Planar 2-DOF mobile parallel robot with all joint velocities being zero and method thereof

Abstract

The present invention discloses a planar two-degree-of-freedom mobile parallel robot with a zero-speed configuration for all joints. The robot comprises a base and a moving platform; a first kinematic chain and a second kinematic chain are disposed between the base and the moving platform; the first kinematic chain comprises a first-to-one mobile pair P111, an eighth link assembly, a first branch chain, and a second branch chain; the eighth link assembly is connected to the moving platform via the first-to-one mobile pair P111, and the first branch chain and the second branch chain are both connected to the eighth link assembly and the base; the second kinematic chain comprises a second-to-one mobile pair P211, a fifteenth link assembly, a third branch chain, and a fourth branch chain; the fifteenth link assembly is connected to the moving platform via the second-to-one mobile pair P211, and the third branch chain and the fourth branch chain are both connected to the fifteenth link assembly and the base. The robot can perform complex tasks. Also disclosed is a driving method for the planar two-degree-of-freedom mobile parallel robot with a zero-speed configuration for all joints.

Description

Technical Field

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

[0002] When the robot's end effector reaches its target position and all joint velocities are zero, this characteristic is independent of the robot's drive mode and depends solely on the robot's mechanical configuration. At this point, the end effector exhibits the characteristics of a four-bar linkage dead-point configuration. In this configuration, when the end effector contacts the manipulated object and experiences minimal force interaction, it maintains its existing configuration and position without controlled drive. This characteristic helps improve the robot's positional accuracy and stiffness when moving to a specific location.

[0003] Currently, existing multi-link mechanisms achieve zero joint velocity when moving to a specific configuration. The end effector also achieves zero velocity when moving to this configuration. Upon reaching this position, the mechanism exhibits high positional accuracy and stiffness, and is capable of maintaining its position and posture. However, these robotic mechanisms currently have only one degree of freedom. While multi-DOF mechanisms with multiple degrees of freedom and the ability to achieve zero joint velocity when moving to a specific configuration, and the dead-point configuration characteristic of a four-bar linkage, are extremely rare, limiting their feasibility in carrying 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 zero joint velocities. 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 two-degree-of-freedom 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;

[0007] The first kinematic chain includes a first-to-one moving pair P111, an eighth link assembly, a first branch chain, and a second branch chain; the eighth link assembly is connected to the moving platform via the first-to-one moving pair P111, and the first branch chain and the second branch chain are both connected to the eighth link assembly and the base;

[0008] The second kinematic chain includes a second-to-one moving 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-to-one moving pair P211, and the third branch chain and the fourth branch chain are both connected to the fifteenth connecting rod assembly and the base.

[0009] The present invention is also characterized in that:

[0010] 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.

[0011] 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 via a first one-to-one moving joint 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;

[0012] 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 moving 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.

[0013] 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;

[0014] The 17th connecting rod is a T-shaped connecting rod, comprising a first horizontal rod and a first vertical rod, wherein a first end of the first vertical rod is connected to a rod body of the first horizontal rod, a second end of the first vertical rod is connected to a base, a first end of the first horizontal rod is connected to the second connecting rod via the 11th rotating joint R11, and a second end of the first horizontal rod is connected to the fourth connecting rod via the 14th rotating joint R14;

[0015] 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.

[0016] The second branch chain includes a sixth link assembly, a fifth link, and a seventh link; the fifth link and the seventh link are both connected to the sixth link assembly;

[0017] The vehicle further comprises a sixteenth rotational pair R16, a nineteenth rotational pair R19, and an eighteenth connecting rod, wherein the eighteenth connecting rod is a T-shaped connecting rod, and comprises a second transverse rod and a second vertical rod, wherein a first end of the second vertical rod is connected to a rod body of the second transverse rod, a second end of the second vertical rod is connected to a base, a first end of the second transverse rod is connected to the fifth connecting rod via the sixteenth rotational pair R16, and a second end of the second transverse rod is connected to the seventh connecting rod via the nineteenth rotational pair R19;

[0018] The sixth connecting rod assembly includes the 110th rotation pair R110, the fourth support rod, the 17th rotation pair R17, the fifth support rod, the 18th rotation pair R18 and the sixth support rod connected in sequence. The 110th rotation pair R110 is also connected to the sixth support rod and the second end of the first U-shaped connecting rod.

