh rotational pair R11 to control the movement of the movable platform 9 along the ruled surface where the instantaneous rotation center of the spherical 4R mechanism is located, and controlling the direction of movement in space with the rotation center as the polar coordinate center. Controlling the driving movement motor connected to the twenty-sixth movement pair P26 to control the movement of the movable platform 9 along the ruled surface where the instantaneous rotation center of the spherical 4R mechanism is located, and controlling the distance with the rotation center as the polar coordinate center.

[0040] like Figure 1As 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.

[0041] 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 via a thirteenth movable pair P13, the third connecting rod 3 is movably connected to the fourth connecting rod 4 via a fourteenth movable pair P14, and the fourth connecting rod 4 is rotatably connected to the movable platform 9 via a fifteenth rotational pair R15. The movable platform 9 is rotatably connected to the seventh connecting rod 7 via a twenty-fifth rotational pair R25. The seventh connecting rod 7 is movably connected to the first support rod 6-1 in the sixth connecting rod assembly 6 via a twenty-fourth movable 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 via a twenty-third movable pair P23.

[0042] The second support rod 6-2 in the sixth link assembly 6 is movably connected to the tenth link 10 via the twenty-eighth movable pair P28. The tenth link 10 is movably connected to the eleventh link 11 via the twenty-seventh revolute pair R27. The eleventh link 11 is movably connected to the base 1 via the twenty-sixth movable pair P26.

[0043] Figure 1 In the shown configuration of the mechanism, 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.

[0044] 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 configuration of the mechanism, 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.

[0045] Figure 1 In the shown configuration of the mechanism, the axis of the fifteenth rotation pair R15 is parallel to the axis of the eleventh rotation pair R11.

[0046] Figure 1In the shown configuration, the moving directions of the 23rd moving pair P23 and the 24th moving pair P24 are parallel to the plane where the axes of the 21st rotation pair R21 and the 22nd 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.

[0047] Figure 1 In the shown configuration of the mechanism, the axis of the twenty-fifth rotational pair R25 is parallel to the axis of the twenty-first rotational pair R21.

[0048] Figure 1 In the illustrated configuration, the movement direction of the 26th movable pair P26 is parallel to the axis of the 21st rotational pair R21. The axis of the 27th rotational pair R27 coincides with the axis of the 21st rotational pair R21. The movement direction of the 28th movable pair P28 is parallel to the plane containing the axes of the 21st rotational pair R21 and the 22nd rotational pair R22.

[0049] The eleventh rotating pair R11 is connected to a driving rotating motor.

[0050] The twenty-sixth moving pair P26 is connected to a driving moving motor.

[0051] Controlling the driving rotation motor connected to the eleventh rotational pair R11 can control the movement of the movable platform 9 along the ruled surface at the instantaneous rotation center of the spherical surface 4R mechanism, controlling the direction of movement in space with the rotation center as the polar coordinate center. Controlling the driving movement motor connected to the twenty-sixth movement pair P26 can control the movement of the movable platform 9 along the ruled surface at the instantaneous rotation center of the spherical surface 4R mechanism, controlling the distance with the rotation center as the polar coordinate center.

[0052] Example 1

[0053] A parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center 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 set between the base 1 and the moving platform 9; the first kinematic chain is also connected to the second kinematic chain;

[0054] The first kinematic chain includes the twenty-fifth rotational pair R25, the seventh link 7, the twenty-fourth motion pair P24, the sixth link assembly 6, the twenty-eighth motion pair P28, the tenth link 10, the twenty-seventh rotational pair R27, the eleventh link 11 and the twenty-sixth motion pair P26, which are connected in sequence;

[0055] 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; the sixth connecting rod assembly 6 is also connected to the second branch chain.

