Planar two-degree-of-freedom moving parallel robot with zero-position-shaped speed of all joints and method

Abstract

The invention discloses a planar two-degree-of-freedom moving parallel robot with all joint speeds in zero configuration. The planar two-degree-of-freedom moving parallel robot comprises a base and a moving platform, a first kinematic chain and a second kinematic chain are arranged between the base and the movable platform; the first kinematic chain comprises a first one-to-one moving pair P111, an eighth connecting rod assembly, a first branch chain and a second branch chain; the eighth connecting rod assembly is connected with the movable platform through a first one-to-one moving pair P111. The first branch chain and the second branch chain are both connected with the eighth connecting rod assembly and the base. The second kinematic chain comprises a second one-to-one moving pair P211, a fifteenth connecting rod assembly, a third branched chain and a fourth branched chain; the fifteenth connecting rod assembly is connected with the movable platform through a second one-to-one moving pair P211, and the third branch chain and the fourth branch chain are both connected with the fifteenth connecting rod assembly and the base. The robot can carry out complex tasks. The invention further discloses a driving method of the planar two-degree-of-freedom moving parallel robot with the speed of all the joints being in the zero configuration.

Description

Technical Field

[0001] The invention relates to the field of robots, in particular to a planar 2-DOF mobile parallel robot with all joint velocities being in a zero position, and also to a planar 2-DOF mobile parallel robot with all joint velocities being in a zero position. Background Art

[0002] When the robot end effector moves to the target position and all joint velocities are zero, this feature is independent of the robot's drive mode and is only related to the robot's mechanism configuration. At this time, the end effector moves to the target position and has the characteristics of a four-bar mechanism dead point configuration. In this configuration, when the end effector contacts the operated object and is subjected to a small force interaction, it has the ability to maintain the existing configuration and position posture of the end effector without controlling the drive. This feature of the robot helps to improve the position accuracy and stiffness of the robot when it moves to a specific position.

[0003] At present, when the multi-ring mechanism moves to a specific mechanism configuration, the speed of all joints is zero, and the end effector moves to this configuration with zero speed. When reaching this position, the position accuracy and stiffness are high, and the ability to maintain the current position and posture is high. However, at present, the number of degrees of freedom of such robot mechanisms is 1, and they have multiple degrees of freedom and can move to a specific mechanism configuration. The speed of the joints is zero. Multi-degree-of-freedom mechanisms with the dead point configuration characteristics of four-bar mechanisms are very rare, which limits the feasibility of such mechanisms to carry out complex tasks. Summary of the invention

[0004] The first object of the present invention is to provide a planar 2-DOF mobile parallel robot with a configuration in which all joint velocities are zero. The robot has a planar 2-DOF configuration in which all joint velocities are zero. In this configuration, the robot has a stable mechanism state and each joint speed is zero. The robot can be used as a component of a multi-mode robot, which is conducive to the smooth transformation of the robot's motion mode and can carry out complex tasks.

[0005] A second object of the present invention is to provide a driving method for a planar 2-DOF mobile parallel robot having a configuration in which all joint velocities are zero.

[0006] The first technical solution adopted by the present invention is a planar 2-DOF mobile parallel robot with all joint velocities being zero, comprising a base and a moving platform; a first kinematic chain and a second kinematic chain are arranged between the base and the moving platform; The first kinematic chain includes a first-to-one moving pair P111, an eighth connecting rod assembly, a first branch chain and a second branch chain; the eighth connecting rod assembly is connected to the moving platform through the first-to-one moving pair P111, and the first branch chain and the second branch chain are both connected to the eighth connecting rod assembly and the base; The second kinematic chain includes a second one-to-one movable pair P211, a fifteenth connecting rod assembly, a third branch chain and a fourth branch chain; the fifteenth connecting rod assembly is connected to the moving platform through the second one-to-one movable pair P211, and the third branch chain and the fourth branch chain are both connected to the fifteenth connecting rod assembly and the base.

[0007] The present invention is also characterized in that: The moving platform is a broken line connecting rod, the first end of the moving platform is connected to the eighth connecting rod assembly through the first one-to-one moving pair P111, and the second end of the moving platform is connected to the fifteenth connecting rod assembly through the second one-to-one moving pair P211.

[0008] The eighth connecting rod assembly includes a first L-shaped connecting rod and a first U-shaped connecting rod, wherein the first end of the first L-shaped connecting rod is connected to the first end of the moving platform through a first one-to-one moving pair P111, and the second end of the first L-shaped connecting rod is connected to the rod body of the first U-shaped connecting rod; the first end of the first U-shaped connecting rod is connected to the first branch chain, and the second end of the first U-shaped connecting rod is connected to the second branch chain; The fifteenth connecting rod assembly includes a second L-shaped connecting rod and a second U-shaped connecting rod. The first end of the second L-shaped connecting rod is connected to the second end of the moving platform through a second one-to-one movable pair P211, and the second end of the second L-shaped connecting rod is connected to the rod body of the second U-shaped connecting rod; the first end of the second U-shaped connecting rod is connected to the third branch chain, and the second end of the second U-shaped connecting rod is connected to the fourth branch chain.

[0009] The first branch chain includes a third link assembly, a second link and a fourth link; the second link and the fourth link are both connected to the third link assembly; It also includes an eleventh rotation pair R11, a fourteenth rotation pair R14 and a seventeenth connecting rod, the seventeenth connecting rod is a T-shaped connecting rod, the seventeenth connecting rod includes a first cross rod and a first vertical rod, the first end of the first vertical rod is connected to the rod body of the first cross rod, the second end of the first vertical rod is connected to the base, the first end of the first cross rod is connected to the second connecting rod through the eleventh rotation pair R11, and the second end of the first cross rod is connected to the fourth connecting rod through the fourteenth rotation pair R14; The third connecting rod assembly includes the fifteenth rotating pair R15, the first support rod, the twelfth rotating pair R12, the second support rod, the thirteenth rotating pair R13 and the third support rod connected in sequence. The fifteenth rotating pair R15 is also connected to the third support rod and the first end of the first U-shaped connecting rod.

[0010] The second branch chain includes a sixth connecting rod assembly, a fifth connecting rod and a seventh connecting rod; the fifth connecting rod and the seventh connecting rod are both connected to the sixth connecting rod assembly; It also includes a sixteenth rotation pair R16, a nineteenth rotation pair R19 and an eighteenth connecting rod, the eighteenth connecting rod is a T-shaped connecting rod, the eighteenth connecting rod includes a second cross rod and a second vertical rod, the first end of the second vertical rod is connected to the rod body of the second cross rod, the second end of the second vertical rod is connected to the base, the first end of the second cross rod is connected to the fifth connecting rod through the sixteenth rotation pair R16, and the second end of the second cross rod is connected to the seventh connecting rod through the nineteenth rotation pair R19; The sixth connecting rod assembly includes a first 10th rotation pair R110, a fourth support rod, a seventeenth rotation pair R17, a fifth support rod, an eighteenth rotation pair R18 and a sixth support rod connected in sequence. The first 10th rotation pair R110 is also connected to the sixth support rod and the second end of the first U-shaped connecting rod.

[0011] The third branch chain includes a tenth connecting rod assembly, a ninth connecting rod and an eleventh connecting rod; the ninth connecting rod and the eleventh connecting rod are both connected to the tenth connecting rod assembly; It also includes a twenty-first rotation pair R21, a twenty-fourth rotation pair R24 ​​and a nineteenth connecting rod, the nineteenth connecting rod is a T-shaped connecting rod, the nineteenth connecting rod includes a third cross rod and a third vertical rod, the first end of the third vertical rod is connected to the rod body of the third cross rod, the second end of the third vertical rod is connected to the base, the first end of the third cross rod is connected to the ninth connecting rod through the twenty-first rotation pair R21, and the second end of the third cross rod is connected to the eleventh connecting rod through the twenty-fourth rotation pair R24; The tenth connecting rod assembly includes the twenty-fifth rotating pair R25, the seventh support rod, the twenty-second rotating pair R22, the eighth support rod, the twenty-third rotating pair R23 and the ninth support rod which are connected in sequence. The twenty-fifth rotating pair R25 is also connected to the ninth support rod and the first end of the second U-shaped connecting rod.

