Fully decoupled parallel robot with planar two-dimensional movement and planar one-rotation-one-movement motion modes and method

Abstract

The present invention discloses a fully decoupled parallel robot with two-dimensional motion and one-rotation-movement motion modes, comprising a moving platform assembly and a first connecting rod assembly of a base assembly; a first kinematic chain and a second kinematic chain are provided between the moving platform assembly and the first connecting rod assembly of the base assembly; the moving platform assembly and the first connecting rod assembly of the base assembly are connected via the first kinematic chain and the second kinematic chain, and the second kinematic chain is also connected to the first kinematic chain. The multi-mode mechanism with full decoupling can be transformed according to the needs of the task, and after the motion mode is transformed, the corresponding motion modes all have the characteristic of full motion decoupling, so that the specific motion of the moving platform can be controlled by an independent drive pair, and the robot has the maneuverability to cope with different working scenarios. Also disclosed is a driving method for a fully decoupled parallel robot with two-dimensional motion and one-rotation-movement motion modes.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a fully decoupled parallel robot having planar two-dimensional movement and planar-rotation-movement motion modes, and also to a driving method for the fully decoupled parallel robot having planar two-dimensional movement and planar-rotation-movement motion modes. Background Art

[0002] Generally, a planar 2-DOF parallel robot has two-plane motion, or one-plane motion and one-plane rotation. In a kinematically decoupled planar 2-DOF parallel robot, a single actuator controls a corresponding motion output, resulting in a one-to-one correspondence between the drive motion and the output motion. In a coupled planar 2-DOF parallel robot, multiple actuators control the two plane motion outputs, resulting in a non-one-to-one correspondence between the drive motion and the output motion.

[0003] This decoupled planar 2-DOF parallel robot features a relatively simple motion control algorithm and performance optimization, making prototype manufacturing, assembly, debugging, and control relatively straightforward. Its individual motion outputs are controlled by a single drive, resulting in lower load capacity, force effects, and stiffness compared to kinematically coupled parallel robots.

[0004] The motion control algorithm and performance optimization of a planar 2-DOF parallel robot with coupling characteristics are relatively complex, and the prototype manufacturing, assembly, debugging, and control of this robot are relatively complex. The two motion outputs of a planar 2-DOF parallel robot with kinematic coupling characteristics are both controlled by multiple drives. Its load capacity, force effect, and stiffness are greater than those of a kinematically decoupled parallel robot.

[0005] At present, it is rare to find a planar 2-DOF multi-mode parallel robot whose motion modes all have decoupling characteristics. Summary of the Invention

[0006] The first object of the present invention is to provide a fully decoupled parallel robot with planar two-dimensional movement and planar-rotation-movement motion modes, and a fully decoupled multi-mode mechanism that can be transformed according to the needs of the work task. After the motion mode is transformed, the corresponding motion modes all have the characteristics of complete motion decoupling, and have controllability that is easy to cope with different work scenarios.

[0007] The second object of the present invention is to provide a driving method for a fully decoupled parallel robot with planar two-dimensional movement and planar-rotation-movement motion modes.

[0008] The first technical solution adopted by the present invention is a fully decoupled parallel robot with two-dimensional planar movement and planar-rotation-movement movement modes, comprising a moving platform assembly and a first link assembly of a base assembly; a first kinematic chain and a second kinematic chain are arranged between the moving platform assembly and the first link assembly of the base assembly;

[0009] The moving platform assembly and the first connecting rod assembly of the base assembly are connected through a first kinematic chain and a second kinematic chain, and the second kinematic chain is also connected to the first kinematic chain.

[0010] The present invention is also characterized in that:

[0011] The dynamic platform assembly includes a first Y-shaped connecting rod, a first support rod, a thirty-second rotational pair R32, and a thirty-third rotational pair R33. The first end of the first Y-shaped connecting rod is connected to the first kinematic chain, the second end of the first Y-shaped connecting rod is connected to the first end of the first support rod via the thirty-second rotational pair R32, and the third end of the first Y-shaped connecting rod is connected to the second end of the first support rod via the thirty-third rotational pair R33.

[0012] The second end of the first "Y"-shaped connecting rod is connected to the second kinematic chain through the thirty-second rotational pair R32, and the third end of the first "Y"-shaped connecting rod is connected to the second kinematic chain through the thirty-third rotational pair R33.

[0013] The base assembly includes a second Y-shaped connecting rod, a second support rod, a twelfth rotational pair R12, and a thirteenth rotational pair R13. The first end of the second Y-shaped connecting rod is connected to the first kinematic chain, the second end of the second Y-shaped connecting rod is connected to the first end of the second support rod via the twelfth rotational pair R12, and the third end of the second Y-shaped connecting rod is connected to the second end of the second support rod via the thirteenth rotational pair R13.

[0014] The second end of the second "Y"-shaped connecting rod is connected to the second kinematic chain via the twelfth rotational pair R12, and the third end of the second "Y"-shaped connecting rod is connected to the second kinematic chain via the thirteenth rotational pair R13.

[0015] The first kinematic chain includes a fifteenth rotational pair R15, a fifth link, a first translational pair P1, a sixth link, and a thirty-fifth rotational pair R35, which are connected in sequence. The sixth link is connected to the first end of the first Y-shaped link via the thirty-fifth rotational pair R35. The fifteenth rotational pair R15 is also connected to the first end of the second Y-shaped link.

[0016] The sixth link is also connected to the second kinematic chain.

[0017] The second kinematic chain includes a first link assembly, a second translation pair P2, and a tenth link assembly connected in sequence; and also includes an eleventh rotation pair R11 and a twelfth rotation pair R12;

[0018] The first connecting rod assembly includes a first crossbar and a first "T" connecting rod; the first end of the first "T" connecting rod is connected to the first end of the first crossbar, the second end of the first "T" connecting rod is connected to the second connecting rod via an eleventh revolute pair R11, and the third end of the first "T" connecting rod is connected to the third connecting rod via a fourteenth revolute pair R14;

[0019] The first end of the second connecting rod is connected to the second end of the second "Y"-shaped connecting rod through the twelfth revolute pair R12, and the second end of the second connecting rod is connected to the second end of the first "T"-shaped connecting rod through the eleventh revolute pair R11; the first end of the third connecting rod is connected to the third end of the second "Y"-shaped connecting rod through the thirteenth revolute pair R13, and the second end of the third connecting rod is connected to the third end of the first "T"-shaped connecting rod through the fourteenth revolute pair R14;

[0020] The tenth connecting rod assembly includes a second cross bar, a second "T" connecting rod and a third "T" connecting rod, wherein the first end of the second "T" connecting rod and the first end of the third "T" connecting rod are connected to the rod body of the second cross bar, and one end of the second cross bar is connected to the second end of the first cross bar through a second movable joint P2;

[0021] The invention also includes a twelfth connecting rod, wherein the first end of the twelfth connecting rod is connected to the second end of the first "Y"-shaped connecting rod through a thirty-second rotational pair R32; the second end of the twelfth connecting rod is connected to the second end of the second "T"-shaped connecting rod through a thirty-first rotational pair R31;

[0022] The system further includes an eleventh connecting rod, wherein a first end of the eleventh connecting rod is connected to the third end of the first Y-shaped connecting rod via a thirty-third rotational pair R33; a second end of the eleventh connecting rod is connected to the third end of the second T-shaped connecting rod via a thirty-fourth rotational pair R34;

[0023] The seventh connecting rod assembly also includes a third "Y"-shaped connecting rod and a third support rod, the first end of the third "Y"-shaped connecting rod is connected to the rod body of the sixth connecting rod through a twenty-fifth rotational pair R25, the second end of the third "Y"-shaped connecting rod is connected to the first end of the third support rod through a twenty-second rotational pair R22, and the third end of the third "Y"-shaped connecting rod is connected to the second end of the third support rod through a twenty-third rotational pair R23;

[0024] The ninth connecting rod further comprises a first end of the ninth connecting rod connected to the second end of the third Y-shaped connecting rod via a twenty-second rotational pair R22; a second end of the ninth connecting rod connected to the second end of the third T-shaped connecting rod via a twenty-first rotational pair R21;

[0025] It also includes an eighth connecting rod, the first end of the eighth connecting rod is connected to the third end of the third "Y"-shaped connecting rod through the twenty-third rotation pair R23; the second end of the eighth connecting rod is connected to the third end of the third "T"-shaped connecting rod through the twenty-fourth rotation pair R24.