[0019] 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;

[0020] The system further includes a twenty-first rotational pair R21, a twenty-fourth rotational pair R24, and a nineteenth connecting rod. The nineteenth connecting rod is a T-shaped connecting rod. The nineteenth connecting rod includes a third transverse rod and a third vertical rod. The first end of the third vertical rod is connected to the rod body of the third transverse rod, and the second end of the third vertical rod is connected to the base. The first end of the third transverse rod is connected to the ninth connecting rod via the twenty-first rotational pair R21, and the second end of the third transverse rod is connected to the eleventh connecting rod via the twenty-fourth rotational pair R24.

[0021] 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, and 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.

[0022] 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;

[0023] The vehicle further includes a twenty-sixth rotational pair R26, a twenty-ninth rotational pair R29, and a twentieth connecting rod, the twentieth connecting rod being a T-shaped connecting rod, the twentieth connecting rod including a fourth transverse rod and a fourth vertical rod, a first end of the fourth vertical rod being connected to the rod body of the fourth transverse rod, a second end of the fourth vertical rod being connected to the base, a first end of the fourth transverse rod being connected to the twelfth connecting rod via the twenty-sixth rotational pair R26, and a second end of the fourth transverse rod being connected to the fourteenth connecting rod via the twenty-ninth rotational pair R29;

[0024] The thirteenth connecting rod assembly includes the 210th rotation pair R210, the tenth support rod, the twenty-seventh rotation pair R27, the eleventh support rod, the twenty-eighth 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.

[0025] The eleventh rotating pair R11 is connected to a rotation driving motor.

[0026] The twenty-first rotation pair R21 is connected to a driving rotation motor.

[0027] The second technical solution adopted by the present invention is to adopt the above-mentioned driving method of the planar 2-DOF mobile parallel robot with a configuration in which all joint speeds are zero, 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 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 in which not all joint speeds are zero, and the joint speeds of the parallel robot are not all zero.

[0028] The beneficial effects of the present invention are:

[0029] (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 one position in the workspace of the parallel robot end effector, and all joint velocities of the robot are zero. The motion characteristics under this working configuration are independent of the drive control.

[0030] (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 object being operated, a small force is 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 conventional configurations.

[0031] (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 by 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

[0032] Figure 1A configuration diagram of a planar 2-DOF mobile parallel robot with all joint velocities being zero according to the present invention;

[0033] Figure 2 This is the configuration diagram of the planar 2-DOF mobile parallel robot in which the velocities of not all joints are zero.

[0034] 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;

[0035] 3-1. First pole, 3-2. Second pole, 3-3. Third pole;

[0036] 6-1. The fourth pole, 6-2. The fifth pole, 6-3. The sixth pole;

[0037] 8-1. First L-shaped connecting rod, 8-2. First U-shaped connecting rod;

[0038] 10-1. The seventh pole, 10-2. The eighth pole, 10-3. The ninth pole;

[0039] 13-1. The tenth pole, 13-2. The eleventh pole, 13-3. The twelfth pole;

[0040] 15-1. Second L-shaped connecting rod, 15-2. Second U-shaped connecting rod;

[0041] 17-1. First horizontal bar, 17-2. First vertical bar;

[0042] 18-1. Second horizontal bar, 18-2. Second vertical bar;

[0043] 19-1. The third horizontal bar, 19-2. The third vertical bar;

[0044] 20-1. The fourth horizontal bar, 20-2. The fourth vertical bar. DETAILED DESCRIPTION

[0045] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] 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 movable platform 16; a first kinematic chain and a second kinematic chain are provided between the base 1 and the movable platform 16;

[0047] 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 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;

[0048] The second kinematic chain includes a second first-to-last joint P211, a fifteenth linkage assembly 15, a third branch, and a fourth branch. The fifteenth linkage assembly 15 is connected to the movable platform 16 via the second first-to-last joint P211. The third and fourth branches are both connected to the fifteenth linkage assembly 15 and the base 1. The movable platform 16 is a broken-line linkage. The first end of the movable platform 16 is connected to the eighth linkage assembly 8 via the first first-to-last joint P111, and the second end of the movable platform 16 is connected to the fifteenth linkage assembly 15 via the second first-to-last joint P211.

[0049] 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 joint 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.

[0050] 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 the 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.

[0051] 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;

[0052] The system further includes an eleventh rotational pair R11, a fourteenth rotational 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 transverse 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 transverse rod 17-1, and the second end of the first vertical rod 17-2 is connected to the base 1. The first end of the first transverse rod 17-1 is connected to the second connecting rod 2 via the eleventh rotational pair R11, and the second end of the first transverse rod 17-1 is connected to the fourth connecting rod 4 via the fourteenth rotational pair R14.