[0012] The fourth branch chain includes a thirteenth connecting rod assembly, a twelfth connecting rod and a fourteenth connecting rod; the twelfth connecting rod and the fourteenth connecting rod are both connected to the thirteenth connecting rod assembly; It also includes a twenty-sixth rotation pair R26, a twenty-ninth rotation pair R29 and a twentieth connecting rod, the twentieth connecting rod is a T-shaped connecting rod, the twentieth connecting rod includes a fourth crossbar and a fourth vertical rod, the first end of the fourth vertical rod is connected to the rod body of the fourth crossbar, the second end of the fourth vertical rod is connected to the base, the first end of the fourth crossbar is connected to the twelfth connecting rod through the twenty-sixth rotation pair R26, and the second end of the fourth crossbar is connected to the fourteenth connecting rod through the twenty-ninth rotation pair R29; The thirteenth connecting rod assembly includes the 210th rotation pair R210, the tenth support rod, the 27th rotation pair R27, the 11th support rod, the 28th rotation pair R28 and the twelfth support rod connected in sequence. The 210th rotation pair R210 is also connected to the twelfth support rod and the second end of the second U-shaped connecting rod.

[0013] The eleventh rotation pair R11 is connected to a rotation driving motor.

[0014] The twenty-first rotation pair R21 is connected to a driving rotation motor.

[0015] The second technical solution adopted by the present invention is to adopt the driving method of the above-mentioned planar 2-DOF mobile parallel robot with all joint speeds being zero, specifically: when the robot is in a mechanism configuration where all joint speeds are zero, when the rotating drive motor connected to the eleventh rotating pair R11 and the driving rotating motor connected to the twenty-first rotating pair R21 are driven to move the moving platform along the positive direction of the X-axis and the negative direction of the Y-axis, the robot is in a mechanism configuration where not all joint speeds are zero, and the joint speeds of the parallel robot are not all zero.

[0016] The beneficial effects of the present invention are: (1) The present invention proposes a planar 2-DOF mobile parallel robot with a configuration in which all joint velocities are zero. The robot end effector has a planar 2-DOF motion workspace. There is 1 position in the workspace of the parallel robot end effector. The velocities of all joints of the robot are zero. The motion characteristics under this working configuration are independent of the drive control.

[0017] (2) In the robot of the present invention, all joint velocities are zero, and the motion characteristics in the working configuration are independent of the drive control. At this time, when the end effector contacts the operated object, a small force will be generated. In addition, the robot has the ability to maintain the existing configuration and the position and posture of the end effector without controlling the drive. The position accuracy and stiffness of the robot in this configuration are higher than those in the conventional configuration.

[0018] (3) The robot of the present invention has a planar 2-DOF configuration in which all joint velocities are zero. In this configuration, the robot has a stable mechanism state and all joint velocities are zero. When some multi-mode mechanisms change their motion modes, when the joint velocities are zero, the mechanical impact of the motion mode change on the robot is reduced, which is beneficial to the smooth implementation of the motion mode change. The robot proposed in the present invention can be used as a component of a multi-mode robot, which is beneficial to the smooth implementation of the robot's motion mode change and can carry out complex tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A configuration diagram of a planar 2-DOF mobile parallel robot having a configuration in which all joint velocities are zero according to the present invention; Figure 2 This is a configuration diagram of a planar 2-DOF mobile parallel robot in which the speeds of all joints are not zero.

[0020] 1. base, 2. second connecting rod, 3. third connecting rod assembly, 4. fourth connecting rod, 5. fifth connecting rod, 6. sixth connecting rod assembly, 7. seventh connecting rod, 8. eighth connecting rod assembly, 9. ninth connecting rod, 10. tenth connecting rod assembly, 11. eleventh connecting rod, 12. twelfth connecting rod, 13. thirteenth connecting rod, 14. fourteenth connecting rod, 15. fifteenth connecting rod assembly, 16. moving platform, 17. seventeenth connecting rod, 18. eighteenth connecting rod, 19. nineteenth connecting rod, 20. twentieth connecting rod; 3-1. The first pole, 3-2. The second pole, 3-3. The third pole; 6-1. The fourth pole, 6-2. The fifth pole, 6-3. The sixth pole; 8-1. The first L-shaped connecting rod, 8-2. The first U-shaped connecting rod; 10-1. The seventh pole, 10-2. The eighth pole, 10-3. The ninth pole; 13-1. The tenth pole, 13-2. The eleventh pole, 13-3. The twelfth pole; 15-1. A second L-shaped connecting rod, 15-2. A second U-shaped connecting rod; 17-1. first horizontal bar, 17-2. first vertical bar; 18-1. The second horizontal bar, 18-2. The second vertical bar; 19-1. The third horizontal bar, 19-2. The third vertical bar; 20-1. The fourth horizontal bar, 20-2. The fourth vertical bar. DETAILED DESCRIPTION

[0021] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] The present invention provides a planar 2-DOF mobile parallel robot with all joint velocities being zero, such as Figure 1 As shown, it includes a base 1 and a moving platform 16; a first kinematic chain and a second kinematic chain are arranged between the base 1 and the moving platform 16; The first kinematic chain includes a first-to-one moving pair P111, an eighth connecting rod assembly 8, a first branch chain and a second branch chain; the eighth connecting rod assembly 8 is connected to the moving platform 16 through the first-to-one moving pair P111, and the first branch chain and the second branch chain are both connected to the eighth connecting rod assembly 8 and the base 1; The second kinematic chain includes a second one-to-one moving pair P211, a fifteenth connecting rod assembly 15, a third branch chain and a fourth branch chain; the fifteenth connecting rod assembly 15 is connected to the moving platform 16 through the second one-to-one moving pair P211, and the third branch chain and the fourth branch chain are both connected to the fifteenth connecting rod assembly 15 and the base 1. The moving platform 16 is a broken line connecting rod, and the first end of the moving platform 16 is connected to the eighth connecting rod assembly 8 through the first one-to-one moving pair P111, and the second end of the moving platform 16 is connected to the fifteenth connecting rod assembly 15 through the second one-to-one moving pair P211.

[0023] The eighth connecting rod assembly 8 includes a first L-shaped connecting rod 8-1 and a first U-shaped connecting rod 8-2. The first end of the first L-shaped connecting rod 8-1 is connected to the first end of the moving platform 16 through a first one-to-one moving pair P111, and the second end of the first L-shaped connecting rod 8-1 is connected to the rod body of the first U-shaped connecting rod 8-2; the first end of the first U-shaped connecting rod 8-2 is connected to the first branch chain, and the second end of the first U-shaped connecting rod 8-2 is connected to the second branch chain; The fifteenth connecting rod assembly 15 includes a second L-shaped connecting rod 15-1 and a second U-shaped connecting rod 15-2. The first end of the second L-shaped connecting rod 15-1 is connected to the second end of the moving platform 16 through a second one-to-one movable pair P211, and the second end of the second L-shaped connecting rod 15-1 is connected to the rod body of the second U-shaped connecting rod 15-2; the first end of the second U-shaped connecting rod 15-2 is connected to the third branch chain, and the second end of the second U-shaped connecting rod 15-2 is connected to the fourth branch chain.

[0024] The first branch chain includes a third link assembly 3, a second link 2 and a fourth link 4; the second link 2 and the fourth link 4 are both connected to the third link assembly 3; It also includes an eleventh rotation pair R11, a fourteenth rotation pair R14 and a seventeenth connecting rod 17, the seventeenth connecting rod 17 is a T-shaped connecting rod, the seventeenth connecting rod 17 includes a first cross bar 17-1 and a first vertical rod 17-2, a first end of the first vertical rod 17-2 is connected to the rod body of the first cross bar 17-1, a second end of the first vertical rod 17-2 is connected to the base 1, a first end of the first cross bar 17-1 is connected to the second connecting rod 2 through the eleventh rotation pair R11, and a second end of the first cross bar 17-1 is connected to the fourth connecting rod 4 through the fourteenth rotation pair R14; The third connecting rod assembly 3 includes the fifteenth rotating pair R15, the first support rod 3-1, the twelfth rotating pair R12, the second support rod 3-2, the thirteenth rotating pair R13 and the third support rod 3-3 connected in sequence. The fifteenth rotating pair R15 is also connected to the third support rod 3-3 and the first end of the first U-shaped connecting rod 8-2.

[0025] The second branch chain includes a sixth link assembly 6, a fifth link 5 and a seventh link 7; the fifth link 5 and the seventh link 7 are both connected to the sixth link assembly 6; It also includes a sixteenth rotation pair R16, a nineteenth rotation pair R19 and an eighteenth connecting rod 18, the eighteenth connecting rod 18 is a T-shaped connecting rod, the eighteenth connecting rod 18 includes a second cross bar 18-1 and a second vertical rod 18-2, the first end of the second vertical rod 18-2 is connected to the rod body of the second cross bar 18-1, the second end of the second vertical rod 18-2 is connected to the base 1, the first end of the second cross bar 18-1 is connected to the fifth connecting rod 5 through the sixteenth rotation pair R16, and the second end of the second cross bar 18-1 is connected to the seventh connecting rod 7 through the nineteenth rotation pair R19; The sixth connecting rod assembly 6 includes a first and a second rotation pair R110, a fourth support rod 6-1, a seventeenth rotation pair R17, a fifth support rod 6-2, an eighteenth rotation pair R18 and a sixth support rod 6-3 connected in sequence. The first and the second rotation pair R110 is also connected to the sixth support rod 6-3 and the second end of the first U-shaped connecting rod 8-2.