[0026] The first moving pair P1 is connected to a moving drive motor; the second moving pair P2 is connected to an auxiliary moving drive motor.

[0027] The twelfth rotation pair R12 is connected to a rotation drive motor.

[0028] The second technical solution adopted by the present invention is a driving method for a fully decoupled parallel robot with planar two-dimensional movement and planar-rotation-movement motion modes, which controls the drive motor connected to the first moving pair P1 to achieve horizontal movement of the moving platform assembly along the x-axis of the moving coordinate system. This motion is relatively independent of the planar 4R mechanism motion in which the rotating motor of the twelfth rotating pair R12, which is controlled and connected, and controls the moving platform assembly to perform one-dimensional rotation and accompanying movement relative to the tenth connecting rod assembly. Both require only one drive pair to control the planar-rotation-movement motion mode, thus having the characteristic of motion decoupling.

[0029] The control unit controls the driving motor connected to the first moving pair P1, controls the rotating motor connected to the twelfth rotating pair R12, and controls the planar two-dimensional moving motion mode of the moving platform assembly. The moving platform assembly performs a planar 4R mechanism motion with one-dimensional rotation and movement relative to the tenth connecting rod assembly. The moving platform assembly will not perform a one-dimensional curved movement without rotation relative to the base assembly. The movement of the moving platform assembly along the x-axis of the moving coordinate system has the characteristic of motion decoupling.

[0030] The beneficial effects of the present invention are:

[0031] (1) The present invention proposes a fully decoupled parallel robot with two-dimensional motion and two-rotation-motion motion modes. Both motion modes have decoupling characteristics. The robot can be transformed according to the characteristics of the task to better meet different operational requirements.

[0032] (2) When precise positioning is required, the robot of the present invention can adopt a decoupling mode to facilitate the implementation of the robot control algorithm, improve motion accuracy, and compensate for positioning errors.

[0033] (3) The parallel robot with fully decoupled motion modes of two-dimensional planar movement and one-rotation-movement planar movement proposed in the present invention can be applied to the kinematic chain of a multi-mode mechanism to design a multi-mode robot with decoupling. Through the motion decoupling characteristics of the robot, it can be transformed according to the needs of the task. After the motion mode is transformed, the corresponding motion mode has the characteristics of fully decoupled motion, so that the specific motion of the moving platform can be controlled by an independent drive pair, which has the controllability to cope with different working scenarios, thereby improving its adaptability to different working scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1The mobile platform component of the robot of the present invention is in a completely decoupled configuration with a planar two-dimensional movement and a planar-rotation-movement motion mode transformation;

[0035] Figure 2 The mobile platform component of the robot of the present invention is in a two-dimensional planar motion mode configuration;

[0036] Figure 3 The mobile platform component of the robot of the present invention is in a plane-rotation-movement motion mode configuration.

[0037] 1. First connecting rod assembly, 2. Second connecting rod, 3. Third connecting rod, 4. Base assembly, 5. Fifth connecting rod, 6. Sixth connecting rod, 7. Seventh connecting rod assembly, 8. Eighth connecting rod, 9. Ninth connecting rod, 10. Tenth connecting rod assembly, 11. Eleventh connecting rod, 12. Twelfth connecting rod, 13. Moving platform assembly.

[0038] 1-1. First crossbar, 1-2. First "T" connecting rod;

[0039] 4-1. Second "Y"-shaped connecting rod, 4-2. Second support rod;

[0040] 7-1. The third "Y"-shaped connecting rod, 7-2. The third supporting rod;

[0041] 10-1. Second crossbar, 10-2. Second "T" connecting rod, 10-3. Third "T" connecting rod;

[0042] 13-1. The first "Y"-shaped connecting rod, 13-2. The first supporting rod. DETAILED DESCRIPTION

[0043] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] The present invention provides a fully decoupled parallel robot with two-dimensional planar movement and one-rotation-movement movement modes, comprising a moving platform assembly 13 and a first connecting rod assembly of a base assembly 4; a first kinematic chain and a second kinematic chain are provided between the moving platform assembly 13 and the base assembly 4;

[0045] The moving platform assembly 13 is connected to the base assembly 4 via a first kinematic chain and a second kinematic chain, and the second kinematic chain is also connected to the first kinematic chain.

[0046] The moving platform assembly 13 includes a first Y-shaped link 13-1, a first support rod 13-2, a thirty-second rotational pair R32, and a thirty-third rotational pair R33. The first end of the first Y-shaped link 13-1 is connected to the first kinematic chain, the second end of the first Y-shaped link 13-1 is connected to the first end of the first support rod 13-2 via the thirty-second rotational pair R32, and the third end of the first Y-shaped link 13-1 is connected to the second end of the first support rod 13-2 via the thirty-third rotational pair R33.

[0047] The second end of the first "Y"-shaped link 13-1 is connected to the second kinematic chain via the thirty-second rotational pair R32, and the third end of the first "Y"-shaped link 13-1 is connected to the second kinematic chain via the thirty-third rotational pair R33.

[0048] The base assembly 4 includes a second Y-shaped connecting rod 4-1, a second support rod 4-2, a twelfth rotational pair R12, and a thirteenth rotational pair R13. The first end of the second Y-shaped connecting rod 4-1 is connected to the first kinematic chain, the second end of the second Y-shaped connecting rod 4-1 is connected to the first end of the second support rod 4-2 via the twelfth rotational pair R12, and the third end of the second Y-shaped connecting rod 4-1 is connected to the second end of the second support rod 4-2 via the thirteenth rotational pair R13.

[0049] The second end of the second "Y"-shaped link 4-1 is connected to the second kinematic chain via the twelfth rotation pair R12, and the third end of the second "Y"-shaped link 4-1 is connected to the second kinematic chain via the thirteenth rotation pair R13.

[0050] The first kinematic chain includes a fifteenth rotational pair R15, a fifth link 5, a first translation pair P1, a sixth link 6, and a thirty-fifth rotational pair R35, which are connected in sequence. The sixth link 6 is connected to the first end of the first Y-shaped link 13-1 via the thirty-fifth rotational pair R35. The fifteenth rotational pair R15 is also connected to the first end of the second Y-shaped link 4-1.

[0051] The sixth link 6 is also connected to the second kinematic chain.

