Spatial three-degree-of-freedom parallel stirring robot with complete decoupling characteristics and method

Abstract

The present invention discloses a spatial three-degree-of-freedom parallel mixing robot with complete decoupling characteristics. The robot comprises a base and a moving platform, wherein a first kinematic chain and a third kinematic chain are disposed between the base and the moving platform. A second kinematic chain is also connected to the base, and both the second and third kinematic chains are connected to the first kinematic chain. The robot has the advantages of high rigidity, low error, good dynamic performance, and a simple control method. The present invention also discloses a driving method for the spatial three-degree-of-freedom parallel mixing robot with complete decoupling characteristics.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a spatial three-degree-of-freedom parallel stirring robot with complete decoupling characteristics, and also relates to a driving method of the spatial three-degree-of-freedom parallel stirring robot with complete decoupling characteristics. Background Art

[0002] When materials are stirred, complex spatial rotation and position movement are required. The existing three-degree-of-freedom stirring parallel robots generally have a certain position movement or posture rotation, and some robots have a motion mode in which position movement is accompanied by rotation. A motion chain with three non-intersecting rotation axes and axis directions in the general direction of space, in which the three-dimensional movement of the end effector is accompanied by three-dimensional rotation, has a complex motion with highly coupled rotation and movement, and has good application value in material stirring. Currently, such serial stirring robots have low stiffness, relatively large cumulative errors, and relatively low dynamic performance. If a parallel stirring robot is used, although its stiffness, dynamic performance, error accuracy, etc. are improved, the control method of such parallel stirring robots is relatively complex, which to a certain extent limits the application of such parallel stirring robots. Summary of the Invention

[0003] The first purpose of the present invention is to provide a spatial three-degree-of-freedom parallel stirring robot with complete decoupling characteristics, which has the advantages of high rigidity, small cumulative error, good dynamic performance and simple control method.

[0004] The second object of the present invention is to provide a driving method for a spatial three-degree-of-freedom parallel stirring robot with complete decoupling characteristics.

[0005] The first technical solution adopted by the present invention is a spatial three-degree-of-freedom parallel mixing robot with a completely decoupling characteristic, which includes a base and a moving platform. A first motion chain and a third motion chain are arranged between the base and the moving platform. A second motion chain is also connected to the base, and the second motion chain and the third motion chain are both connected to the first motion chain.

[0006] The present invention is also characterized in that:

[0007] The first kinematic chain includes an eleventh revolute pair R11, a first connecting rod, a twelfth revolute pair R12, a second connecting rod, and a thirteenth revolute pair R13, which are connected in sequence; the thirteenth revolute pair R13 is also connected to the moving platform, and the eleventh revolute pair R11 is also connected to the base;

[0008] The second connecting rod is a Y-shaped connecting rod, comprising a first supporting rod, a second supporting rod, and a third supporting rod, the three supporting rods intersecting at a point; the end of the first supporting rod is connected to the thirteenth revolute pair R13, the end of the second supporting rod is connected to the second kinematic chain, and the end of the third supporting rod is connected to the third kinematic chain;

[0009] The twelfth rotation pair R12 is connected to the rod body of the second support rod.

[0010] The second kinematic chain includes the twenty-first mobile pair P21, the fourth connecting rod, the twenty-second rotational pair R22, the fifth connecting rod, the twenty-third mobile pair P23, the sixth connecting rod, the twenty-fourth mobile pair P24, the seventh connecting rod and the twenty-fifth helical pair H25 connected in sequence; the twenty-fifth helical pair H25 is also connected to the end of the second support rod, and the twenty-first mobile pair P21 is also connected to the base.

[0011] The sixth connecting rod is a V-shaped connecting rod.

[0012] The third kinematic chain includes a thirty-first movable pair P31, an eighth connecting rod, a thirty-second rotational pair R32, a ninth connecting rod, a thirty-third movable pair P33, a tenth connecting rod, a thirty-fourth movable pair P34, an eleventh connecting rod, a thirty-fifth rotational pair R35, a twelfth connecting rod, a thirty-seventh movable pair P37, a thirteenth connecting rod, and a thirty-eighth helical pair H38, which are connected in sequence; the thirty-eighth helical pair H38 is also connected to the moving platform, and the thirty-first movable pair P31 is also connected to the base.

[0013] The tenth connecting rod is a V-shaped connecting rod;

[0014] The twelfth connecting rod is a V-shaped connecting rod, and the thirty-sixth mobile pair P36 is connected to the inflection point of the twelfth connecting rod; the thirty-sixth mobile pair P36 is also connected to the third support rod.