[0026] The third branch chain includes a tenth connecting rod assembly 10, a ninth connecting rod 9 and an eleventh connecting rod 11; the ninth connecting rod 9 and the eleventh connecting rod 11 are both connected to the tenth connecting rod assembly 10; It also includes a twenty-first rotation pair R21, a twenty-fourth rotation pair R24 ​​and a nineteenth connecting rod 19, the nineteenth connecting rod 19 is a T-shaped connecting rod, the nineteenth connecting rod 19 includes a third cross bar 19-1 and a third vertical bar 19-2, the first end of the third vertical bar 19-2 is connected to the rod body of the third cross bar 19-1, the second end of the third vertical bar 19-2 is connected to the base 1, the first end of the third cross bar 19-1 is connected to the ninth connecting rod 9 through the twenty-first rotation pair R21, and the second end of the third cross bar 19-1 is connected to the eleventh connecting rod 11 through the twenty-fourth rotation pair R24; The tenth connecting rod assembly 10 includes the twenty-fifth rotating pair R25, the seventh support rod 10-1, the twenty-second rotating pair R22, the eighth support rod 10-2, the twenty-third rotating pair R23 and the ninth support rod 10-3 connected in sequence. The twenty-fifth rotating pair R25 is also connected to the ninth support rod 10-3 and the first end of the second U-shaped connecting rod 15-2.

[0027] The fourth branch chain includes a thirteenth connecting rod assembly 13, a twelfth connecting rod 12 and a fourteenth connecting rod 14; the twelfth connecting rod 12 and the fourteenth connecting rod 14 are both connected to the thirteenth connecting rod assembly 13; It also includes a twenty-sixth rotation pair R26, a twenty-ninth rotation pair R29 and a twentieth connecting rod 20, the twentieth connecting rod 20 is a T-shaped connecting rod, the twentieth connecting rod 20 includes a fourth cross bar 20-1 and a fourth vertical rod 20-2, the first end of the fourth vertical rod 20-2 is connected to the rod body of the fourth cross bar 20-1, the second end of the fourth vertical rod 20-2 is connected to the base 1, the first end of the fourth cross bar 20-1 is connected to the twelfth connecting rod 12 through the twenty-sixth rotation pair R26, and the second end of the fourth cross bar 20-1 is connected to the fourteenth connecting rod 14 through the twenty-ninth rotation pair R29; The thirteenth connecting rod assembly 13 includes the second zero rotation pair R210, the tenth support rod 13-1, the twenty-seventh rotation pair R27, the eleventh support rod 13-2, the twenty-eighth rotation pair R28 and the twelfth support rod 13-3 connected in sequence, and the second zero rotation pair R210 is also connected to the twelfth support rod 13-3 and the second end of the second U-shaped connecting rod 15-2.

[0028] The eleventh rotation pair R11 is connected to a rotation driving motor.

[0029] The twenty-first rotation pair R21 is connected to a driving rotation motor.

[0030] The present invention also provides a driving method for the above-mentioned planar 2-DOF mobile parallel robot with all joint speeds being in a zero configuration, specifically: when the robot is in a mechanism configuration in which all joint speeds are zero, when the rotation drive motor connected to the eleventh rotation pair R11 and the driving rotation motor connected to the twenty-first rotation pair R21 are driven, so that the moving direction of the first one-to-one moving pair P111 intersects with the moving direction of the second one-to-one moving pair P211 at one point, so that the moving platform (16) moves along the positive direction of the X-axis and the negative direction of the Y-axis, then the robot is in a mechanism configuration in which not all joint speeds are zero, and the joint speeds of the parallel robot are not all zero.

[0031] like Figure 1As shown, the first crossbar 17-1 of the seventeenth connecting rod 17 connected to the base 1 is rotationally connected to the second connecting rod 2 through the eleventh rotation pair R11, the second connecting rod 2 is rotationally connected to the first support rod 3-1 through the twelfth rotation pair R12, the third support rod 3-3 is rotationally connected to the fourth connecting rod 4 through the thirteenth rotation pair R13, and the fourth connecting rod 4 is rotationally connected to the first crossbar 17-1 through the fourteenth rotation pair R14. The first support rod 3-1 and the third support rod 3-3 are both rotationally connected to the first U-shaped connecting rod 8-2 through the fifteenth rotation pair R15, and the first U-shaped connecting rod 8-2 is rotationally connected to the fourth support rod 6-1 and the sixth support rod 6-3 through the first-zero rotation pair R110. The fifth connecting rod 5 is rotationally connected to the second crossbar 18-1 through the sixteenth rotation pair R16, the fifth connecting rod 5 is rotationally connected to the fourth support rod 6-1 through the seventeenth rotation pair R17, the sixth support rod 6-3 is rotationally connected to the seventh connecting rod 7 through the eighteenth rotation pair R18, and the seventh connecting rod 7 is rotationally connected to the second crossbar 18-1 through the nineteenth rotation pair R19. The first U-shaped connecting rod 8-2 is movably connected to the moving platform 16 through the first one-to-one moving pair P111. Figure 1 As shown, the ninth connecting rod 9 is rotationally connected to the third crossbar 19-1 through the twenty-first rotation pair R21, the tenth connecting rod 10 is rotationally connected to the ninth connecting rod 9 through the twenty-second rotation pair R22, the ninth supporting rod 10-3 is rotationally connected to the eleventh connecting rod 11 through the twenty-third rotation pair R23, and the eleventh connecting rod 11 is rotationally connected to the third crossbar 19-1 through the twenty-fourth rotation pair R24. The seventh supporting rod 10-1 and the ninth supporting rod 10-3 are rotationally connected to the second U-shaped connecting rod 15-2 through the twenty-fifth rotation pair R25, the second U-shaped connecting rod 15-2 is rotationally connected to the tenth supporting rod 13-1 and the twelfth supporting rod 13-3 through the twenty-first rotation pair R210, the tenth supporting rod 13-1 is rotationally connected to the twelfth connecting rod 12 through the twenty-seventh rotation pair R27, and the twelfth connecting rod 12 is rotationally connected to the fourth crossbar 20-1 through the twenty-sixth rotation pair R26. The twelfth support rod 13-3 is rotatably connected to the fourteenth connecting rod 14 through the twenty-eighth rotation pair R28, and the fourteenth connecting rod 14 is rotatably connected to the fourth crossbar 20-1 through the twenty-ninth rotation pair R29. The second L-shaped connecting rod 15-1 is movably connected to the moving platform 16 through the 211th moving pair P211. Figure 1 In the shown mechanism configuration, the intersection line of the plane where the axes of the eleventh rotational pair R11 and the twelfth rotational pair R12 are located and the plane where the axes of the thirteenth rotational pair R13 and the fourteenth rotational pair R14 are located is collinear with the axis of the fifteenth rotational pair R15. Figure 1 In the shown mechanism configuration, the intersection line of the plane where the axes of the 116th rotation pair R16 and the 17th rotation pair R17 are located, and the plane where the axes of the 19th rotation pair R19 and the 18th rotation pair R18 are located, is colinear with the axis of the 110th rotation pair R110. Figure 1In the shown mechanism configuration, the intersection line of the plane where the axes of the twenty-first rotational pair R21 and the twenty-second rotational pair R22 are located and the plane where the axes of the twenty-third rotational pair R23 and the twenty-fourth rotational pair R24 ​​are located is collinear with the axis of the twenty-fifth rotational pair R25. Figure 1 In the shown mechanism configuration, the intersection line of the plane where the axes of the twenty-sixth rotation pair R26 and the twenty-seventh rotation pair R27 are located, and the plane where the axes of the twenty-ninth rotation pair R29 and the twenty-eighth rotation pair R28 are located, is colinear with the axis of the twenty-tenth rotation pair R210. Figure 1 In the shown mechanism configuration, the eleventh rotation pair R11 and the twelfth rotation pair R12, and the fourteenth rotation pair R14 and the thirteenth rotation pair R13 are symmetrical about an axis parallel to the Y axis.