[0053] 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;

[0055] The system further 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 transverse 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 transverse rod 18-1, and the second end of the second vertical rod 18-2 is connected to the base 1. The first end of the second transverse rod 18-1 is connected to the fifth connecting rod 5 via the sixteenth rotation pair R16, and the second end of the second transverse rod 18-1 is connected to the seventh connecting rod 7 via the nineteenth rotation pair R19.

[0056] The sixth connecting rod assembly 6 includes the first and second rotation pairs R110, the fourth support rod 6-1, the seventeenth rotation pair R17, the fifth support rod 6-2, the eighteenth rotation pair R18 and the sixth support rod 6-3 connected in sequence. The first and second rotation pairs R110 are also connected to the sixth support rod 6-3 and the second end of the first U-shaped connecting rod 8-2.

[0057] 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;

[0058] The system further includes a twenty-first rotational pair R21, a twenty-fourth rotational 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 transverse rod 19-1 and a third vertical rod 19-2. The first end of the third vertical rod 19-2 is connected to the rod body of the third transverse rod 19-1, and the second end of the third vertical rod 19-2 is connected to the base 1. The first end of the third transverse rod 19-1 is connected to the ninth connecting rod 9 via the twenty-first rotational pair R21, and the second end of the third transverse rod 19-1 is connected to the eleventh connecting rod 11 via the twenty-fourth rotational pair R24.

[0059] 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, which are 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] 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;

[0061] The 26th rotation pair R26, the 29th rotation pair R29 and the 20th connecting rod 20 are also included. The 20th connecting rod 20 is a T-shaped connecting rod. The 20th connecting rod 20 includes a fourth horizontal rod 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 horizontal rod 20-1, and the second end of the fourth vertical rod 20-2 is connected to the base 1. The first end of the fourth horizontal rod 20-1 is connected to the twelfth connecting rod 12 through the 26th rotation pair R26, and the second end of the fourth horizontal rod 20-1 is connected to the fourteenth connecting rod 14 through the 29th rotation pair R29.

[0062] The thirteenth connecting rod assembly 13 includes the 210th 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. The 210th 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.

[0063] The eleventh rotating pair R11 is connected to a rotation driving motor.

[0064] The twenty-first rotation pair R21 is connected to a driving rotation motor.

[0065] The present invention also provides a driving method for the above-mentioned planar 2-DOF mobile parallel robot with a configuration in which all joint velocities are zero, specifically: when the robot is in a mechanism configuration in which 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 moving direction of the first one-to-one moving pair P111 and the moving direction of the second one-to-one moving pair P211 intersect 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 velocities are zero, and the joint velocities of the parallel robot are not all zero.

[0066] 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 via the eleventh rotational pair R11. The second connecting rod 2 is rotationally connected to the first support rod 3-1 via the twelfth rotational pair R12. The third support rod 3-3 is rotationally connected to the fourth connecting rod 4 via the thirteenth rotational pair R13. The fourth connecting rod 4 is rotationally connected to the first crossbar 17-1 via the fourteenth rotational 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 via the fifteenth rotational pair R15. 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 via the tenth rotational pair R110. The fifth link 5 is rotationally connected to the second crossbar 18-1 via the sixteenth rotational pair R16, the fifth link 5 is rotationally connected to the fourth support rod 6-1 via the seventeenth rotational pair R17, the sixth support rod 6-3 is rotationally connected to the seventh link 7 via the eighteenth rotational pair R18, and the seventh link 7 is rotationally connected to the second crossbar 18-1 via the nineteenth rotational pair R19. The first U-shaped link 8-2 is movably connected to the movable platform 16 via the first one-to-one translation pair P111. Figure 1 As shown, the ninth connecting rod 9 is rotationally connected to the third crossbar 19-1 via a twenty-first rotational pair R21, the tenth connecting rod 10 is rotationally connected to the ninth connecting rod 9 via a twenty-second rotational pair R22, the ninth supporting rod 10-3 is rotationally connected to the eleventh connecting rod 11 via a twenty-third rotational pair R23, and the eleventh connecting rod 11 is rotationally connected to the third crossbar 19-1 via a twenty-fourth rotational 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 via a twenty-fifth rotational 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 via a twenty-first rotational pair R210, the tenth supporting rod 13-1 is rotationally connected to the twelfth connecting rod 12 via a twenty-seventh rotational pair R27, and the twelfth connecting rod 12 is rotationally connected to the fourth crossbar 20-1 via a twenty-sixth rotational pair R26. The twelfth support rod 13-3 is rotatably connected to the fourteenth connecting rod 14 via the twenty-eighth rotational pair R28, and the fourteenth connecting rod 14 is rotatably connected to the fourth crossbar 20-1 via the twenty-ninth rotational pair R29. The second L-shaped connecting rod 15-1 is rotatably connected to the movable platform 16 via the 211th movable pair P211. Figure 1 In the shown mechanism configuration, the intersection 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 of the plane where the axes of the 116th rotational pair R16 and the 17th rotational pair R17 are located, and the plane where the axes of the 19th rotational pair R19 and the 18th rotational pair R18 are located, is collinear with the axis of the 110th rotational pair R110. Figure 1In the shown mechanism configuration, the intersection 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 of the plane where the axes of the twenty-sixth rotational pair R26 and the twenty-seventh rotational pair R27 are located, and the plane where the axes of the twenty-ninth rotational pair R29 and the twenty-eighth rotational pair R28 are located, is collinear with the axis of the twenty-one-th rotational pair R210. Figure 1 In the shown configuration of the mechanism, the eleventh rotational pair R11 and the twelfth rotational pair R12 are symmetrical with the fourteenth rotational pair R14 and the thirteenth rotational pair R13 about an axis parallel to the Y axis.