[0052] The second kinematic chain includes a first link assembly 1, a second translation pair P2, and a tenth link assembly 10 connected in sequence; and also includes an eleventh rotation pair R11 and a twelfth rotation pair R12;

[0053] The first connecting rod assembly 1 includes a first crossbar 1-1 and a first "T" connecting rod 1-2; a first end of the first "T" connecting rod 1-2 is connected to the first end of the first crossbar 1-1, a second end of the first "T" connecting rod 1-2 is connected to the second connecting rod 2 via an eleventh revolute pair R11, and a third end of the first "T" connecting rod 1-2 is connected to the third connecting rod 3 via a fourteenth revolute pair R14;

[0054] The first end of the second connecting rod 2 is connected to the second end of the second "Y"-shaped connecting rod 4-1 through the twelfth revolute pair R12, and the second end of the second connecting rod 2 is connected to the second end of the first "T"-shaped connecting rod 1-2 through the eleventh revolute pair R11; the first end of the third connecting rod 3 is connected to the third end of the second "Y"-shaped connecting rod 4-1 through the thirteenth revolute pair R13, and the second end of the third connecting rod 3 is connected to the third end of the first "T"-shaped connecting rod 1-2 through the fourteenth revolute pair R14;

[0055] The tenth connecting rod assembly 10 includes a second cross bar 10-1, a second "T" connecting rod 10-2 and a third "T" connecting rod 10-3. The first end of the second "T" connecting rod 10-2 and the first end of the third "T" connecting rod 10-3 are both connected to the rod body of the second cross bar 10-1. One end of the second cross bar 10-1 is connected to the second end of the first cross bar 1-1 through a second movable joint P2.

[0056] The twelfth connecting rod 12 is further included. The first end of the twelfth connecting rod 12 is connected to the second end of the first "Y"-shaped connecting rod 13-1 through a thirty-second rotational pair R32; the second end of the twelfth connecting rod 12 is connected to the second end of the second "T"-shaped connecting rod 10-2 through a thirty-first rotational pair R31;

[0057] The eleventh connecting rod 11 is further included. The first end of the eleventh connecting rod 11 is connected to the third end of the first "Y"-shaped connecting rod 13-1 through a thirty-third rotational pair R33; the second end of the eleventh connecting rod 11 is connected to the third end of the second "T"-shaped connecting rod 10-2 through a thirty-fourth rotational pair R34;

[0058] The seventh connecting rod assembly 7 is further included. The seventh connecting rod assembly 7 includes a third "Y"-shaped connecting rod 7-1 and a third support rod 7-2. The first end of the third "Y"-shaped connecting rod 7-1 is connected to the rod body of the sixth connecting rod 6 through a twenty-fifth rotation pair R25. The second end of the third "Y"-shaped connecting rod 7-1 is connected to the first end of the third support rod 7-2 through a twenty-second rotation pair R22. The third end of the third "Y"-shaped connecting rod 7-1 is connected to the second end of the third support rod 7-2 through a twenty-third rotation pair R23.

[0059] The ninth connecting rod 9 is also included. The first end of the ninth connecting rod 9 is connected to the second end of the third "Y"-shaped connecting rod 7-1 through the twenty-second rotation pair R22; the second end of the ninth connecting rod 9 is connected to the second end of the third "T"-shaped connecting rod 10-3 through the twenty-first rotation pair R21;

[0060] It also includes an eighth connecting rod 8, the first end of the eighth connecting rod 8 is connected to the third end of the third "Y"-shaped connecting rod 7-1 through the twenty-third rotation pair R23; the second end of the eighth connecting rod 8 is connected to the third end of the third "T"-shaped connecting rod 10-3 through the twenty-fourth rotation pair R24.

[0061] The first moving pair P1 is connected to a moving drive motor; the second moving pair P2 is connected to an auxiliary moving drive motor.

[0062] The twelfth rotation pair R12 is connected to a rotation drive motor.

[0063] The present invention also provides a driving method for a completely decoupled parallel robot with planar two-dimensional movement and planar-rotation-movement motion modes.

[0064] When the moving platform assembly 13 is in a two-dimensional planar motion mode, the first moving pair P1 is controlled to drive the motor to achieve horizontal movement of the moving platform assembly 13 along the x-axis of the moving coordinate system. This motion is relatively independent of the rotation motor of the twelfth rotating pair R12 and the motion of the moving platform assembly 13 in a plane 4R mechanism with one-dimensional rotation and movement relative to the tenth connecting rod assembly 10. Both require only one driving pair for control, and have the characteristic of motion decoupling. When the first moving pair P1 drive motor is locked, the rotation motor of the twelfth rotating pair R12 is controlled to drive the motor and the moving platform assembly 13 in a plane 4R mechanism with one-dimensional rotation and movement relative to the tenth connecting rod assembly 10. The moving platform assembly 13 performs a one-dimensional curved motion without rotation relative to the base assembly 4, and the moving platform assembly 13 does not move independently along the moving direction of the second moving pair P2. The rotating motor of the locked twelfth rotating pair R12, the moving platform assembly 13 will not make a one-dimensional rotation accompanied by movement of the planar 4R mechanism relative to the tenth connecting rod assembly 10, and the moving platform assembly 13 will not make a one-dimensional curved movement without rotation relative to the base assembly 4. The first moving pair P1 drives the motor, and the moving platform assembly 13 will move horizontally along the x-axis of the moving coordinate system.

[0065] When the dynamic platform assembly 13 is in a plane-rotation-translation motion mode, the drive motor connected to the first mobile pair P1 is controlled, and the rotation motor connected to the twelfth rotation pair R12 is controlled, controlling the plane-rotation-translation motion mode of the dynamic platform assembly 13. The dynamic platform assembly 13 performs a one-dimensional rotation-and-translation planar 4R mechanism motion relative to the tenth linkage assembly 10, independently controlled by the rotation motor of the twelfth rotation pair R12. Horizontal movement of the dynamic platform assembly 13 relative to the x-axis of the moving coordinate system without rotation is independently controlled by the drive motor of the first mobile pair P1, achieving kinematic decoupling.

[0066] By locking the driving motor of the first movable pair P1, the rotating motor of the connected twelfth rotating pair R12 can be controlled and the movable platform assembly 13 can be controlled to perform a one-dimensional rotation and movement planar 4R mechanism movement relative to the tenth connecting rod assembly 10. The movable platform assembly 13 does not move independently along the moving direction of the first movable pair P1.

[0067] By locking the rotating motor of the twelfth rotating pair R12, the driving motor of the connected first moving pair P1 can be controlled and the horizontal movement of the moving platform assembly 13 relative to the x-axis of the moving coordinate system without accompanying rotation can be controlled.

[0068] like Figure 1 As shown, the first "T" link 1-2 in the first connecting rod assembly 1 is rotationally connected to the second link 2 through the eleventh rotating pair R11, the second link 2 is rotationally connected to the second "Y"-shaped link 4-1 in the base assembly 4 through the twelfth rotating pair R12, the second "Y"-shaped link 4-1 in the base assembly 4 is rotationally connected to the third link 3 through the thirteenth rotating pair R13, and the third link 3 is rotationally connected to the first "T" link in the first connecting rod assembly 1 through the fourteenth rotating pair R14.

[0069] The second "Y"-shaped link 4-1 in the base assembly 4 is rotationally connected to the fifth link 5 via the fifteenth rotational pair R15, and the fifth link 5 is rotationally connected to the sixth link 6 via the first mobile pair P1. The sixth link 6 is rotationally connected to the third "Y"-shaped link 7-1 in the seventh link assembly 7 via the twenty-fifth rotational pair R25. The third "Y"-shaped link 7-1 in the seventh link assembly 7 is rotationally connected to the ninth link 9 via the twenty-second rotational pair R22, and the ninth link 9 is rotationally connected to the third "T"-shaped link 10-3 in the tenth link assembly 10 via the twenty-first rotational pair R21. The third "T"-shaped link 10-3 in the tenth link assembly 10 is rotationally connected to the eighth link 8 via the twenty-fourth rotational pair R24, and the eighth link 8 is rotationally connected to the third "Y"-shaped link 7-1 in the seventh link assembly 7 via the twenty-third rotational pair R23.