[0032] Figure 1 In the shown mechanism configuration, the sixteenth rotation pair R16 and the seventeenth rotation pair R17, and the nineteenth rotation pair R19 and the eighteenth rotation pair R18 are symmetrical about an axis parallel to the Y axis.

[0033] Figure 1 In the shown mechanism configuration, the twenty-first rotation pair R21 and the twenty-second rotation pair R22, and the twenty-fourth rotation pair R24 ​​and the twenty-third rotation pair R23 are symmetrical about an axis parallel to the X-axis.

[0034] Figure 1 In the shown mechanism configuration, the twenty-sixth rotation pair R26 and the twenty-seventh rotation pair R27, and the twenty-ninth rotation pair R29 and the twenty-eighth rotation pair R28 are symmetrical about an axis parallel to the X-axis.

[0035] Figure 1 In the shown mechanism configuration, the axis of the eleventh rotation pair R11, the axis of the fourteenth rotation pair R14, the axis of the sixteenth rotation pair R16 and the axis of the nineteenth rotation pair R19 are all coplanar, and the planes they are located in are parallel to the XOZ plane.

[0036] Figure 1 In the shown mechanism configuration, the axis of the twelfth rotation pair R12, the axis of the thirteenth rotation pair R13, the axis of the seventeenth rotation pair R17 and the axis of the eighteenth rotation pair R18 are all coplanar, and the planes they are located in are parallel to the XOZ plane.

[0037] Figure 1 In the shown mechanism configuration, the axis of the fifteenth rotation pair R15 is coplanar with the axis of the 110th rotation pair R110, and the plane they are in is parallel to the XOZ plane.

[0038] Figure 1 In the shown mechanism configuration, the axis of the twenty-first rotational pair R21, the axis of the twenty-fourth rotational pair R24, the axis of the twenty-sixth rotational pair R26 and the axis of the twenty-ninth rotational pair R29 are all coplanar, and the planes they are located in are parallel to the YOZ plane.

[0039] Figure 1 In the shown mechanism configuration, the axis of the twenty-second rotation pair R22, the axis of the twenty-third rotation pair R23, the axis of the twenty-seventh rotation pair R27 and the axis of the twenty-eighth rotation pair R28 are all coplanar, and the planes they are located in are parallel to the YOZ plane.

[0040] Figure 1 In the shown mechanism configuration, the axis of the twenty-fifth rotation pair R25 is coplanar with the axis of the twenty-first rotation pair R210, and the plane they are in is parallel to the YOZ plane.

[0041] Figure 1 In the shown mechanism configuration, the moving direction of the first one-to-one moving pair P111 is parallel to the X-axis, and the moving direction of the second one-to-one moving pair P211 is parallel to the Y-axis.

[0042] Figure 1 In the shown mechanism configuration, all joint velocities are zero and the moving speed of the moving platform 16 is zero.

[0043] Figure 1 Under the shown mechanism configuration, the intersection point of the axis of the fifteenth rotation pair R15 on the XOY plane is point A11, the intersection point of the axis of the first-zero rotation pair R110 on the XOY plane is point A21, the intersection point of the axis of the twenty-fifth rotation pair R25 on the XOY plane is point A31, and the intersection point of the axis of the second-zero rotation pair R210 on the XOY plane is point A41. Figure 1 In the shown mechanism configuration, the intersection of the moving direction of the first one-to-one moving pair P111 and the moving direction of the second one-to-one moving pair P211 is B11.

[0044] Figure 1 In the shown mechanism configuration, the eleventh rotation pair R11 is connected to a rotation drive motor, and the twenty-first rotation pair R21 is connected to a drive rotation motor.

[0045] When the eleventh rotary pair R11 is connected to a rotary drive motor and the twenty-first rotary pair R21 is connected to a drive rotary motor, the mechanism can be moved to Figure 2 The configuration shown is, Figure 2 In the shown mechanism configuration, the intersection of the moving direction of the first movable pair P111 and the moving direction of the second movable pair P211 is B12, and the moving platform 16 moves along the positive direction of the X-axis and the negative direction of the Y-axis.

[0046] Figure 2 In the mechanism configuration shown, the axis of the fifteenth rotation pair R15 does not pass through the point A11, the axis of the first and zeroth rotation pair R110 does not pass through the point A21, the axis of the twenty-fifth rotation pair R25 does not pass through the point A31, and the axis of the second and zeroth rotation pair R210 does not pass through the point A41.

[0047] Figure 2 In the shown mechanism configuration, the drive motor connected to the eleventh rotation pair R11 and the drive motor connected to the twenty-first rotation pair R21 are controlled. Figure 2 The joint velocities of the mechanism shown are not all zero.

[0048] Example 1 A planar 2-DOF mobile parallel robot with all joint velocities at zero is Figure 1 As shown, it includes a base 1 and a moving platform 16; a first kinematic chain and a second kinematic chain are arranged between the base 1 and the moving platform 16; The first kinematic chain includes a first-to-one moving pair P111, an eighth connecting rod assembly 8, a first branch chain and a second branch chain; the eighth connecting rod assembly 8 is connected to the moving platform 16 through the first-to-one moving pair P111, and the first branch chain and the second branch chain are both connected to the eighth connecting rod assembly 8 and the base 1; The second kinematic chain includes a second one-to-one moving pair P211, a fifteenth connecting rod assembly 15, a third branch chain and a fourth branch chain; the fifteenth connecting rod assembly 15 is connected to the moving platform 16 through the second one-to-one moving pair P211, and the third branch chain and the fourth branch chain are both connected to the fifteenth connecting rod assembly 15 and the base 1. The moving platform 16 is a broken line connecting rod, and the first end of the moving platform 16 is connected to the eighth connecting rod assembly 8 through the first one-to-one moving pair P111, and the second end of the moving platform 16 is connected to the fifteenth connecting rod assembly 15 through the second one-to-one moving pair P211.

[0049] Example 2 A planar 2-DOF mobile parallel robot with all joint velocities at zero is Figure 1 As shown, it includes a base 1 and a moving platform 16; a first kinematic chain and a second kinematic chain are arranged between the base 1 and the moving platform 16; The first kinematic chain includes a first-to-one moving pair P111, an eighth connecting rod assembly 8, a first branch chain and a second branch chain; the eighth connecting rod assembly 8 is connected to the moving platform 16 through the first-to-one moving pair P111, and the first branch chain and the second branch chain are both connected to the eighth connecting rod assembly 8 and the base 1; The second kinematic chain includes a second one-to-one moving pair P211, a fifteenth connecting rod assembly 15, a third branch chain and a fourth branch chain; the fifteenth connecting rod assembly 15 is connected to the moving platform 16 through the second one-to-one moving pair P211, and the third branch chain and the fourth branch chain are both connected to the fifteenth connecting rod assembly 15 and the base 1. The moving platform 16 is a broken line connecting rod, and the first end of the moving platform 16 is connected to the eighth connecting rod assembly 8 through the first one-to-one moving pair P111, and the second end of the moving platform 16 is connected to the fifteenth connecting rod assembly 15 through the second one-to-one moving pair P211.

[0050] The eighth connecting rod assembly 8 includes a first L-shaped connecting rod 8-1 and a first U-shaped connecting rod 8-2. The first end of the first L-shaped connecting rod 8-1 is connected to the first end of the moving platform 16 through a first one-to-one moving pair P111, and the second end of the first L-shaped connecting rod 8-1 is connected to the rod body of the first U-shaped connecting rod 8-2; the first end of the first U-shaped connecting rod 8-2 is connected to the first branch chain, and the second end of the first U-shaped connecting rod 8-2 is connected to the second branch chain; The fifteenth connecting rod assembly 15 includes a second L-shaped connecting rod 15-1 and a second U-shaped connecting rod 15-2. The first end of the second L-shaped connecting rod 15-1 is connected to the second end of the moving platform 16 through a second one-to-one movable pair P211, and the second end of the second L-shaped connecting rod 15-1 is connected to the rod body of the second U-shaped connecting rod 15-2; the first end of the second U-shaped connecting rod 15-2 is connected to the third branch chain, and the second end of the second U-shaped connecting rod 15-2 is connected to the fourth branch chain.