[0056] Example 2

[0057] A parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center 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 set between the base 1 and the moving platform 9; the first kinematic chain is also connected to the second kinematic chain;

[0058] The first kinematic chain includes the twenty-fifth rotational pair R25, the seventh link 7, the twenty-fourth motion pair P24, the sixth link assembly 6, the twenty-eighth motion pair P28, the tenth link 10, the twenty-seventh rotational pair R27, the eleventh link 11 and the twenty-sixth motion pair P26, which are connected in sequence;

[0059] 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; the sixth connecting rod assembly 6 is also connected to the second branch chain.

[0060] 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.

[0061] Example 3

[0062] A parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center 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 set between the base 1 and the moving platform 9; the first kinematic chain is also connected to the second kinematic chain;

[0063] The first kinematic chain includes the twenty-fifth rotational pair R25, the seventh link 7, the twenty-fourth motion pair P24, the sixth link assembly 6, the twenty-eighth motion pair P28, the tenth link 10, the twenty-seventh rotational pair R27, the eleventh link 11 and the twenty-sixth motion pair P26, which are connected in sequence;

[0064] 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; the sixth connecting rod assembly 6 is also connected to the second branch chain.

[0065] 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.

[0066] 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.

[0067] Example 4

[0068] A parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center 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 set between the base 1 and the moving platform 9; the first kinematic chain is also connected to the second kinematic chain;

[0069] The first kinematic chain includes the twenty-fifth rotational pair R25, the seventh link 7, the twenty-fourth motion pair P24, the sixth link assembly 6, the twenty-eighth motion pair P28, the tenth link 10, the twenty-seventh rotational pair R27, the eleventh link 11 and the twenty-sixth motion pair P26, which are connected in sequence;

[0070] 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; the sixth connecting rod assembly 6 is also connected to the second branch chain.

[0071] 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.

[0072] 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.

[0073] The second branch chain includes the fifteenth rotating pair R15, the fourth connecting rod 4, the fourteenth moving pair P14, the third connecting rod 3, the thirteenth moving pair P13 and the base connecting assembly 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.

[0074] Example 5

[0075] A parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center 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 set between the base 1 and the moving platform 9; the first kinematic chain is also connected to the second kinematic chain;

[0076] The first kinematic chain includes the twenty-fifth rotational pair R25, the seventh link 7, the twenty-fourth motion pair P24, the sixth link assembly 6, the twenty-eighth motion pair P28, the tenth link 10, the twenty-seventh rotational pair R27, the eleventh link 11 and the twenty-sixth motion pair P26, which are connected in sequence;

[0077] 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; the sixth connecting rod assembly 6 is also connected to the second branch chain.

[0078] 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.

[0079] 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.

[0080] The second branch chain includes the fifteenth rotating pair R15, the fourth connecting rod 4, the fourteenth moving pair P14, the third connecting rod 3, the thirteenth moving pair P13 and the base connecting assembly 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.

[0081] The base connection assembly includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, an eighth connecting rod 8, a twenty-second rotational pair R22, a fifth connecting rod 5, and a twenty-first rotational pair R21, which are connected in sequence; the twenty-first rotational pair R21 and the eleventh rotational pair R11 are also connected to the base 1; and also includes a thirteenth motion pair P13 connected to the second connecting rod 2 and a twenty-third motion pair P23 connected to the fifth connecting rod 5.

[0082] The second connecting rod 2 is a T-shaped connecting rod, including a first transverse 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 transverse 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 joint P13; the first end of the first transverse rod 2-1 is connected to the eighth connecting rod 8 via a twelfth rotation joint R12, and the second end of the first transverse rod 2-1 is connected to the base 1 via an eleventh rotation joint R11;

[0083] The fifth connecting rod 5 is a T-shaped connecting rod, including a second horizontal 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 horizontal 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 through the twenty-third movable pair P23; the first end of the second horizontal rod 5-1 is connected to the eighth connecting rod 8 through the twenty-second rotation pair R22, and the second end of the second horizontal rod 5-1 is connected to the base 1 through the twenty-first rotation pair R21.