[0070] The second crossbar 10 - 1 in the tenth connecting rod assembly 10 is movably connected to the first crossbar 1 - 1 in the first connecting rod assembly 1 through a second moving pair P2 .

[0071] The second "T" link 10-2 in the tenth connecting rod assembly 10 is rotationally connected to the twelfth connecting rod 12 via the thirty-first rotational pair R31. The twelfth connecting rod 12 is rotationally connected to the first "Y"-shaped link 13-1 in the movable platform assembly 13 via the thirty-second rotational pair R32. The first "Y"-shaped link 13-1 in the movable platform assembly 13 is rotationally connected to the eleventh connecting rod 11 via the thirty-third rotational pair R33. The eleventh connecting rod 11 is rotationally connected to the second "T" link 10-2 in the tenth connecting rod assembly 10 via the thirty-fourth rotational pair R34. The first "Y"-shaped link 13-1 of the movable platform assembly 13 is rotationally connected to the sixth connecting rod 6 via the thirty-fifth rotational pair R35.

[0072] Figure 1In the shown mechanism configuration, the axes of the eleventh rotational pair R11, the twelfth rotational pair R12, the thirteenth rotational pair R13, the fourteenth rotational pair R14, the fifteenth rotational pair R15, the twenty-first rotational pair R21, the twenty-second rotational pair R22, the twenty-third rotational pair R23, the twenty-fourth rotational pair R24, the twenty-fifth rotational pair R25, the thirty-first rotational pair R31, the thirty-second rotational pair R32, the thirty-third rotational pair R33, the thirty-fourth rotational pair R34, and the thirty-fifth rotational pair R35 are all parallel to the Z axis.

[0073] Figure 1 In the shown mechanism configuration, the axes of the thirty-fifth rotational pair R35, the twenty-fifth rotational pair R25, and the fifteenth rotational pair R15 are in the same plane, which is parallel to the XOZ plane.

[0074] Figure 1 In the shown mechanism configuration, the axes of the thirty-first rotational pair R31, the thirty-fourth rotational pair R34, the twenty-first rotational pair R21, the twenty-fourth rotational pair R24, the eleventh rotational pair R11, and the fourteenth rotational pair R14 are coplanar, and the plane is parallel to the XOZ plane.

[0075] Figure 1 In the shown mechanism configuration, the distance from the axis of the eleventh rotational pair R11 to the axis of the twelfth rotational pair R12 is equal to the distance from the axis of the fourteenth rotational pair R14 to the axis of the thirteenth rotational pair R13.

[0076] Figure 1 In the shown mechanism configuration, the perpendicular bisector of the common perpendicular segment connecting the axis of the twelfth rotation pair R12 and the axis of the thirteenth rotation pair R13 is collinear with the perpendicular bisector of the common perpendicular segment connecting the axis of the eleventh rotation pair R11 and the axis of the fourteenth rotation pair R14, and the perpendicular bisector passes through the axis of the fifteenth rotation pair R15.

[0077] Figure 1 In the shown mechanism configuration, the distance from the axis of the twenty-first rotational pair R21 to the axis of the twenty-second rotational pair R22 is equal to the distance from the axis of the twenty-fourth rotational pair R24 to the axis of the twenty-third rotational pair R23.

[0078] Figure 1 In the shown mechanism configuration, the perpendicular bisector of the common perpendicular segment connecting the axis of the twenty-second rotational pair R22 and the axis of the twenty-third rotational pair R23 is collinear with the perpendicular bisector of the common perpendicular segment connecting the axis of the twenty-first rotational pair R21 and the axis of the twenty-fourth rotational pair R24, and the perpendicular bisector passes through the axis of the twenty-fifth rotational pair R25.

[0079] Figure 1In the shown mechanism configuration, the distance from the axis of the thirty-first rotational pair R31 to the axis of the thirty-second rotational pair R32 is equal to the distance from the axis of the thirty-fourth rotational pair R34 to the axis of the thirty-third rotational pair R33.

[0080] Figure 1 In the shown mechanism configuration, the perpendicular bisector of the common perpendicular segment connecting the axis of the thirty-second rotation pair R32 and the axis of the thirty-third rotation pair R33 is collinear with the perpendicular bisector of the common perpendicular segment connecting the axis of the thirty-first rotation pair R31 and the axis of the thirty-fourth rotation pair R34, and the perpendicular bisector passes through the axis of the thirty-fifth rotation pair R35.

[0081] Figure 1 In the shown configuration of the mechanism, the moving directions of the first movable pair P1 and the second movable pair P2 are parallel to the X-axis.

[0082] Figure 1 In the shown configuration, the plane where the axis of the eleventh rotation pair R11 and the twelfth rotation pair R12 are located intersects with the plane where the axis of the fourteenth rotation pair R14 and the thirteenth rotation pair R13 are located. Figure 1 Point A1 is shown.

[0083] Figure 1 In the shown configuration, the plane where the axis of the twenty-first rotation pair R21 and the twelfth rotation pair R22 are located intersects with the plane where the axis of the twenty-fourth rotation pair R24 and the twenty-third rotation pair R23 are located. Figure 1 Point A2 is shown.

[0084] Figure 1 In the shown configuration, the plane where the axis of the thirty-first rotation pair R31 and the thirty-second rotation pair R32 are located intersects with the plane where the axis of the thirty-fourth rotation pair R34 and the thirty-third rotation pair R33 are located. Figure 1 Point A3 is shown.

[0085] Figure 1 In the shown configuration of the mechanism, the instantaneous rotation axes of the base assembly 4, the seventh link assembly 7 and the moving platform assembly 13 are coplanar through points A1, A2 and A3, and the plane is parallel to the XOZ plane.

[0086] Figure 1 In the shown configuration of the mechanism, the instantaneous rotation axis of the base assembly 4 passing through point A1 and the plane where the axis of the fifteenth rotation pair R15 is located are parallel to the YOZ plane.

[0087] Figure 1 In the shown configuration of the mechanism, the instantaneous rotation axis of the seventh link assembly 7 passing through point A2 and the plane where the axis of the twenty-fifth rotation pair R25 is located are parallel to the YOZ plane.

[0088] Figure 1In the shown configuration of the mechanism, the instantaneous rotation axis of the moving platform assembly 13 passing through point A3 and the plane where the axis of the thirty-fifth rotation pair R35 is located are parallel to the YOZ plane.

[0089] Figure 1 In the shown configuration, the first moving pair P1 is connected to a moving drive motor, and the second moving pair P2 is connected to an auxiliary moving drive motor.

[0090] Figure 1 In the shown mechanism configuration, the twelfth rotation pair R12 is connected to a rotation drive motor.

[0091] Figure 1 Under the shown configuration, the mechanism can be moved to the following positions: Figure 2 The configuration of the mechanism shown.

[0092] Figure 2 In the shown configuration, the plane where the axis of the eleventh rotation pair R11 and the twelfth rotation pair R12 are located intersects with the plane where the axis of the fourteenth rotation pair R14 and the thirteenth rotation pair R13 are located. Figure 2 Point A1 is shown.

[0093] Figure 2 In the shown configuration, the plane where the axis of the twenty-first rotation pair R21 and the twenty-second rotation pair R22 are located intersects with the plane where the axis of the twenty-fourth rotation pair R24 and the twenty-third rotation pair R23 are located. Figure 2 Point A2 is shown.

[0094] Figure 2 In the shown configuration, the plane where the axis of the thirty-first rotation pair R31 and the thirty-second rotation pair R32 are located intersects with the plane where the axis of the thirty-fourth rotation pair R34 and the thirty-third rotation pair R33 are located. Figure 2 Point A3 is shown.