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

[0016] The twenty-first movable pair P21 is connected to a driving motor.

[0017] The thirty-first movable pair P31 is connected to a driving motor.

[0018] The second technical solution adopted by the present invention is a driving method for a spatial three-degree-of-freedom parallel mixing robot with a fully decoupling characteristic, specifically: the eleventh rotating pair R11 is connected to the motor to control the rotation of the moving platform around the axis of the eleventh rotating pair R11; the twenty-first moving pair P21 is connected to the motor to control the rotation of the moving platform around the axis of the twelfth rotating pair R12; the thirty-first moving pair P31 is connected to the motor to control the rotation of the moving platform around the axis of the thirteenth rotating pair R13.

[0019] The beneficial effects of the present invention are:

[0020] (1) The spatial three-degree-of-freedom parallel mixing robot with fully decoupled characteristics proposed in the present invention has an end effector with three non-intersecting and non-parallel three-degree-of-freedom motion modes in space. The end effector has a motion characteristic with highly coupled position and posture. When performing material mixing operations, it has a higher mixing effect. In addition, the end effector has higher stiffness, smaller error and better dynamic performance than the serial robot with such motion characteristics when performing material mixing operations.

[0021] (2) The present invention proposes a spatial three-degree-of-freedom parallel mixing robot with fully decoupled characteristics. The motion of the three rotational joints of the parallel mixing robot is controlled by a single drive, and all drives are placed on the base, which reduces the mass of the parallel mixer's moving parts and thus reduces the energy consumption of the equipment. Since the rotational motion of the three rotation axes is controlled by a single drive, the parallel mixer has the advantage of a simple control algorithm, which facilitates efficient mixing after detecting uneven material position conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Configuration diagram of a spatial three-degree-of-freedom parallel mixing robot with complete decoupling characteristics;

[0023] 1. First connecting rod, 2. Second connecting rod, 3. Moving platform, 4. Fourth connecting rod, 5. Fifth connecting rod, 6. Sixth connecting rod, 7. Seventh connecting rod, 8. Eighth connecting rod, 9. Moving platform, 10. Tenth connecting rod, 11. Eleventh connecting rod, 12. Twelfth connecting rod, 13. Thirteenth connecting rod, 14. Base;

[0024] 2-1. The first pole, 2-2. The second pole, 2-3. The third pole. DETAILED DESCRIPTION

[0025] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] The present invention provides a spatial three-degree-of-freedom parallel stirring robot with complete decoupling characteristics, such as Figure 1 As shown, it includes a base 14 and a moving platform 3, a first kinematic chain and a third kinematic chain are arranged between the base 14 and the moving platform 3, a second kinematic chain is also connected to the base 14, and the second kinematic chain and the third kinematic chain are both connected to the first kinematic chain.

[0027] The first kinematic chain includes an eleventh revolute pair R11, a first connecting rod 1, a twelfth revolute pair R12, a second connecting rod 2, and a thirteenth revolute pair R13, which are connected in sequence. The thirteenth revolute pair R13 is also connected to the moving platform 3, and the eleventh revolute pair R11 is also connected to the base 14.

[0028] The second connecting rod 2 is a Y-shaped connecting rod, comprising a first supporting rod 2-1, a second supporting rod 2-2, and a third supporting rod 2-3, the three supporting rods intersecting at a point; the end of the first supporting rod 2-1 is connected to the thirteenth rotation pair R13, the end of the second supporting rod 2-2 is connected to the second kinematic chain, and the end of the third supporting rod 2-3 is connected to the third kinematic chain;

[0029] The twelfth rotation pair R12 is connected to the rod body of the second support rod 2-2.

[0030] The second kinematic chain includes the twenty-first moving pair P21, the fourth connecting rod 4, the twenty-second rotational pair R22, the fifth connecting rod 5, the twenty-third moving pair P23, the sixth connecting rod 6, the twenty-fourth moving pair P24, the seventh connecting rod 7 and the twenty-fifth helical pair H25 connected in sequence; the twenty-fifth helical pair H25 is also connected to the end of the second support rod 2-2, and the twenty-first moving pair P21 is also connected to the base 14.

[0031] The sixth connecting rod 6 is a V-shaped connecting rod.