[0067] Figure 1 In the shown mechanism configuration, the sixteenth rotational pair R16 and the seventeenth rotational pair R17 are symmetrical with the nineteenth rotational pair R19 and the eighteenth rotational pair R18 about an axis parallel to the Y axis.

[0068] Figure 1 In the shown mechanism configuration, the twenty-first rotational pair R21 and the twenty-second rotational pair R22 are symmetrical with the twenty-fourth rotational pair R24 ​​and the twenty-third rotational pair R23 about an axis parallel to the X-axis.

[0069] Figure 1 In the shown mechanism configuration, the twenty-sixth rotational pair R26 and the twenty-seventh rotational pair R27 are symmetrical with the twenty-ninth rotational pair R29 and the twenty-eighth rotational pair R28 about an axis parallel to the X-axis.

[0070] Figure 1 In the shown configuration of the mechanism, the axis of the eleventh rotational pair R11, the axis of the fourteenth rotational pair R14, the axis of the sixteenth rotational pair R16 and the axis of the nineteenth rotational pair R19 are all coplanar, and the plane in which they lie is parallel to the XOZ plane.

[0071] Figure 1 In the shown configuration of the mechanism, the axis of the twelfth rotational pair R12, the axis of the thirteenth rotational pair R13, the axis of the seventeenth rotational pair R17 and the axis of the eighteenth rotational pair R18 are all coplanar, and the plane in which they lie is parallel to the XOZ plane.

[0072] Figure 1 In the shown configuration of the mechanism, the axis of the fifteenth rotation pair R15 is coplanar with the axis of the 110th rotation pair R110, and the plane in which they are located is parallel to the XOZ plane.

[0073] 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 plane in which they lie is parallel to the YOZ plane.

[0074] Figure 1 In the shown mechanism configuration, the axis of the twenty-second rotational pair R22, the axis of the twenty-third rotational pair R23, the axis of the twenty-seventh rotational pair R27 and the axis of the twenty-eighth rotational pair R28 are all coplanar, and the plane in which they lie is parallel to the YOZ plane.

[0075] Figure 1 In the shown configuration of the mechanism, the axis of the twenty-fifth rotation pair R25 is coplanar with the axis of the twenty-first rotation pair R210, and the plane in which they are located is parallel to the YOZ plane.

[0076] Figure 1 In the shown configuration of the mechanism, 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.

[0077] Figure 1 In the shown mechanism configuration, all joint velocities are zero and the moving speed of the moving platform 16 is zero.

[0078] Figure 1 In 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 110th 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 210th rotation pair R210 on the XOY plane is point A41. Figure 1 In the shown configuration of the mechanism, 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.

[0079] 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.

[0080] When the eleventh rotary pair R11 is connected to the rotary drive motor and the twenty-first rotary pair R21 is connected to the rotary drive motor, the mechanism can be moved to Figure 2 The configuration shown is, Figure 2 In the shown configuration of the mechanism, 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 B12, and the moving platform 16 moves along the positive direction of the X axis and the negative direction of the Y axis.