[0051] Example 3 A planar 2-DOF mobile parallel robot with all joint velocities at zero is Figure 1 As shown, it includes a base 1 and a moving platform 16; a first kinematic chain and a second kinematic chain are arranged between the base 1 and the moving platform 16; The first kinematic chain includes a first-to-one moving pair P111, an eighth connecting rod assembly 8, a first branch chain and a second branch chain; the eighth connecting rod assembly 8 is connected to the moving platform 16 through the first-to-one moving pair P111, and the first branch chain and the second branch chain are both connected to the eighth connecting rod assembly 8 and the base 1; The second kinematic chain includes a second one-to-one moving pair P211, a fifteenth connecting rod assembly 15, a third branch chain and a fourth branch chain; the fifteenth connecting rod assembly 15 is connected to the moving platform 16 through the second one-to-one moving pair P211, and the third branch chain and the fourth branch chain are both connected to the fifteenth connecting rod assembly 15 and the base 1. The moving platform 16 is a broken line connecting rod, and the first end of the moving platform 16 is connected to the eighth connecting rod assembly 8 through the first one-to-one moving pair P111, and the second end of the moving platform 16 is connected to the fifteenth connecting rod assembly 15 through the second one-to-one moving pair P211.

[0052] The eighth connecting rod assembly 8 includes a first L-shaped connecting rod 8-1 and a first U-shaped connecting rod 8-2. The first end of the first L-shaped connecting rod 8-1 is connected to the first end of the moving platform 16 through a first one-to-one moving pair P111, and the second end of the first L-shaped connecting rod 8-1 is connected to the rod body of the first U-shaped connecting rod 8-2; the first end of the first U-shaped connecting rod 8-2 is connected to the first branch chain, and the second end of the first U-shaped connecting rod 8-2 is connected to the second branch chain; The fifteenth connecting rod assembly 15 includes a second L-shaped connecting rod 15-1 and a second U-shaped connecting rod 15-2. The first end of the second L-shaped connecting rod 15-1 is connected to the second end of the moving platform 16 through a second one-to-one movable pair P211, and the second end of the second L-shaped connecting rod 15-1 is connected to the rod body of the second U-shaped connecting rod 15-2; the first end of the second U-shaped connecting rod 15-2 is connected to the third branch chain, and the second end of the second U-shaped connecting rod 15-2 is connected to the fourth branch chain.

[0053] The first branch chain includes a third link assembly 3, a second link 2 and a fourth link 4; the second link 2 and the fourth link 4 are both connected to the third link assembly 3; It also includes an eleventh rotation pair R11, a fourteenth rotation pair R14 and a seventeenth connecting rod 17, the seventeenth connecting rod 17 is a T-shaped connecting rod, the seventeenth connecting rod 17 includes a first cross bar 17-1 and a first vertical rod 17-2, a first end of the first vertical rod 17-2 is connected to the rod body of the first cross bar 17-1, a second end of the first vertical rod 17-2 is connected to the base 1, a first end of the first cross bar 17-1 is connected to the second connecting rod 2 through the eleventh rotation pair R11, and a second end of the first cross bar 17-1 is connected to the fourth connecting rod 4 through the fourteenth rotation pair R14; The third connecting rod assembly 3 includes the fifteenth rotating pair R15, the first support rod 3-1, the twelfth rotating pair R12, the second support rod 3-2, the thirteenth rotating pair R13 and the third support rod 3-3 connected in sequence. The fifteenth rotating pair R15 is also connected to the third support rod 3-3 and the first end of the first U-shaped connecting rod 8-2.

[0054] The second branch chain includes a sixth link assembly 6, a fifth link 5 and a seventh link 7; the fifth link 5 and the seventh link 7 are both connected to the sixth link assembly 6; It also includes a sixteenth rotation pair R16, a nineteenth rotation pair R19 and an eighteenth connecting rod 18, the eighteenth connecting rod 18 is a T-shaped connecting rod, the eighteenth connecting rod 18 includes a second cross bar 18-1 and a second vertical rod 18-2, the first end of the second vertical rod 18-2 is connected to the rod body of the second cross bar 18-1, the second end of the second vertical rod 18-2 is connected to the base 1, the first end of the second cross bar 18-1 is connected to the fifth connecting rod 5 through the sixteenth rotation pair R16, and the second end of the second cross bar 18-1 is connected to the seventh connecting rod 7 through the nineteenth rotation pair R19; The sixth connecting rod assembly 6 includes a first and a second rotation pair R110, a fourth support rod 6-1, a seventeenth rotation pair R17, a fifth support rod 6-2, an eighteenth rotation pair R18 and a sixth support rod 6-3 connected in sequence. The first and the second rotation pair R110 is also connected to the sixth support rod 6-3 and the second end of the first U-shaped connecting rod 8-2.

[0055] Example 4 A planar 2-DOF mobile parallel robot with all joint velocities at zero is Figure 1 As shown, it includes a base 1 and a moving platform 16; a first kinematic chain and a second kinematic chain are arranged between the base 1 and the moving platform 16; The first kinematic chain includes a first-to-one moving pair P111, an eighth connecting rod assembly 8, a first branch chain and a second branch chain; the eighth connecting rod assembly 8 is connected to the moving platform 16 through the first-to-one moving pair P111, and the first branch chain and the second branch chain are both connected to the eighth connecting rod assembly 8 and the base 1; The second kinematic chain includes a second one-to-one moving pair P211, a fifteenth connecting rod assembly 15, a third branch chain and a fourth branch chain; the fifteenth connecting rod assembly 15 is connected to the moving platform 16 through the second one-to-one moving pair P211, and the third branch chain and the fourth branch chain are both connected to the fifteenth connecting rod assembly 15 and the base 1. The moving platform 16 is a broken line connecting rod, and the first end of the moving platform 16 is connected to the eighth connecting rod assembly 8 through the first one-to-one moving pair P111, and the second end of the moving platform 16 is connected to the fifteenth connecting rod assembly 15 through the second one-to-one moving pair P211.

[0056] The eighth connecting rod assembly 8 includes a first L-shaped connecting rod 8-1 and a first U-shaped connecting rod 8-2. The first end of the first L-shaped connecting rod 8-1 is connected to the first end of the moving platform 16 through a first one-to-one moving pair P111, and the second end of the first L-shaped connecting rod 8-1 is connected to the rod body of the first U-shaped connecting rod 8-2; the first end of the first U-shaped connecting rod 8-2 is connected to the first branch chain, and the second end of the first U-shaped connecting rod 8-2 is connected to the second branch chain; The fifteenth connecting rod assembly 15 includes a second L-shaped connecting rod 15-1 and a second U-shaped connecting rod 15-2. The first end of the second L-shaped connecting rod 15-1 is connected to the second end of the moving platform 16 through a second one-to-one movable pair P211, and the second end of the second L-shaped connecting rod 15-1 is connected to the rod body of the second U-shaped connecting rod 15-2; the first end of the second U-shaped connecting rod 15-2 is connected to the third branch chain, and the second end of the second U-shaped connecting rod 15-2 is connected to the fourth branch chain.

[0057] The first branch chain includes a third link assembly 3, a second link 2 and a fourth link 4; the second link 2 and the fourth link 4 are both connected to the third link assembly 3; It also includes an eleventh rotation pair R11, a fourteenth rotation pair R14 and a seventeenth connecting rod 17, the seventeenth connecting rod 17 is a T-shaped connecting rod, the seventeenth connecting rod 17 includes a first cross bar 17-1 and a first vertical rod 17-2, a first end of the first vertical rod 17-2 is connected to the rod body of the first cross bar 17-1, a second end of the first vertical rod 17-2 is connected to the base 1, a first end of the first cross bar 17-1 is connected to the second connecting rod 2 through the eleventh rotation pair R11, and a second end of the first cross bar 17-1 is connected to the fourth connecting rod 4 through the fourteenth rotation pair R14; The third connecting rod assembly 3 includes the fifteenth rotating pair R15, the first support rod 3-1, the twelfth rotating pair R12, the second support rod 3-2, the thirteenth rotating pair R13 and the third support rod 3-3 connected in sequence. The fifteenth rotating pair R15 is also connected to the third support rod 3-3 and the first end of the first U-shaped connecting rod 8-2.

[0058] The second branch chain includes a sixth link assembly 6, a fifth link 5 and a seventh link 7; the fifth link 5 and the seventh link 7 are both connected to the sixth link assembly 6; It also includes a sixteenth rotation pair R16, a nineteenth rotation pair R19 and an eighteenth connecting rod 18, the eighteenth connecting rod 18 is a T-shaped connecting rod, the eighteenth connecting rod 18 includes a second cross bar 18-1 and a second vertical rod 18-2, the first end of the second vertical rod 18-2 is connected to the rod body of the second cross bar 18-1, the second end of the second vertical rod 18-2 is connected to the base 1, the first end of the second cross bar 18-1 is connected to the fifth connecting rod 5 through the sixteenth rotation pair R16, and the second end of the second cross bar 18-1 is connected to the seventh connecting rod 7 through the nineteenth rotation pair R19; The sixth connecting rod assembly 6 includes a first and a second rotation pair R110, a fourth support rod 6-1, a seventeenth rotation pair R17, a fifth support rod 6-2, an eighteenth rotation pair R18 and a sixth support rod 6-3 connected in sequence. The first and the second rotation pair R110 is also connected to the sixth support rod 6-3 and the second end of the first U-shaped connecting rod 8-2.