[0095] Figure 2 In the shown configuration of the mechanism, the instantaneous rotation axes of the base assembly 4, the seventh link assembly 7, and the moving platform assembly 13 are coplanar through points A1, A2, and A3, respectively, and the plane is parallel to the xoz plane of the moving coordinate system.

[0096] Figure 2 In the shown mechanism configuration, the plane where the instantaneous rotation axis of the fourth connecting rod 4 passing through point A1 and the axis of the fifteenth rotation pair R15 are located, the plane where the instantaneous rotation axis of the seventh connecting rod assembly 7 passing through point A2 and the axis of the twenty-fifth rotation pair R25 are located, and the plane where the instantaneous rotation axis of the moving platform assembly 13 passing through point A3 and the axis of the thirty-fifth rotation pair R35 are located are parallel.

[0097] Figure 2 In the shown mechanism configuration, controlling the driving motor connected to the first moving pair P1 can realize the horizontal movement of the moving platform assembly 13 along the x-axis of the moving coordinate system, and controlling the rotating motor connected to the twelfth rotating pair R12 can control the moving platform assembly 13 to perform a one-dimensional rotation and movement relative to the tenth connecting rod assembly 10. Planar 4R mechanism motion.

[0098] Figure 2 In the shown configuration, the first moving pair P1 is controlled to drive the motor to achieve horizontal movement of the moving platform assembly 13 along the x-axis of the moving coordinate system. This movement, together with the rotation motor of the twelfth rotating pair R12 and the planar 4R mechanism motion of the moving platform assembly 13 performing one-dimensional rotational movement relative to the tenth connecting rod assembly 10, and the one-dimensional curved movement of the platform assembly 13 relative to the base assembly 4, are relatively independent and require only one driving pair for control, thus having the characteristic of motion decoupling.

[0099] Figure 1 Under the shown configuration, the mechanism can be moved to the following positions: Figure 3 The configuration of the mechanism shown.

[0100] Figure 3 In the shown configuration, the plane where the axis of the eleventh rotation pair R11 and the twelfth rotation pair R12 are located intersects with the plane where the axis of the fourteenth rotation pair R14 and the thirteenth rotation pair R13 are located. Figure 3 Point A1 is shown.

[0101] Figure 3 In the shown configuration, the plane where the axis of the twenty-first rotation pair R21 and the twenty-second rotation pair R22 are located intersects with the plane where the axis of the twenty-fourth rotation pair R24 and the twenty-third rotation pair R23 are located. Figure 3 Point A2 is shown.

[0102] Figure 3 In the shown configuration, the plane where the axes of the thirty-first rotation pair R31 and the thirty-second rotation pair R32 are located intersects with the plane where the axes of the thirty-fourth rotation pair R34 and the thirty-third rotation pair R33 are located. Figure 3 Point A3 is shown.

[0103] Figure 3 In the shown configuration of the mechanism, the instantaneous rotation axes of the base assembly 4, the seventh link assembly 7, and the moving platform assembly 13 are coplanar through points A1, A2, and A3, respectively, and the plane is parallel to the xoz plane of the moving coordinate system.

[0104] Figure 3 In the shown configuration of the mechanism, the plane where the instantaneous rotation axis of the seventh connecting rod assembly 7 passing through point A2 and the axis of the twenty-fifth rotation pair R25 are located is parallel to the plane where the instantaneous rotation axis of the moving platform assembly 13 passing through point A3 and the axis of the thirty-fifth rotation pair R35 are located.

[0105] Figure 3 Under the shown mechanism configuration, the driving motor connected to the first moving pair P1 is controlled, and the rotating motor connected to the twelfth rotating pair R12 is controlled, respectively controlling the movable platform assembly 13 not to move independently along the moving direction of the first moving pair P1, and controlling the movable platform assembly 13 to perform a one-dimensional rotation and accompanying movement relative to the tenth connecting rod assembly 10 in a planar 4R mechanism motion, which has the characteristics of motion decoupling.

[0106] Example 1

[0107] A fully decoupled parallel robot with two-dimensional motion and one-rotation-one-motion motion modes includes a moving platform assembly 13 and a first connecting rod assembly of a base assembly 4; a first kinematic chain and a second kinematic chain are provided between the moving platform assembly 13 and the base assembly 4;

[0108] The moving platform assembly 13 is connected to the base assembly 4 via a first kinematic chain and a second kinematic chain, and the second kinematic chain is also connected to the first kinematic chain.

[0109] Example 2

[0110] A fully decoupled parallel robot with two-dimensional motion and one-rotation-one-motion motion modes includes a moving platform assembly 13 and a first connecting rod assembly of a base assembly 4; a first kinematic chain and a second kinematic chain are provided between the moving platform assembly 13 and the base assembly 4;

[0111] The moving platform assembly 13 is connected to the base assembly 4 via a first kinematic chain and a second kinematic chain, and the second kinematic chain is also connected to the first kinematic chain.

[0112] The moving platform assembly 13 includes a first Y-shaped link 13-1, a first support rod 13-2, a thirty-second rotational pair R32, and a thirty-third rotational pair R33. The first end of the first Y-shaped link 13-1 is connected to the first kinematic chain, the second end of the first Y-shaped link 13-1 is connected to the first end of the first support rod 13-2 via the thirty-second rotational pair R32, and the third end of the first Y-shaped link 13-1 is connected to the second end of the first support rod 13-2 via the thirty-third rotational pair R33.

[0113] The second end of the first "Y"-shaped link 13-1 is connected to the second kinematic chain via the thirty-second rotational pair R32, and the third end of the first "Y"-shaped link 13-1 is connected to the second kinematic chain via the thirty-third rotational pair R33.

[0114] Example 3

[0115] A fully decoupled parallel robot with two-dimensional motion and one-rotation-one-motion motion modes includes a moving platform assembly 13 and a first connecting rod assembly of a base assembly 4; a first kinematic chain and a second kinematic chain are provided between the moving platform assembly 13 and the base assembly 4;

[0116] The moving platform assembly 13 is connected to the base assembly 4 via a first kinematic chain and a second kinematic chain, and the second kinematic chain is also connected to the first kinematic chain.

[0117] The moving platform assembly 13 includes a first Y-shaped link 13-1, a first support rod 13-2, a thirty-second rotational pair R32, and a thirty-third rotational pair R33. The first end of the first Y-shaped link 13-1 is connected to the first kinematic chain, the second end of the first Y-shaped link 13-1 is connected to the first end of the first support rod 13-2 via the thirty-second rotational pair R32, and the third end of the first Y-shaped link 13-1 is connected to the second end of the first support rod 13-2 via the thirty-third rotational pair R33.

[0118] The second end of the first "Y"-shaped link 13-1 is connected to the second kinematic chain via the thirty-second rotational pair R32, and the third end of the first "Y"-shaped link 13-1 is connected to the second kinematic chain via the thirty-third rotational pair R33.

[0119] The base assembly 4 includes a second Y-shaped connecting rod 4-1, a second support rod 4-2, a twelfth rotational pair R12, and a thirteenth rotational pair R13. The first end of the second Y-shaped connecting rod 4-1 is connected to the first kinematic chain, the second end of the second Y-shaped connecting rod 4-1 is connected to the first end of the second support rod 4-2 via the twelfth rotational pair R12, and the third end of the second Y-shaped connecting rod 4-1 is connected to the second end of the second support rod 4-2 via the thirteenth rotational pair R13.

[0120] The second end of the second "Y"-shaped link 4-1 is connected to the second kinematic chain via the twelfth rotation pair R12, and the third end of the second "Y"-shaped link 4-1 is connected to the second kinematic chain via the thirteenth rotation pair R13.