[0081] Figure 2 In the shown mechanism configuration, the axis of the fifteenth rotation pair R15 does not pass through the point A11, the axis of the 110th 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 210th rotation pair R210 does not pass through the point A41.

[0082] Figure 2 In the shown 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 shown mechanisms are not all zero.

[0083] Example 1

[0084] A planar 2-DOF mobile parallel robot with a configuration where all joint velocities are zero is shown in the figure. Figure 1 As shown, it includes a base 1 and a movable platform 16; a first kinematic chain and a second kinematic chain are provided between the base 1 and the movable platform 16;

[0085] 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 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;

[0086] The second kinematic chain includes a second first-to-last joint P211, a fifteenth linkage assembly 15, a third branch, and a fourth branch. The fifteenth linkage assembly 15 is connected to the movable platform 16 via the second first-to-last joint P211. The third and fourth branches are both connected to the fifteenth linkage assembly 15 and the base 1. The movable platform 16 is a broken-line linkage. The first end of the movable platform 16 is connected to the eighth linkage assembly 8 via the first first-to-last joint P111, and the second end of the movable platform 16 is connected to the fifteenth linkage assembly 15 via the second first-to-last joint P211.

[0087] Example 2

[0088] A planar 2-DOF mobile parallel robot with a configuration where all joint velocities are zero is shown in the figure. Figure 1 As shown, it includes a base 1 and a movable platform 16; a first kinematic chain and a second kinematic chain are provided between the base 1 and the movable platform 16;

[0089] 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 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;

[0090] The second kinematic chain includes a second first-to-last joint P211, a fifteenth linkage assembly 15, a third branch, and a fourth branch. The fifteenth linkage assembly 15 is connected to the movable platform 16 via the second first-to-last joint P211. The third and fourth branches are both connected to the fifteenth linkage assembly 15 and the base 1. The movable platform 16 is a broken-line linkage. The first end of the movable platform 16 is connected to the eighth linkage assembly 8 via the first first-to-last joint P111, and the second end of the movable platform 16 is connected to the fifteenth linkage assembly 15 via the second first-to-last joint P211.

[0091] 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 joint 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.

[0092] 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 the 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.

[0093] Example 3

[0094] A planar 2-DOF mobile parallel robot with a configuration where all joint velocities are zero is shown in the figure. Figure 1 As shown, it includes a base 1 and a movable platform 16; a first kinematic chain and a second kinematic chain are provided between the base 1 and the movable platform 16;

[0095] 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 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;

[0096] The second kinematic chain includes a second first-to-last joint P211, a fifteenth linkage assembly 15, a third branch, and a fourth branch. The fifteenth linkage assembly 15 is connected to the movable platform 16 via the second first-to-last joint P211. The third and fourth branches are both connected to the fifteenth linkage assembly 15 and the base 1. The movable platform 16 is a broken-line linkage. The first end of the movable platform 16 is connected to the eighth linkage assembly 8 via the first first-to-last joint P111, and the second end of the movable platform 16 is connected to the fifteenth linkage assembly 15 via the second first-to-last joint P211.

[0097] 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 joint 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.

[0098] 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 the 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.

[0099] 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;

[0100] The system further includes an eleventh rotational pair R11, a fourteenth rotational 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 transverse 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 transverse rod 17-1, and the second end of the first vertical rod 17-2 is connected to the base 1. The first end of the first transverse rod 17-1 is connected to the second connecting rod 2 via the eleventh rotational pair R11, and the second end of the first transverse rod 17-1 is connected to the fourth connecting rod 4 via the fourteenth rotational pair R14.

[0101] 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.

[0102] 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;

[0103] The system further 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 transverse 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 transverse rod 18-1, and the second end of the second vertical rod 18-2 is connected to the base 1. The first end of the second transverse rod 18-1 is connected to the fifth connecting rod 5 via the sixteenth rotation pair R16, and the second end of the second transverse rod 18-1 is connected to the seventh connecting rod 7 via the nineteenth rotation pair R19.

[0104] The sixth connecting rod assembly 6 includes the first and second rotation pairs R110, the fourth support rod 6-1, the seventeenth rotation pair R17, the fifth support rod 6-2, the eighteenth rotation pair R18 and the sixth support rod 6-3 connected in sequence. The first and second rotation pairs R110 are also connected to the sixth support rod 6-3 and the second end of the first U-shaped connecting rod 8-2.