[0059] The third branch chain includes a tenth connecting rod assembly 10, a ninth connecting rod 9 and an eleventh connecting rod 11; the ninth connecting rod 9 and the eleventh connecting rod 11 are both connected to the tenth connecting rod assembly 10; It also includes a twenty-first rotation pair R21, a twenty-fourth rotation pair R24 ​​and a nineteenth connecting rod 19, the nineteenth connecting rod 19 is a T-shaped connecting rod, the nineteenth connecting rod 19 includes a third cross bar 19-1 and a third vertical bar 19-2, the first end of the third vertical bar 19-2 is connected to the rod body of the third cross bar 19-1, the second end of the third vertical bar 19-2 is connected to the base 1, the first end of the third cross bar 19-1 is connected to the ninth connecting rod 9 through the twenty-first rotation pair R21, and the second end of the third cross bar 19-1 is connected to the eleventh connecting rod 11 through the twenty-fourth rotation pair R24; The tenth connecting rod assembly 10 includes the twenty-fifth rotating pair R25, the seventh support rod 10-1, the twenty-second rotating pair R22, the eighth support rod 10-2, the twenty-third rotating pair R23 and the ninth support rod 10-3 connected in sequence. The twenty-fifth rotating pair R25 is also connected to the ninth support rod 10-3 and the first end of the second U-shaped connecting rod 15-2.

[0060] Example 5 A planar 2-DOF mobile parallel robot with all joint velocities at zero is Figure 1As shown, it includes a base 1 and a moving platform 16; a first kinematic chain and a second kinematic chain are arranged between the base 1 and the moving platform 16; The first kinematic chain includes a first-to-one moving pair P111, an eighth connecting rod assembly 8, a first branch chain and a second branch chain; the eighth connecting rod assembly 8 is connected to the moving platform 16 through the first-to-one moving pair P111, and the first branch chain and the second branch chain are both connected to the eighth connecting rod assembly 8 and the base 1; The second kinematic chain includes a second one-to-one moving pair P211, a fifteenth connecting rod assembly 15, a third branch chain and a fourth branch chain; the fifteenth connecting rod assembly 15 is connected to the moving platform 16 through the second one-to-one moving pair P211, and the third branch chain and the fourth branch chain are both connected to the fifteenth connecting rod assembly 15 and the base 1. The moving platform 16 is a broken line connecting rod, and the first end of the moving platform 16 is connected to the eighth connecting rod assembly 8 through the first one-to-one moving pair P111, and the second end of the moving platform 16 is connected to the fifteenth connecting rod assembly 15 through the second one-to-one moving pair P211.

[0061] The eighth connecting rod assembly 8 includes a first L-shaped connecting rod 8-1 and a first U-shaped connecting rod 8-2. The first end of the first L-shaped connecting rod 8-1 is connected to the first end of the moving platform 16 through a first one-to-one moving pair P111, and the second end of the first L-shaped connecting rod 8-1 is connected to the rod body of the first U-shaped connecting rod 8-2; the first end of the first U-shaped connecting rod 8-2 is connected to the first branch chain, and the second end of the first U-shaped connecting rod 8-2 is connected to the second branch chain; The fifteenth connecting rod assembly 15 includes a second L-shaped connecting rod 15-1 and a second U-shaped connecting rod 15-2. The first end of the second L-shaped connecting rod 15-1 is connected to the second end of the moving platform 16 through a second one-to-one movable pair P211, and the second end of the second L-shaped connecting rod 15-1 is connected to the rod body of the second U-shaped connecting rod 15-2; the first end of the second U-shaped connecting rod 15-2 is connected to the third branch chain, and the second end of the second U-shaped connecting rod 15-2 is connected to the fourth branch chain.

[0062] The first branch chain includes a third link assembly 3, a second link 2 and a fourth link 4; the second link 2 and the fourth link 4 are both connected to the third link assembly 3; It also includes an eleventh rotation pair R11, a fourteenth rotation pair R14 and a seventeenth connecting rod 17, the seventeenth connecting rod 17 is a T-shaped connecting rod, the seventeenth connecting rod 17 includes a first cross bar 17-1 and a first vertical rod 17-2, a first end of the first vertical rod 17-2 is connected to the rod body of the first cross bar 17-1, a second end of the first vertical rod 17-2 is connected to the base 1, a first end of the first cross bar 17-1 is connected to the second connecting rod 2 through the eleventh rotation pair R11, and a second end of the first cross bar 17-1 is connected to the fourth connecting rod 4 through the fourteenth rotation pair R14; The third connecting rod assembly 3 includes the fifteenth rotating pair R15, the first support rod 3-1, the twelfth rotating pair R12, the second support rod 3-2, the thirteenth rotating pair R13 and the third support rod 3-3 connected in sequence. The fifteenth rotating pair R15 is also connected to the third support rod 3-3 and the first end of the first U-shaped connecting rod 8-2.

[0063] The second branch chain includes a sixth link assembly 6, a fifth link 5 and a seventh link 7; the fifth link 5 and the seventh link 7 are both connected to the sixth link assembly 6; It also includes a sixteenth rotation pair R16, a nineteenth rotation pair R19 and an eighteenth connecting rod 18, the eighteenth connecting rod 18 is a T-shaped connecting rod, the eighteenth connecting rod 18 includes a second cross bar 18-1 and a second vertical rod 18-2, the first end of the second vertical rod 18-2 is connected to the rod body of the second cross bar 18-1, the second end of the second vertical rod 18-2 is connected to the base 1, the first end of the second cross bar 18-1 is connected to the fifth connecting rod 5 through the sixteenth rotation pair R16, and the second end of the second cross bar 18-1 is connected to the seventh connecting rod 7 through the nineteenth rotation pair R19; The sixth connecting rod assembly 6 includes a first and a second rotation pair R110, a fourth support rod 6-1, a seventeenth rotation pair R17, a fifth support rod 6-2, an eighteenth rotation pair R18 and a sixth support rod 6-3 connected in sequence. The first and the second rotation pair R110 is also connected to the sixth support rod 6-3 and the second end of the first U-shaped connecting rod 8-2.

[0064] The third branch chain includes a tenth connecting rod assembly 10, a ninth connecting rod 9 and an eleventh connecting rod 11; the ninth connecting rod 9 and the eleventh connecting rod 11 are both connected to the tenth connecting rod assembly 10; It also includes a twenty-first rotation pair R21, a twenty-fourth rotation pair R24 ​​and a nineteenth connecting rod 19, the nineteenth connecting rod 19 is a T-shaped connecting rod, the nineteenth connecting rod 19 includes a third cross bar 19-1 and a third vertical bar 19-2, the first end of the third vertical bar 19-2 is connected to the rod body of the third cross bar 19-1, the second end of the third vertical bar 19-2 is connected to the base 1, the first end of the third cross bar 19-1 is connected to the ninth connecting rod 9 through the twenty-first rotation pair R21, and the second end of the third cross bar 19-1 is connected to the eleventh connecting rod 11 through the twenty-fourth rotation pair R24; The tenth connecting rod assembly 10 includes the twenty-fifth rotating pair R25, the seventh support rod 10-1, the twenty-second rotating pair R22, the eighth support rod 10-2, the twenty-third rotating pair R23 and the ninth support rod 10-3 connected in sequence. The twenty-fifth rotating pair R25 is also connected to the ninth support rod 10-3 and the first end of the second U-shaped connecting rod 15-2.

[0065] The fourth branch chain includes a thirteenth connecting rod assembly 13, a twelfth connecting rod 12 and a fourteenth connecting rod 14; the twelfth connecting rod 12 and the fourteenth connecting rod 14 are both connected to the thirteenth connecting rod assembly 13; It also includes a twenty-sixth rotation pair R26, a twenty-ninth rotation pair R29 and a twentieth connecting rod 20, the twentieth connecting rod 20 is a T-shaped connecting rod, the twentieth connecting rod 20 includes a fourth cross bar 20-1 and a fourth vertical rod 20-2, the first end of the fourth vertical rod 20-2 is connected to the rod body of the fourth cross bar 20-1, the second end of the fourth vertical rod 20-2 is connected to the base 1, the first end of the fourth cross bar 20-1 is connected to the twelfth connecting rod 12 through the twenty-sixth rotation pair R26, and the second end of the fourth cross bar 20-1 is connected to the fourteenth connecting rod 14 through the twenty-ninth rotation pair R29; The thirteenth connecting rod assembly 13 includes the second zero rotation pair R210, the tenth support rod 13-1, the twenty-seventh rotation pair R27, the eleventh support rod 13-2, the twenty-eighth rotation pair R28 and the twelfth support rod 13-3 connected in sequence, and the second zero rotation pair R210 is also connected to the twelfth support rod 13-3 and the second end of the second U-shaped connecting rod 15-2.