[0084] Example 6

[0085] A parallel robot with complete decoupling characteristics that moves in two dimensions along the instantaneous center 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 set between the base 1 and the moving platform 9; the first kinematic chain is also connected to the second kinematic chain;

[0086] The first kinematic chain includes the twenty-fifth rotational pair R25, the seventh link 7, the twenty-fourth motion pair P24, the sixth link assembly 6, the twenty-eighth motion pair P28, the tenth link 10, the twenty-seventh rotational pair R27, the eleventh link 11 and the twenty-sixth motion pair P26, which are connected in sequence;

[0087] 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; the sixth connecting rod assembly 6 is also connected to the second branch chain.

[0088] 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.

[0089] 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.

[0090] The second branch chain includes the fifteenth rotating pair R15, the fourth connecting rod 4, the fourteenth moving pair P14, the third connecting rod 3, the thirteenth moving pair P13 and the base connecting assembly 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.

[0091] The base connection assembly includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, an eighth connecting rod 8, a twenty-second rotational pair R22, a fifth connecting rod 5, and a twenty-first rotational pair R21, which are connected in sequence; the twenty-first rotational pair R21 and the eleventh rotational pair R11 are also connected to the base 1; and also includes a thirteenth motion pair P13 connected to the second connecting rod 2 and a twenty-third motion pair P23 connected to the fifth connecting rod 5.

[0092] The second connecting rod 2 is a T-shaped connecting rod, including a first transverse 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 transverse 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 joint P13; the first end of the first transverse rod 2-1 is connected to the eighth connecting rod 8 via a twelfth rotation joint R12, and the second end of the first transverse rod 2-1 is connected to the base 1 via an eleventh rotation joint R11;

[0093] The fifth connecting rod 5 is a T-shaped connecting rod, including a second horizontal 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 horizontal 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 through the twenty-third movable pair P23; the first end of the second horizontal rod 5-1 is connected to the eighth connecting rod 8 through the twenty-second rotation pair R22, and the second end of the second horizontal rod 5-1 is connected to the base 1 through the twenty-first rotation pair R21.

[0094] 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 of a spherical 4R mechanism, characterized by: It comprises a base (1) and a moving platform (9), wherein a first kinematic chain and a second kinematic chain are provided between the base (1) and the moving platform (9); the first kinematic chain is further 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 connected in sequence; The twenty-fifth rotation pair R25 is also connected to the moving platform (9), and the twenty-sixth movement pair P26 is also connected to the base (1); the sixth connecting rod assembly (6) is also connected to the second branch chain; 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) through the twenty-fifth rotation pair R25; the second end of the movable platform (9) is connected to the second kinematic chain; The sixth connecting rod assembly (6) includes 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) through the twenty-fourth movable pair P24; the second end of the second supporting rod (6-2) is connected to the tenth connecting rod (10) through the twenty-eighth movable pair P28; the second end of the third supporting rod (6-3) is connected to the second kinematic chain; The second branch chain includes a fifteenth rotating pair R15, a fourth connecting rod (4), a fourteenth moving pair P14, a third connecting rod (3), a thirteenth moving pair P13 and a base connection assembly connected in sequence, the base connection assembly is also connected to the base (1) and the second end of the third supporting rod (6-3), and the fifteenth rotating pair R15 is also connected to the second end of the moving platform (9); 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 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, comprising a first horizontal rod (2-1) and a first vertical rod (2-2), wherein the first end of the first vertical rod (2-2) is connected to the rod body of the first horizontal 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 horizontal rod (2-1) is connected to the eighth connecting rod (8) via a twelfth rotating pair R12, and the second end of the first horizontal rod (2-1) is connected to the base (1) via an eleventh rotating pair R11; The fifth connecting rod (5) is a T-shaped connecting rod, comprising a second horizontal 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 horizontal 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 horizontal 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 horizontal rod (5-1) is connected to the base (1) via a twenty-first rotation pair R21; The eleventh rotation pair R11 is connected to a driving rotation motor; The twenty-sixth moving pair P26 is connected to a driving moving motor.

2. 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 claim 1 is 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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