[0105] Example 4

[0106] A planar 2-DOF mobile parallel robot with a configuration where all joint velocities are zero is shown in the figure. Figure 1 As shown, it includes a base 1 and a movable platform 16; a first kinematic chain and a second kinematic chain are provided between the base 1 and the movable platform 16;

[0107] 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 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;

[0108] The second kinematic chain includes a second first-to-last joint P211, a fifteenth linkage assembly 15, a third branch, and a fourth branch. The fifteenth linkage assembly 15 is connected to the movable platform 16 via the second first-to-last joint P211. The third and fourth branches are both connected to the fifteenth linkage assembly 15 and the base 1. The movable platform 16 is a broken-line linkage. The first end of the movable platform 16 is connected to the eighth linkage assembly 8 via the first first-to-last joint P111, and the second end of the movable platform 16 is connected to the fifteenth linkage assembly 15 via the second first-to-last joint P211.

[0109] 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 joint 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.

[0110] 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 the 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.

[0111] 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;

[0112] The system further includes an eleventh rotational pair R11, a fourteenth rotational 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 transverse 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 transverse rod 17-1, and the second end of the first vertical rod 17-2 is connected to the base 1. The first end of the first transverse rod 17-1 is connected to the second connecting rod 2 via the eleventh rotational pair R11, and the second end of the first transverse rod 17-1 is connected to the fourth connecting rod 4 via the fourteenth rotational pair R14.

[0113] 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.

[0114] 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;

[0115] The system further 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 transverse 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 transverse rod 18-1, and the second end of the second vertical rod 18-2 is connected to the base 1. The first end of the second transverse rod 18-1 is connected to the fifth connecting rod 5 via the sixteenth rotation pair R16, and the second end of the second transverse rod 18-1 is connected to the seventh connecting rod 7 via the nineteenth rotation pair R19.

[0116] The sixth connecting rod assembly 6 includes the first and second rotation pairs R110, the fourth support rod 6-1, the seventeenth rotation pair R17, the fifth support rod 6-2, the eighteenth rotation pair R18 and the sixth support rod 6-3 connected in sequence. The first and second rotation pairs R110 are also connected to the sixth support rod 6-3 and the second end of the first U-shaped connecting rod 8-2.

[0117] 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;

[0118] The system further includes a twenty-first rotational pair R21, a twenty-fourth rotational 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 transverse rod 19-1 and a third vertical rod 19-2. The first end of the third vertical rod 19-2 is connected to the rod body of the third transverse rod 19-1, and the second end of the third vertical rod 19-2 is connected to the base 1. The first end of the third transverse rod 19-1 is connected to the ninth connecting rod 9 via the twenty-first rotational pair R21, and the second end of the third transverse rod 19-1 is connected to the eleventh connecting rod 11 via the twenty-fourth rotational pair R24.

[0119] 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, which are 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.

[0120] Example 5

[0121] A planar 2-DOF mobile parallel robot with a configuration where all joint velocities are zero is shown in the figure. Figure 1 As shown, it includes a base 1 and a movable platform 16; a first kinematic chain and a second kinematic chain are provided between the base 1 and the movable platform 16;

[0122] 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 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;

[0123] The second kinematic chain includes a second first-to-last joint P211, a fifteenth linkage assembly 15, a third branch, and a fourth branch. The fifteenth linkage assembly 15 is connected to the movable platform 16 via the second first-to-last joint P211. The third and fourth branches are both connected to the fifteenth linkage assembly 15 and the base 1. The movable platform 16 is a broken-line linkage. The first end of the movable platform 16 is connected to the eighth linkage assembly 8 via the first first-to-last joint P111, and the second end of the movable platform 16 is connected to the fifteenth linkage assembly 15 via the second first-to-last joint P211.

[0124] 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 joint 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.

[0125] 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 the 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.

[0126] 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;

[0127] The system further includes an eleventh rotational pair R11, a fourteenth rotational 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 transverse 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 transverse rod 17-1, and the second end of the first vertical rod 17-2 is connected to the base 1. The first end of the first transverse rod 17-1 is connected to the second connecting rod 2 via the eleventh rotational pair R11, and the second end of the first transverse rod 17-1 is connected to the fourth connecting rod 4 via the fourteenth rotational pair R14.

[0128] 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.