[0121] Example 4

[0122] A fully decoupled parallel robot with two-dimensional motion and one-rotation-one-motion motion modes includes a moving platform assembly 13 and a first connecting rod assembly of a base assembly 4; a first kinematic chain and a second kinematic chain are provided between the moving platform assembly 13 and the base assembly 4;

[0123] The moving platform assembly 13 is connected to the base assembly 4 via a first kinematic chain and a second kinematic chain, and the second kinematic chain is also connected to the first kinematic chain.

[0124] The moving platform assembly 13 includes a first Y-shaped link 13-1, a first support rod 13-2, a thirty-second rotational pair R32, and a thirty-third rotational pair R33. The first end of the first Y-shaped link 13-1 is connected to the first kinematic chain, the second end of the first Y-shaped link 13-1 is connected to the first end of the first support rod 13-2 via the thirty-second rotational pair R32, and the third end of the first Y-shaped link 13-1 is connected to the second end of the first support rod 13-2 via the thirty-third rotational pair R33.

[0125] The second end of the first "Y"-shaped link 13-1 is connected to the second kinematic chain via the thirty-second rotational pair R32, and the third end of the first "Y"-shaped link 13-1 is connected to the second kinematic chain via the thirty-third rotational pair R33.

[0126] The base assembly 4 includes a second Y-shaped connecting rod 4-1, a second support rod 4-2, a twelfth rotational pair R12, and a thirteenth rotational pair R13. The first end of the second Y-shaped connecting rod 4-1 is connected to the first kinematic chain, the second end of the second Y-shaped connecting rod 4-1 is connected to the first end of the second support rod 4-2 via the twelfth rotational pair R12, and the third end of the second Y-shaped connecting rod 4-1 is connected to the second end of the second support rod 4-2 via the thirteenth rotational pair R13.

[0127] The second end of the second "Y"-shaped link 4-1 is connected to the second kinematic chain via the twelfth rotation pair R12, and the third end of the second "Y"-shaped link 4-1 is connected to the second kinematic chain via the thirteenth rotation pair R13.

[0128] The first kinematic chain includes a fifteenth rotational pair R15, a fifth link 5, a first translation pair P1, a sixth link 6, and a thirty-fifth rotational pair R35, which are connected in sequence. The sixth link 6 is connected to the first end of the first Y-shaped link 13-1 via the thirty-fifth rotational pair R35. The fifteenth rotational pair R15 is also connected to the first end of the second Y-shaped link 4-1.

[0129] The sixth link 6 is also connected to the second kinematic chain.

[0130] Example 5

[0131] A fully decoupled parallel robot with two-dimensional motion and one-rotation-one-motion motion modes includes a moving platform assembly 13 and a first connecting rod assembly of a base assembly 4; a first kinematic chain and a second kinematic chain are provided between the moving platform assembly 13 and the base assembly 4;

[0132] The moving platform assembly 13 is connected to the base assembly 4 via a first kinematic chain and a second kinematic chain, and the second kinematic chain is also connected to the first kinematic chain.

[0133] The moving platform assembly 13 includes a first Y-shaped link 13-1, a first support rod 13-2, a thirty-second rotational pair R32, and a thirty-third rotational pair R33. The first end of the first Y-shaped link 13-1 is connected to the first kinematic chain, the second end of the first Y-shaped link 13-1 is connected to the first end of the first support rod 13-2 via the thirty-second rotational pair R32, and the third end of the first Y-shaped link 13-1 is connected to the second end of the first support rod 13-2 via the thirty-third rotational pair R33.

[0134] The second end of the first "Y"-shaped link 13-1 is connected to the second kinematic chain via the thirty-second rotational pair R32, and the third end of the first "Y"-shaped link 13-1 is connected to the second kinematic chain via the thirty-third rotational pair R33.

[0135] The base assembly 4 includes a second Y-shaped connecting rod 4-1, a second support rod 4-2, a twelfth rotational pair R12, and a thirteenth rotational pair R13. The first end of the second Y-shaped connecting rod 4-1 is connected to the first kinematic chain, the second end of the second Y-shaped connecting rod 4-1 is connected to the first end of the second support rod 4-2 via the twelfth rotational pair R12, and the third end of the second Y-shaped connecting rod 4-1 is connected to the second end of the second support rod 4-2 via the thirteenth rotational pair R13.

[0136] The second end of the second "Y"-shaped link 4-1 is connected to the second kinematic chain via the twelfth rotation pair R12, and the third end of the second "Y"-shaped link 4-1 is connected to the second kinematic chain via the thirteenth rotation pair R13.

[0137] The first kinematic chain includes a fifteenth rotational pair R15, a fifth link 5, a first translation pair P1, a sixth link 6, and a thirty-fifth rotational pair R35, which are connected in sequence. The sixth link 6 is connected to the first end of the first Y-shaped link 13-1 via the thirty-fifth rotational pair R35. The fifteenth rotational pair R15 is also connected to the first end of the second Y-shaped link 4-1.

[0138] The sixth link 6 is also connected to the second kinematic chain.

[0139] The second kinematic chain includes a first link assembly 1, a second translation pair P2, and a tenth link assembly 10 connected in sequence; and also includes an eleventh rotation pair R11 and a twelfth rotation pair R12;

[0140] The first connecting rod assembly 1 includes a first crossbar 1-1 and a first "T" connecting rod 1-2; a first end of the first "T" connecting rod 1-2 is connected to the first end of the first crossbar 1-1, a second end of the first "T" connecting rod 1-2 is connected to the second connecting rod 2 via an eleventh revolute pair R11, and a third end of the first "T" connecting rod 1-2 is connected to the third connecting rod 3 via a fourteenth revolute pair R14;

[0141] The first end of the second connecting rod 2 is connected to the second end of the second "Y"-shaped connecting rod 4-1 through the twelfth revolute pair R12, and the second end of the second connecting rod 2 is connected to the second end of the first "T"-shaped connecting rod 1-2 through the eleventh revolute pair R11; the first end of the third connecting rod 3 is connected to the third end of the second "Y"-shaped connecting rod 4-1 through the thirteenth revolute pair R13, and the second end of the third connecting rod 3 is connected to the third end of the first "T"-shaped connecting rod 1-2 through the fourteenth revolute pair R14;

[0142] The tenth connecting rod assembly 10 includes a second cross bar 10-1, a second "T" connecting rod 10-2 and a third "T" connecting rod 10-3. The first end of the second "T" connecting rod 10-2 and the first end of the third "T" connecting rod 10-3 are both connected to the rod body of the second cross bar 10-1. One end of the second cross bar 10-1 is connected to the second end of the first cross bar 1-1 through a second movable joint P2.

[0143] The twelfth connecting rod 12 is further included. The first end of the twelfth connecting rod 12 is connected to the second end of the first "Y"-shaped connecting rod 13-1 through a thirty-second rotational pair R32; the second end of the twelfth connecting rod 12 is connected to the second end of the second "T"-shaped connecting rod 10-2 through a thirty-first rotational pair R31;

[0144] The eleventh connecting rod 11 is further included. The first end of the eleventh connecting rod 11 is connected to the third end of the first "Y"-shaped connecting rod 13-1 through a thirty-third rotational pair R33; the second end of the eleventh connecting rod 11 is connected to the third end of the second "T"-shaped connecting rod 10-2 through a thirty-fourth rotational pair R34;

[0145] The seventh connecting rod assembly 7 is further included. The seventh connecting rod assembly 7 includes a third "Y"-shaped connecting rod 7-1 and a third support rod 7-2. The first end of the third "Y"-shaped connecting rod 7-1 is connected to the rod body of the sixth connecting rod 6 through a twenty-fifth rotation pair R25. The second end of the third "Y"-shaped connecting rod 7-1 is connected to the first end of the third support rod 7-2 through a twenty-second rotation pair R22. The third end of the third "Y"-shaped connecting rod 7-1 is connected to the second end of the third support rod 7-2 through a twenty-third rotation pair R23.