[0066] Example 6 A planar 2-DOF mobile parallel robot with all joint velocities at zero is Figure 1 As shown, it includes a base 1 and a moving platform 16; a first kinematic chain and a second kinematic chain are arranged between the base 1 and the moving platform 16; The first kinematic chain includes a first-to-one moving pair P111, an eighth connecting rod assembly 8, a first branch chain and a second branch chain; the eighth connecting rod assembly 8 is connected to the moving platform 16 through the first-to-one moving pair P111, and the first branch chain and the second branch chain are both connected to the eighth connecting rod assembly 8 and the base 1; The second kinematic chain includes a second one-to-one moving pair P211, a fifteenth connecting rod assembly 15, a third branch chain and a fourth branch chain; the fifteenth connecting rod assembly 15 is connected to the moving platform 16 through the second one-to-one moving pair P211, and the third branch chain and the fourth branch chain are both connected to the fifteenth connecting rod assembly 15 and the base 1. The moving platform 16 is a broken line connecting rod, and the first end of the moving platform 16 is connected to the eighth connecting rod assembly 8 through the first one-to-one moving pair P111, and the second end of the moving platform 16 is connected to the fifteenth connecting rod assembly 15 through the second one-to-one moving pair P211.

[0067] The eighth connecting rod assembly 8 includes a first L-shaped connecting rod 8-1 and a first U-shaped connecting rod 8-2. The first end of the first L-shaped connecting rod 8-1 is connected to the first end of the moving platform 16 through a first one-to-one moving pair P111, and the second end of the first L-shaped connecting rod 8-1 is connected to the rod body of the first U-shaped connecting rod 8-2; the first end of the first U-shaped connecting rod 8-2 is connected to the first branch chain, and the second end of the first U-shaped connecting rod 8-2 is connected to the second branch chain; The fifteenth connecting rod assembly 15 includes a second L-shaped connecting rod 15-1 and a second U-shaped connecting rod 15-2. The first end of the second L-shaped connecting rod 15-1 is connected to the second end of the moving platform 16 through a second one-to-one movable pair P211, and the second end of the second L-shaped connecting rod 15-1 is connected to the rod body of the second U-shaped connecting rod 15-2; the first end of the second U-shaped connecting rod 15-2 is connected to the third branch chain, and the second end of the second U-shaped connecting rod 15-2 is connected to the fourth branch chain.

[0068] The first branch chain includes a third link assembly 3, a second link 2 and a fourth link 4; the second link 2 and the fourth link 4 are both connected to the third link assembly 3; It also includes an eleventh rotation pair R11, a fourteenth rotation pair R14 and a seventeenth connecting rod 17, the seventeenth connecting rod 17 is a T-shaped connecting rod, the seventeenth connecting rod 17 includes a first cross bar 17-1 and a first vertical rod 17-2, a first end of the first vertical rod 17-2 is connected to the rod body of the first cross bar 17-1, a second end of the first vertical rod 17-2 is connected to the base 1, a first end of the first cross bar 17-1 is connected to the second connecting rod 2 through the eleventh rotation pair R11, and a second end of the first cross bar 17-1 is connected to the fourth connecting rod 4 through the fourteenth rotation pair R14; The third connecting rod assembly 3 includes the fifteenth rotating pair R15, the first support rod 3-1, the twelfth rotating pair R12, the second support rod 3-2, the thirteenth rotating pair R13 and the third support rod 3-3 connected in sequence. The fifteenth rotating pair R15 is also connected to the third support rod 3-3 and the first end of the first U-shaped connecting rod 8-2.

[0069] The second branch chain includes a sixth link assembly 6, a fifth link 5 and a seventh link 7; the fifth link 5 and the seventh link 7 are both connected to the sixth link assembly 6; It also includes a sixteenth rotation pair R16, a nineteenth rotation pair R19 and an eighteenth connecting rod 18, the eighteenth connecting rod 18 is a T-shaped connecting rod, the eighteenth connecting rod 18 includes a second cross bar 18-1 and a second vertical rod 18-2, the first end of the second vertical rod 18-2 is connected to the rod body of the second cross bar 18-1, the second end of the second vertical rod 18-2 is connected to the base 1, the first end of the second cross bar 18-1 is connected to the fifth connecting rod 5 through the sixteenth rotation pair R16, and the second end of the second cross bar 18-1 is connected to the seventh connecting rod 7 through the nineteenth rotation pair R19; The sixth connecting rod assembly 6 includes a first and a second rotation pair R110, a fourth support rod 6-1, a seventeenth rotation pair R17, a fifth support rod 6-2, an eighteenth rotation pair R18 and a sixth support rod 6-3 connected in sequence. The first and the second rotation pair R110 is also connected to the sixth support rod 6-3 and the second end of the first U-shaped connecting rod 8-2.

[0070] The third branch chain includes a tenth connecting rod assembly 10, a ninth connecting rod 9 and an eleventh connecting rod 11; the ninth connecting rod 9 and the eleventh connecting rod 11 are both connected to the tenth connecting rod assembly 10; It also includes a twenty-first rotation pair R21, a twenty-fourth rotation pair R24 ​​and a nineteenth connecting rod 19, the nineteenth connecting rod 19 is a T-shaped connecting rod, the nineteenth connecting rod 19 includes a third cross bar 19-1 and a third vertical bar 19-2, the first end of the third vertical bar 19-2 is connected to the rod body of the third cross bar 19-1, the second end of the third vertical bar 19-2 is connected to the base 1, the first end of the third cross bar 19-1 is connected to the ninth connecting rod 9 through the twenty-first rotation pair R21, and the second end of the third cross bar 19-1 is connected to the eleventh connecting rod 11 through the twenty-fourth rotation pair R24; The tenth connecting rod assembly 10 includes the twenty-fifth rotating pair R25, the seventh support rod 10-1, the twenty-second rotating pair R22, the eighth support rod 10-2, the twenty-third rotating pair R23 and the ninth support rod 10-3 connected in sequence. The twenty-fifth rotating pair R25 is also connected to the ninth support rod 10-3 and the first end of the second U-shaped connecting rod 15-2.

[0071] The fourth branch chain includes a thirteenth connecting rod assembly 13, a twelfth connecting rod 12 and a fourteenth connecting rod 14; the twelfth connecting rod 12 and the fourteenth connecting rod 14 are both connected to the thirteenth connecting rod assembly 13; It also includes a twenty-sixth rotation pair R26, a twenty-ninth rotation pair R29 and a twentieth connecting rod 20, the twentieth connecting rod 20 is a T-shaped connecting rod, the twentieth connecting rod 20 includes a fourth cross bar 20-1 and a fourth vertical rod 20-2, the first end of the fourth vertical rod 20-2 is connected to the rod body of the fourth cross bar 20-1, the second end of the fourth vertical rod 20-2 is connected to the base 1, the first end of the fourth cross bar 20-1 is connected to the twelfth connecting rod 12 through the twenty-sixth rotation pair R26, and the second end of the fourth cross bar 20-1 is connected to the fourteenth connecting rod 14 through the twenty-ninth rotation pair R29; The thirteenth connecting rod assembly 13 includes the second zero rotation pair R210, the tenth support rod 13-1, the twenty-seventh rotation pair R27, the eleventh support rod 13-2, the twenty-eighth rotation pair R28 and the twelfth support rod 13-3 connected in sequence, and the second zero rotation pair R210 is also connected to the twelfth support rod 13-3 and the second end of the second U-shaped connecting rod 15-2.

[0072] The eleventh rotation pair R11 is connected to a rotation driving motor.

Claims

1. A planar 2-DOF mobile parallel robot with all joint velocities being zero, characterized in that: It comprises a base (1) and a moving platform (16); a first kinematic chain and a second kinematic chain are arranged between the base (1) and the moving platform (16); The first kinematic chain comprises a first-to-one moving pair P111, an eighth connecting rod assembly (8), a first branch chain and a second branch chain; the eighth connecting rod assembly (8) is connected to the moving platform (16) via the first-to-one moving pair P111, and the first branch chain and the second branch chain are both connected to the eighth connecting rod assembly (8) and the base (1); The second kinematic chain comprises a second one-to-one movable pair P211, a fifteenth connecting rod assembly (15), a third branch chain and a fourth branch chain; the fifteenth connecting rod assembly (15) is connected to the moving platform (16) via the second one-to-one movable pair P211, and the third branch chain and the fourth branch chain are both connected to the fifteenth connecting rod assembly (15) and the base (1).