[0129] 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;

[0130] The system further 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 transverse 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 transverse rod 18-1, and the second end of the second vertical rod 18-2 is connected to the base 1. The first end of the second transverse rod 18-1 is connected to the fifth connecting rod 5 via the sixteenth rotation pair R16, and the second end of the second transverse rod 18-1 is connected to the seventh connecting rod 7 via the nineteenth rotation pair R19.

[0131] The sixth connecting rod assembly 6 includes the first and second rotation pairs R110, the fourth support rod 6-1, the seventeenth rotation pair R17, the fifth support rod 6-2, the eighteenth rotation pair R18 and the sixth support rod 6-3 connected in sequence. The first and second rotation pairs R110 are also connected to the sixth support rod 6-3 and the second end of the first U-shaped connecting rod 8-2.

[0132] 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;

[0133] The system further includes a twenty-first rotational pair R21, a twenty-fourth rotational 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 transverse rod 19-1 and a third vertical rod 19-2. The first end of the third vertical rod 19-2 is connected to the rod body of the third transverse rod 19-1, and the second end of the third vertical rod 19-2 is connected to the base 1. The first end of the third transverse rod 19-1 is connected to the ninth connecting rod 9 via the twenty-first rotational pair R21, and the second end of the third transverse rod 19-1 is connected to the eleventh connecting rod 11 via the twenty-fourth rotational pair R24.

[0134] 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, which are 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.

[0135] 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;

[0136] The 26th rotation pair R26, the 29th rotation pair R29 and the 20th connecting rod 20 are also included. The 20th connecting rod 20 is a T-shaped connecting rod. The 20th connecting rod 20 includes a fourth horizontal rod 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 horizontal rod 20-1, and the second end of the fourth vertical rod 20-2 is connected to the base 1. The first end of the fourth horizontal rod 20-1 is connected to the twelfth connecting rod 12 through the 26th rotation pair R26, and the second end of the fourth horizontal rod 20-1 is connected to the fourteenth connecting rod 14 through the 29th rotation pair R29.

[0137] The thirteenth connecting rod assembly 13 includes the 210th 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. The 210th 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.

[0138] Example 6

[0139] A planar 2-DOF mobile parallel robot with a configuration where all joint velocities are zero is shown in the figure. Figure 1 As shown, it includes a base 1 and a movable platform 16; a first kinematic chain and a second kinematic chain are provided between the base 1 and the movable platform 16;

[0140] 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 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;

[0141] The second kinematic chain includes a second first-to-last joint P211, a fifteenth linkage assembly 15, a third branch, and a fourth branch. The fifteenth linkage assembly 15 is connected to the movable platform 16 via the second first-to-last joint P211. The third and fourth branches are both connected to the fifteenth linkage assembly 15 and the base 1. The movable platform 16 is a broken-line linkage. The first end of the movable platform 16 is connected to the eighth linkage assembly 8 via the first first-to-last joint P111, and the second end of the movable platform 16 is connected to the fifteenth linkage assembly 15 via the second first-to-last joint P211.

[0142] 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 joint 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.

[0143] 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 the 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.

[0144] 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;

[0145] The system further includes an eleventh rotational pair R11, a fourteenth rotational 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 transverse 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 transverse rod 17-1, and the second end of the first vertical rod 17-2 is connected to the base 1. The first end of the first transverse rod 17-1 is connected to the second connecting rod 2 via the eleventh rotational pair R11, and the second end of the first transverse rod 17-1 is connected to the fourth connecting rod 4 via the fourteenth rotational pair R14.

[0146] 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.

[0147] 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;

[0148] The system further 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 transverse 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 transverse rod 18-1, and the second end of the second vertical rod 18-2 is connected to the base 1. The first end of the second transverse rod 18-1 is connected to the fifth connecting rod 5 via the sixteenth rotation pair R16, and the second end of the second transverse rod 18-1 is connected to the seventh connecting rod 7 via the nineteenth rotation pair R19.

[0149] The sixth connecting rod assembly 6 includes the first and second rotation pairs R110, the fourth support rod 6-1, the seventeenth rotation pair R17, the fifth support rod 6-2, the eighteenth rotation pair R18 and the sixth support rod 6-3 connected in sequence. The first and second rotation pairs R110 are also connected to the sixth support rod 6-3 and the second end of the first U-shaped connecting rod 8-2.