[0146] The ninth connecting rod 9 is also included. The first end of the ninth connecting rod 9 is connected to the second end of the third "Y"-shaped connecting rod 7-1 through the twenty-second rotation pair R22; the second end of the ninth connecting rod 9 is connected to the second end of the third "T"-shaped connecting rod 10-3 through the twenty-first rotation pair R21;

[0147] It also includes an eighth connecting rod 8, the first end of the eighth connecting rod 8 is connected to the third end of the third "Y"-shaped connecting rod 7-1 through the twenty-third rotation pair R23; the second end of the eighth connecting rod 8 is connected to the third end of the third "T"-shaped connecting rod 10-3 through the twenty-fourth rotation pair R24.

[0148] Example 6

[0149] A fully decoupled parallel robot with two-dimensional motion and one-rotation-one-motion motion modes includes a moving platform assembly 13 and a first connecting rod assembly of a base assembly 4; a first kinematic chain and a second kinematic chain are provided between the moving platform assembly 13 and the base assembly 4;

[0150] The moving platform assembly 13 is connected to the base assembly 4 via a first kinematic chain and a second kinematic chain, and the second kinematic chain is also connected to the first kinematic chain.

[0151] The moving platform assembly 13 includes a first Y-shaped link 13-1, a first support rod 13-2, a thirty-second rotational pair R32, and a thirty-third rotational pair R33. The first end of the first Y-shaped link 13-1 is connected to the first kinematic chain, the second end of the first Y-shaped link 13-1 is connected to the first end of the first support rod 13-2 via the thirty-second rotational pair R32, and the third end of the first Y-shaped link 13-1 is connected to the second end of the first support rod 13-2 via the thirty-third rotational pair R33.

[0152] The second end of the first "Y"-shaped link 13-1 is connected to the second kinematic chain via the thirty-second rotational pair R32, and the third end of the first "Y"-shaped link 13-1 is connected to the second kinematic chain via the thirty-third rotational pair R33.

[0153] The base assembly 4 includes a second Y-shaped connecting rod 4-1, a second support rod 4-2, a twelfth rotational pair R12, and a thirteenth rotational pair R13. The first end of the second Y-shaped connecting rod 4-1 is connected to the first kinematic chain, the second end of the second Y-shaped connecting rod 4-1 is connected to the first end of the second support rod 4-2 via the twelfth rotational pair R12, and the third end of the second Y-shaped connecting rod 4-1 is connected to the second end of the second support rod 4-2 via the thirteenth rotational pair R13.

[0154] The second end of the second "Y"-shaped link 4-1 is connected to the second kinematic chain via the twelfth rotation pair R12, and the third end of the second "Y"-shaped link 4-1 is connected to the second kinematic chain via the thirteenth rotation pair R13.

[0155] The first kinematic chain includes a fifteenth rotational pair R15, a fifth link 5, a first translation pair P1, a sixth link 6, and a thirty-fifth rotational pair R35, which are connected in sequence. The sixth link 6 is connected to the first end of the first Y-shaped link 13-1 via the thirty-fifth rotational pair R35. The fifteenth rotational pair R15 is also connected to the first end of the second Y-shaped link 4-1.

[0156] The sixth link 6 is also connected to the second kinematic chain.

[0157] The second kinematic chain includes a first link assembly 1, a second translation pair P2, and a tenth link assembly 10 connected in sequence; and also includes an eleventh rotation pair R11 and a twelfth rotation pair R12;

[0158] The first connecting rod assembly 1 includes a first crossbar 1-1 and a first "T" connecting rod 1-2; a first end of the first "T" connecting rod 1-2 is connected to the first end of the first crossbar 1-1, a second end of the first "T" connecting rod 1-2 is connected to the second connecting rod 2 via an eleventh revolute pair R11, and a third end of the first "T" connecting rod 1-2 is connected to the third connecting rod 3 via a fourteenth revolute pair R14;

[0159] The first end of the second connecting rod 2 is connected to the second end of the second "Y"-shaped connecting rod 4-1 through the twelfth revolute pair R12, and the second end of the second connecting rod 2 is connected to the second end of the first "T"-shaped connecting rod 1-2 through the eleventh revolute pair R11; the first end of the third connecting rod 3 is connected to the third end of the second "Y"-shaped connecting rod 4-1 through the thirteenth revolute pair R13, and the second end of the third connecting rod 3 is connected to the third end of the first "T"-shaped connecting rod 1-2 through the fourteenth revolute pair R14;

[0160] The tenth connecting rod assembly 10 includes a second cross bar 10-1, a second "T" connecting rod 10-2 and a third "T" connecting rod 10-3. The first end of the second "T" connecting rod 10-2 and the first end of the third "T" connecting rod 10-3 are both connected to the rod body of the second cross bar 10-1. One end of the second cross bar 10-1 is connected to the second end of the first cross bar 1-1 through a second movable joint P2.

[0161] The twelfth connecting rod 12 is further included. The first end of the twelfth connecting rod 12 is connected to the second end of the first "Y"-shaped connecting rod 13-1 through a thirty-second rotational pair R32; the second end of the twelfth connecting rod 12 is connected to the second end of the second "T"-shaped connecting rod 10-2 through a thirty-first rotational pair R31;

[0162] The eleventh connecting rod 11 is further included. The first end of the eleventh connecting rod 11 is connected to the third end of the first "Y"-shaped connecting rod 13-1 through a thirty-third rotational pair R33; the second end of the eleventh connecting rod 11 is connected to the third end of the second "T"-shaped connecting rod 10-2 through a thirty-fourth rotational pair R34;

[0163] The seventh connecting rod assembly 7 is further included. The seventh connecting rod assembly 7 includes a third "Y"-shaped connecting rod 7-1 and a third support rod 7-2. The first end of the third "Y"-shaped connecting rod 7-1 is connected to the rod body of the sixth connecting rod 6 through a twenty-fifth rotation pair R25. The second end of the third "Y"-shaped connecting rod 7-1 is connected to the first end of the third support rod 7-2 through a twenty-second rotation pair R22. The third end of the third "Y"-shaped connecting rod 7-1 is connected to the second end of the third support rod 7-2 through a twenty-third rotation pair R23.

[0164] The ninth connecting rod 9 is also included. The first end of the ninth connecting rod 9 is connected to the second end of the third "Y"-shaped connecting rod 7-1 through the twenty-second rotation pair R22; the second end of the ninth connecting rod 9 is connected to the second end of the third "T"-shaped connecting rod 10-3 through the twenty-first rotation pair R21;

[0165] It also includes an eighth connecting rod 8, the first end of the eighth connecting rod 8 is connected to the third end of the third "Y"-shaped connecting rod 7-1 through the twenty-third rotation pair R23; the second end of the eighth connecting rod 8 is connected to the third end of the third "T"-shaped connecting rod 10-3 through the twenty-fourth rotation pair R24.

[0166] The first moving pair P1 is connected to a moving drive motor; the second moving pair P2 is connected to an auxiliary moving drive motor.