[0032] The third kinematic chain includes a thirty-first movable pair P31, an eighth connecting rod 8, a thirty-second rotational pair R32, a ninth connecting rod 9, a thirty-third movable pair P33, a tenth connecting rod 10, a thirty-fourth movable pair P34, an eleventh connecting rod 11, a thirty-fifth rotational pair R35, a twelfth connecting rod 12, a thirty-seventh movable pair P37, a thirteenth connecting rod 13, and a thirty-eighth helical pair H38, which are connected in sequence; the thirty-eighth helical pair H38 is also connected to the movable platform 3, and the thirty-first movable pair P31 is also connected to the base 14.

[0033] The tenth connecting rod 10 is a V-shaped connecting rod;

[0034] The twelfth connecting rod 12 is a V-shaped connecting rod, and the thirty-sixth movable pair P36 is connected to the turning point of the twelfth connecting rod 12; the thirty-sixth movable pair P36 is also connected to the third support rod 2-3.

[0035] The eleventh rotating pair R11 is connected to a driving motor.

[0036] The twenty-first movable pair P21 is connected to a driving motor.

[0037] The thirty-first movable pair P31 is connected to a driving motor.

[0038] The present invention also provides a driving method for a spatial three-degree-of-freedom parallel mixing robot with a fully decoupling characteristic, specifically: the eleventh rotating pair R11 is connected to the motor to control the rotation of the moving platform 3 around the axis of the eleventh rotating pair R11; the twenty-first moving pair P21 is connected to the motor to control the rotation of the moving platform 3 around the axis of the twelfth rotating pair R12; the thirty-first moving pair P31 is connected to the motor to control the rotation of the moving platform 3 around the axis of the thirteenth rotating pair R13.

[0039] like Figure 1 As shown, the first connecting rod 1 is rotationally connected to the base 14 through the eleventh rotational pair R11, the first connecting rod 1 is rotationally connected to the rod body of the second support rod 2-2 of the second connecting rod 2 through the twelfth rotational pair R12, and the end of the first support rod 2-1 of the second connecting rod 2 is rotationally connected to the moving platform 3 through the thirteenth rotational pair R13.

[0040] The fourth link 4 is rotationally connected to the base 14 through the twenty-first moving pair P21, the fourth link 4 is rotationally connected to the fifth link 5 through the twenty-second rotation pair R22, the fifth link 5 is movably connected to the sixth link 6 through the twenty-third moving pair P23, the sixth link 6 is movably connected to the seventh link 7 through the twenty-fourth moving pair P24, and the seventh link 7 is spirally connected to the end of the second support rod 2-2 of the second link 2 through the twenty-fifth spiral pair H25.

[0041] The eighth connecting rod 8 is movably connected to the base 14 via a thirty-first moving pair P31, the eighth connecting rod 8 is rotationally connected to the ninth connecting rod 9 via a thirty-second rotational pair R32, the ninth connecting rod 9 is movably connected to the tenth connecting rod 10 via a thirty-third moving pair P33, the tenth connecting rod 10 is movably connected to the eleventh connecting rod 11 via a thirty-fourth moving pair P34, the eleventh connecting rod 11 is rotationally connected to the first end of the twelfth connecting rod 12 via a thirty-fifth rotational pair R35, and the inflection point of the twelfth connecting rod 12 is movably connected to the end of the third connecting rod 2-3 of the second connecting rod 2 via a thirty-sixth moving pair P36. The second end of the twelfth connecting rod 12 is movably connected to the thirteenth connecting rod 13 via a thirty-seventh moving pair P37, and the thirteenth connecting rod 13 is helically connected to the movable platform 3 via a thirty-eighth helical pair H38.

[0042] Figure 1 In the illustrated configuration, the axes of the 11th rotational pair R11, the 22nd rotational pair R22, and the 32nd rotational pair R32 coincide with the X-axis. The moving directions of the 14th and 31st motion pairs P141 and P31 are parallel to the X-axis.

[0043] Figure 1 In the illustrated configuration, the axis of the twelfth rotational pair R12, the axis of the thirty-fifth rotational pair R35, and the axis of the twenty-fifth helical pair H25 are parallel to the Y axis. The axis of the thirty-sixth translational pair P36 is parallel to the Y axis.

[0044] Figure 1 In the shown configuration of the mechanism, the axis of the thirteenth rotation pair R13 and the axis of the thirty-eighth helical pair H38 are parallel to the Z axis.

[0045] Figure 1In the shown mechanism configuration, any three of the moving directions of the twenty-first rotational pair P21, the moving direction of the twenty-third rotational pair P23, the moving direction of the twenty-fourth movement pair P24, and the axial direction of the twenty-fifth helical pair H25 are not coplanar.