2. The planar 2-DOF mobile parallel robot with all joint velocities being zero according to claim 1, characterized in that: The movable platform (16) is a broken line connecting rod, the first end of the movable platform (16) is connected to the eighth connecting rod assembly (8) via a first one-to-one moving pair P111, and the second end of the movable platform (16) is connected to the fifteenth connecting rod assembly (15) via a second one-to-one moving pair P211.

3. The planar 2-DOF mobile parallel robot with all joint velocities being zero according to claim 2, characterized in that: The eighth connecting rod assembly (8) comprises a first L-shaped connecting rod (8-1) and a first U-shaped connecting rod (8-2); the first end of the first L-shaped connecting rod (8-1) is connected to the first end of the moving platform (16) via a first one-to-one moving pair P111, and the second end of the first L-shaped connecting rod (8-1) is connected to the rod body of the first U-shaped connecting rod (8-2); the first end of the first U-shaped connecting rod (8-2) is connected to the first branch chain, and the second end of the first U-shaped connecting rod (8-2) is connected to the second branch chain; The fifteenth connecting rod assembly (15) comprises a second L-shaped connecting rod (15-1) and a second U-shaped connecting rod (15-2); the first end of the second L-shaped connecting rod (15-1) is connected to the second end of the moving platform (16) via a second one-to-one moving pair P211, and the second end of the second L-shaped connecting rod (15-1) is connected to the rod body of the second U-shaped connecting rod (15-2); the first end of the second U-shaped connecting rod (15-2) is connected to the third branch chain, and the second end of the second U-shaped connecting rod (15-2) is connected to the fourth branch chain.

4. The planar 2-DOF mobile parallel robot with all joint velocities being zero according to claim 3, characterized in that: The first branch chain comprises a third connecting rod assembly (3), a second connecting rod (2) and a fourth connecting rod (4); the second connecting rod (2) and the fourth connecting rod (4) are both connected to the third connecting rod assembly (3); It also includes an eleventh rotation pair R11, a fourteenth rotation pair R14 and a seventeenth connecting rod (17), the seventeenth connecting rod (17) is a T-shaped connecting rod, the seventeenth connecting rod (17) includes a first cross rod (17-1) and a first vertical rod (17-2), the first end of the first vertical rod (17-2) is connected to the rod body of the first cross rod (17-1), the second end of the first vertical rod (17-2) is connected to the base (1), the first end of the first cross rod (17-1) is connected to the second connecting rod (2) through the eleventh rotation pair R11, and the second end of the first cross rod (17-1) is connected to the fourth connecting rod (4) through the fourteenth rotation pair R14; The third connecting rod assembly (3) comprises a fifteenth rotational pair R15, a first support rod (3-1), a twelfth rotational pair R12, a second support rod (3-2), a thirteenth rotational pair R13 and a third support rod (3-3) which are connected in sequence, and the fifteenth rotational pair R15 is also connected to the third support rod (3-3) and the first end of the first U-shaped connecting rod (8-2) at the same time.

5. The planar 2-DOF mobile parallel robot with all joint velocities being zero according to claim 3, characterized in that: The second branch chain comprises a sixth connecting rod assembly (6), a fifth connecting rod (5) and a seventh connecting rod (7); the fifth connecting rod (5) and the seventh connecting rod (7) are both connected to the sixth connecting rod assembly (6); It also includes a sixteenth rotation pair R16, a nineteenth rotation pair R19 and an eighteenth connecting rod (18), the eighteenth connecting rod (18) is a T-shaped connecting rod, the eighteenth connecting rod (18) includes a second cross rod (18-1) and a second vertical rod (18-2), the first end of the second vertical rod (18-2) is connected to the rod body of the second cross rod (18-1), the second end of the second vertical rod (18-2) is connected to the base (1), the first end of the second cross rod (18-1) is connected to the fifth connecting rod (5) through the sixteenth rotation pair R16, and the second end of the second cross rod (18-1) is connected to the seventh connecting rod (7) through the nineteenth rotation pair R19; The sixth connecting rod assembly (6) includes a first 10th rotation pair R110, a fourth support rod (6-1), a seventeenth rotation pair R17, a fifth support rod (6-2), an eighteenth rotation pair R18 and a sixth support rod (6-3) which are connected in sequence, and the first 10th rotation pair R110 is also connected to the sixth support rod (6-3) and the second end of the first U-shaped connecting rod (8-2) at the same time.

6. The planar 2-DOF mobile parallel robot with all joint velocities being zero according to claim 3, characterized in that: The third branch chain comprises a tenth connecting rod assembly (10), a ninth connecting rod (9) and an eleventh connecting rod (11); the ninth connecting rod (9) and the eleventh connecting rod (11) are both connected to the tenth connecting rod assembly (10); It also includes a twenty-first rotation pair R21, a twenty-fourth rotation pair R24 ​​and a nineteenth connecting rod (19), the nineteenth connecting rod (19) being a T-shaped connecting rod, the nineteenth connecting rod (19) including a third cross rod (19-1) and a third vertical rod (19-2), the first end of the third vertical rod (19-2) being connected to the rod body of the third cross rod (19-1), the second end of the third vertical rod (19-2) being connected to the base (1), the first end of the third cross rod (19-1) being connected to the ninth connecting rod (9) via the twenty-first rotation pair R21, and the second end of the third cross rod (19-1) being connected to the eleventh connecting rod (11) via the twenty-fourth rotation pair R24; The tenth connecting rod assembly (10) comprises a twenty-fifth rotating pair R25, a seventh support rod (10-1), a twenty-second rotating pair R22, an eighth support rod (10-2), a twenty-third rotating pair R23 and a ninth support rod (10-3) which are connected in sequence, and the twenty-fifth rotating pair R25 is also connected to the ninth support rod (10-3) and the first end of the second U-shaped connecting rod (15-2) at the same time.

7. The planar 2-DOF mobile parallel robot with all joint velocities being zero according to claim 3, characterized in that: The fourth branch chain comprises a thirteenth connecting rod assembly (13), a twelfth connecting rod (12) and a fourteenth connecting rod (14); the twelfth connecting rod (12) and the fourteenth connecting rod (14) are both connected to the thirteenth connecting rod assembly (13); It also includes a twenty-sixth rotation pair R26, a twenty-ninth rotation pair R29 and a twentieth connecting rod (20), the twentieth connecting rod (20) being a T-shaped connecting rod, the twentieth connecting rod (20) including a fourth crossbar (20-1) and a fourth vertical rod (20-2), the first end of the fourth vertical rod (20-2) being connected to the rod body of the fourth crossbar (20-1), the second end of the fourth vertical rod (20-2) being connected to the base (1), the first end of the fourth crossbar (20-1) being connected to the twelfth connecting rod (12) via the twenty-sixth rotation pair R26, and the second end of the fourth crossbar (20-1) being connected to the fourteenth connecting rod (14) via the twenty-ninth rotation pair R29; The thirteenth connecting rod assembly (13) includes a second zero rotation pair R210, a tenth support rod (13-1), a twenty-seventh rotation pair R27, an eleventh support rod (13-2), a twenty-eighth rotation pair R28 and a twelfth support rod (13-3) connected in sequence, and the second zero rotation pair R210 is also connected to the twelfth support rod (13-3) and the second end of the second U-shaped connecting rod (15-2) at the same time.

8. The planar 2-DOF mobile parallel robot with all joint velocities being zero according to claim 4, characterized in that: The eleventh rotation pair R11 is connected to a rotation driving motor.

9. The planar 2-DOF mobile parallel robot with all joint velocities being zero according to claim 6, characterized in that: The twenty-first rotation pair R21 is connected to a driving rotation motor.

10. The driving method of a planar 2-DOF mobile parallel robot with all joint velocities being zero according to any one of claims 1 to 9, characterized in that: Specifically, when the robot is in a mechanical configuration where all joint velocities are zero, when the rotation drive motor connected to the eleventh rotation pair R11 and the rotation drive motor connected to the twenty-first rotation pair R21 are driven, so that the movement direction of the first one-to-one movement pair P111 intersects with the movement direction of the second one-to-one movement pair P211 at one point, and the moving platform (16) moves along the positive direction of the X-axis and the negative direction of the Y-axis, the robot is in a mechanical configuration where not all joint velocities are zero, and the joint velocities of the parallel robot are not all zero.

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