Claims

1. A fully decoupled parallel robot with two-dimensional planar motion and one-rotation-transmission motion modes, characterized in that: It comprises a moving platform assembly (13) and a base assembly (4); a first kinematic chain and a second kinematic chain are provided between the moving platform assembly (13) and the base assembly (4); The moving platform assembly (13) is connected to the base assembly (4) via a first kinematic chain and a second kinematic chain, and the second kinematic chain is also connected to the first kinematic chain; The moving platform assembly (13) comprises a first "Y"-shaped connecting rod (13-1), a first support rod (13-2), a thirty-second rotational pair (R32) and a thirty-third rotational pair (R33); the first end of the first "Y"-shaped connecting rod (13-1) is connected to the first kinematic chain, the second end of the first "Y"-shaped connecting rod (13-1) is connected to the first end of the first support rod (13-2) via the thirty-second rotational pair (R32), and the third end of the first "Y"-shaped connecting rod (13-1) is connected to the second end of the first support rod (13-2) via the thirty-third rotational pair (R33); The second end of the first "Y"-shaped connecting rod (13-1) is connected to the second kinematic chain via a thirty-second rotational pair (R32), and the third end of the first "Y"-shaped connecting rod (13-1) is connected to the second kinematic chain via a thirty-third rotational pair (R33); The base assembly (4) includes a second "Y"-shaped connecting rod (4-1), a second support rod (4-2), a twelfth rotation pair (R12) and a thirteenth rotation pair (R13); the first end of the second "Y"-shaped connecting rod (4-1) is connected to the first kinematic chain, the second end of the second "Y"-shaped connecting rod (4-1) is connected to the first end of the second support rod (4-2) via the twelfth rotation pair (R12), and the third end of the second "Y"-shaped connecting rod (4-1) is connected to the second end of the second support rod (4-2) via the thirteenth rotation pair (R13); The second end of the second "Y"-shaped connecting rod (4-1) is connected to the second kinematic chain via a twelfth rotational pair (R12), and the third end of the second "Y"-shaped connecting rod (4-1) is connected to the second kinematic chain via a thirteenth rotational pair (R13); The first kinematic chain comprises a fifteenth rotational pair (R15), a fifth connecting rod (5), a first moving pair (P1), a sixth connecting rod (6) and a thirty-fifth rotational pair (R35) connected in sequence; the sixth connecting rod (6) is connected to the first end of the first "Y"-shaped connecting rod (13-1) via the thirty-fifth rotational pair (R35); the fifteenth rotational pair (R15) is also connected to the first end of the second "Y"-shaped connecting rod (4-1); The second kinematic chain comprises a first connecting rod assembly (1), a second moving pair (P2), and a tenth connecting rod assembly (10) connected in sequence; and also comprises an eleventh rotating pair (R11) and a fourteenth rotating pair (R14); The first connecting rod assembly (1) comprises a first crossbar (1-1) and a first "T" connecting rod (1-2); the first end of the first "T" connecting rod (1-2) is connected to the first end of the first crossbar (1-1), the second end of the first "T" connecting rod (1-2) is connected to the second connecting rod (2) via an eleventh rotation pair (R11), and the third end of the first "T" connecting rod (1-2) is connected to the third connecting rod (3) via a fourteenth rotation pair (R14); The first end of the second connecting rod (2) is connected to the second end of the second "Y"-shaped connecting rod (4-1) through the twelfth rotating pair (R12), and the second end of the second connecting rod (2) is connected to the second end of the first "T"-shaped connecting rod (1-2) through the eleventh rotating pair (R11); the first end of the third connecting rod (3) is connected to the third end of the second "Y"-shaped connecting rod (4-1) through the thirteenth rotating pair (R13), and the second end of the third connecting rod (3) is connected to the third end of the first "T"-shaped connecting rod (1-2) through the fourteenth rotating pair (R14); The tenth connecting rod assembly (10) comprises a second crossbar (10-1), a second "T" connecting rod (10-2) and a third "T" connecting rod (10-3); the first end of the second "T" connecting rod (10-2) and the first end of the third "T" connecting rod (10-3) are both connected to the rod body of the second crossbar (10-1); one end of the second crossbar (10-1) is connected to the second end of the first crossbar (1-1) via a second movable pair (P2); It also includes a twelfth connecting rod (12), the first end of the twelfth connecting rod (12) is connected to the second end of the first "Y"-shaped connecting rod (13-1) through a thirty-second rotation pair (R32); the second end of the twelfth connecting rod (12) is connected to the second end of the second "T"-shaped connecting rod (10-2) through a thirty-first rotation pair (R31); It also includes an eleventh connecting rod (11), the first end of the eleventh connecting rod (11) is connected to the third end of the first "Y"-shaped connecting rod (13-1) through a thirty-third rotation pair (R33); the second end of the eleventh connecting rod (11) is connected to the third end of the second "T"-shaped connecting rod (10-2) through a thirty-fourth rotation pair (R34); The seventh connecting rod assembly (7) further comprises a third "Y"-shaped connecting rod (7-1) and a third support rod (7-2), wherein the first end of the third "Y"-shaped connecting rod (7-1) is connected to the rod body of the sixth connecting rod (6) via a twenty-fifth rotation pair (R25), the second end of the third "Y"-shaped connecting rod (7-1) is connected to the first end of the third support rod (7-2) via a twenty-second rotation pair (R22), and the third end of the third "Y"-shaped connecting rod (7-1) is connected to the second end of the third support rod (7-2) via a twenty-third rotation pair (R23); It also includes a ninth connecting rod (9), the first end of the ninth connecting rod (9) being connected to the second end of the third "Y"-shaped connecting rod (7-1) via a twenty-second rotation pair (R22); the second end of the ninth connecting rod (9) being connected to the second end of the third "T"-shaped connecting rod (10-3) via a twenty-first rotation pair (R21); It also includes an eighth connecting rod (8), the first end of the eighth connecting rod (8) is connected to the third end of the third "Y"-shaped connecting rod (7-1) through a twenty-third rotation pair (R23); the second end of the eighth connecting rod (8) is connected to the third end of the third "T"-shaped connecting rod (10-3) through a twenty-fourth rotation pair (R24).

2. The fully decoupled parallel robot with planar two-dimensional movement and planar-rotation-movement motion modes according to claim 1, characterized in that: The first moving pair (P1) is connected to a moving drive motor; the second moving pair (P2) is connected to an auxiliary moving drive motor.

3. The fully decoupled parallel robot with planar two-dimensional movement and planar-rotation-movement motion modes according to claim 2, characterized in that: The twelfth rotating pair (R12) is connected to a rotating drive motor.

4. The driving method of a fully decoupled parallel robot with planar two-dimensional movement and planar-rotation-movement motion modes according to claim 3, characterized in that: The control-connected first moving pair (P1) drives the motor to realize the horizontal movement of the moving platform assembly (13) along the x-axis of the moving coordinate system. This movement is relatively independent of the planar 4R mechanism movement of the rotating motor of the twelfth rotating pair (R12) and the control-connected moving platform assembly (13) to perform one-dimensional rotation accompanied by movement relative to the tenth connecting rod assembly. Only one driving pair is required to control the plane one-rotation-one-movement movement mode, and the movement decoupling characteristic is achieved. The driving motor connected to the first moving pair (P1) is controlled, the rotating motor connected to the twelfth rotating pair (R12) is controlled, and the planar two-dimensional moving motion mode of the moving platform assembly (13) is controlled. The moving platform assembly (13) performs a planar 4R mechanism motion with one-dimensional rotation accompanied by movement relative to the tenth connecting rod assembly (10). The moving platform assembly (13) does not perform a one-dimensional curved movement without rotation relative to the base assembly (4). The movement of the moving platform assembly (13) along the x-axis of the moving coordinate system has the characteristic of motion decoupling.

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