[0150] 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;

[0151] The system further includes a twenty-first rotational pair R21, a twenty-fourth rotational 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 transverse rod 19-1 and a third vertical rod 19-2. The first end of the third vertical rod 19-2 is connected to the rod body of the third transverse rod 19-1, and the second end of the third vertical rod 19-2 is connected to the base 1. The first end of the third transverse rod 19-1 is connected to the ninth connecting rod 9 via the twenty-first rotational pair R21, and the second end of the third transverse rod 19-1 is connected to the eleventh connecting rod 11 via the twenty-fourth rotational pair R24.

[0152] 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, which are 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.

[0153] 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;

[0154] The 26th rotation pair R26, the 29th rotation pair R29 and the 20th connecting rod 20 are also included. The 20th connecting rod 20 is a T-shaped connecting rod. The 20th connecting rod 20 includes a fourth horizontal rod 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 horizontal rod 20-1, and the second end of the fourth vertical rod 20-2 is connected to the base 1. The first end of the fourth horizontal rod 20-1 is connected to the twelfth connecting rod 12 through the 26th rotation pair R26, and the second end of the fourth horizontal rod 20-1 is connected to the fourteenth connecting rod 14 through the 29th rotation pair R29.

[0155] The thirteenth connecting rod assembly 13 includes the 210th 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. The 210th 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.

[0156] The eleventh rotating pair R11 is connected to a rotation driving motor.

Claims

1. A planar 2-DOF mobile parallel robot with zero velocity configuration for all joints, characterized in that: It comprises a base (1) and a moving platform (16); a first kinematic chain and a second kinematic chain are provided 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) 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 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) via 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 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) through 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) through a second one-to-one moving pair P211; The eighth connecting rod assembly (8) includes a first L-shaped connecting rod (8-1) and a first U-shaped connecting rod (8-2), wherein 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) includes a second L-shaped connecting rod (15-1) and a second U-shaped connecting rod (15-2), wherein 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.

2. The planar 2-DOF mobile parallel robot with all joint velocities being zero according to claim 1, 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 horizontal 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 horizontal 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 horizontal rod (17-1) is connected to the second connecting rod (2) through the eleventh rotation pair R11, and the second end of the first horizontal rod (17-1) is connected to the fourth connecting rod (4) through the fourteenth rotation pair R14; The third connecting rod assembly (3) includes a fifteenth rotating pair R15, a first support rod (3-1), a twelfth rotating pair R12, a second support rod (3-2), a thirteenth rotating pair R13 and a third support rod (3-3) connected in sequence, and 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) at the same time.

3. The planar 2-DOF mobile parallel robot with all joint velocities being zero according to claim 2, 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 horizontal 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 horizontal 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 horizontal rod (18-1) is connected to the fifth connecting rod (5) through the sixteenth rotation pair R16, and the second end of the second horizontal 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 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, and 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).

4. The planar 2-DOF mobile parallel robot with all joint velocities being zero according to claim 3, characterized in that: 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 horizontal rod (19-1) and a third vertical rod (19-2), the first end of the third vertical rod (19-2) is connected to the rod body of the third horizontal rod (19-1), the second end of the third vertical rod (19-2) is connected to the base (1), the first end of the third horizontal rod (19-1) is connected to the ninth connecting rod (9) through the twenty-first rotation pair R21, and the second end of the third horizontal rod (19-1) is connected to the eleventh connecting rod (11) through the twenty-fourth rotation pair R24; The tenth connecting rod assembly (10) includes 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) 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.

5. The planar 2-DOF mobile parallel robot with all joint velocities being zero according to claim 4, characterized in that: 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 horizontal rod (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 horizontal rod (20-1), the second end of the fourth vertical rod (20-2) is connected to the base (1), the first end of the fourth horizontal rod (20-1) is connected to the twelfth connecting rod (12) through the twenty-sixth rotation pair R26, and the second end of the fourth horizontal rod (20-1) is connected to the fourteenth connecting rod (14) through the twenty-ninth rotation pair R29; The thirteenth connecting rod assembly (13) includes a 210th 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 210th 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).

6. 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 drive motor.

7. The planar 2-DOF mobile parallel robot with all joint velocities being zero according to claim 4, characterized in that: The twenty-first rotation pair R21 is connected to a driving rotation motor.

8. The driving method of a planar 2-DOF mobile parallel robot with all joint velocities being zero according to any one of claims 4 to 7, 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 moving pair P111 intersects with the movement direction of the second one-to-one moving 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, then the robot is in a mechanical configuration where all joint velocities are not zero, and the joint velocities of the parallel robot are not all zero.

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