[0046] Figure 1 In the shown mechanism configuration, the moving direction of the thirty-first moving pair P31, the moving direction of the thirty-third moving pair P33, the moving direction of the thirty-fourth moving pair P34 and the moving direction of the thirty-sixth moving pair P36 are not coplanar.

[0047] Figure 1 In the shown mechanism configuration, the moving direction of the thirty-sixth moving pair P36, the moving direction of the thirty-seventh moving pair P37 and the axis of the thirty-eighth helical pair H38 are coplanar.

[0048] Figure 1 In the shown mechanism configuration, the eleventh rotation pair R11, the twenty-first movement pair P21, and the thirty-first movement pair P31 are all connected to drive motors.

[0049] Figure 1 In the shown mechanism configuration, the eleventh rotation pair R11 is connected to the motor to control the movable platform 3 to rotate around the axis of the eleventh rotation pair R11.

[0050] Figure 1 In the shown configuration of the mechanism, the twenty-first movable pair P21 is connected to the motor to control the movable platform 3 to rotate around the axis of the twelfth rotation pair R12.

[0051] Figure 1 In the shown configuration of the mechanism, the thirty-first movable pair P31 is connected to the motor to control the movable platform 3 to rotate around the axis of the thirteenth rotation pair R13.

[0052] The moving platform 3 can be equipped with an end stirrer to mix different materials.

[0053] Example 1

[0054] A spatial three-degree-of-freedom parallel mixing robot with fully decoupled characteristics, such as Figure 1 As shown, it includes a base 14 and a moving platform 3, a first kinematic chain and a third kinematic chain are arranged between the base 14 and the moving platform 3, a second kinematic chain is also connected to the base 14, and the second kinematic chain and the third kinematic chain are both connected to the first kinematic chain.

[0055] Example 2

[0056] A spatial three-degree-of-freedom parallel mixing robot with fully decoupled characteristics, such as Figure 1As shown, it includes a base 14 and a moving platform 3, a first kinematic chain and a third kinematic chain are arranged between the base 14 and the moving platform 3, a second kinematic chain is also connected to the base 14, and the second kinematic chain and the third kinematic chain are both connected to the first kinematic chain.

[0057] The first kinematic chain includes an eleventh revolute pair R11, a first connecting rod 1, a twelfth revolute pair R12, a second connecting rod 2, and a thirteenth revolute pair R13, which are connected in sequence. The thirteenth revolute pair R13 is also connected to the moving platform 3, and the eleventh revolute pair R11 is also connected to the base 14.

[0058] The second connecting rod 2 is a Y-shaped connecting rod, comprising a first supporting rod 2-1, a second supporting rod 2-2, and a third supporting rod 2-3, the three supporting rods intersecting at a point; the end of the first supporting rod 2-1 is connected to the thirteenth rotation pair R13, the end of the second supporting rod 2-2 is connected to the second kinematic chain, and the end of the third supporting rod 2-3 is connected to the third kinematic chain;

[0059] The twelfth rotation pair R12 is connected to the rod body of the second support rod 2-2.

[0060] Example 3

[0061] A spatial three-degree-of-freedom parallel mixing robot with fully decoupled characteristics, such as Figure 1 As shown, it includes a base 14 and a moving platform 3, a first kinematic chain and a third kinematic chain are arranged between the base 14 and the moving platform 3, a second kinematic chain is also connected to the base 14, and the second kinematic chain and the third kinematic chain are both connected to the first kinematic chain.

[0062] The first kinematic chain includes an eleventh revolute pair R11, a first connecting rod 1, a twelfth revolute pair R12, a second connecting rod 2, and a thirteenth revolute pair R13, which are connected in sequence. The thirteenth revolute pair R13 is also connected to the moving platform 3, and the eleventh revolute pair R11 is also connected to the base 14.

[0063] The second connecting rod 2 is a Y-shaped connecting rod, comprising a first supporting rod 2-1, a second supporting rod 2-2, and a third supporting rod 2-3, the three supporting rods intersecting at a point; the end of the first supporting rod 2-1 is connected to the thirteenth rotation pair R13, the end of the second supporting rod 2-2 is connected to the second kinematic chain, and the end of the third supporting rod 2-3 is connected to the third kinematic chain;

[0064] The twelfth rotation pair R12 is connected to the rod body of the second support rod 2-2.

[0065] The second kinematic chain includes the twenty-first moving pair P21, the fourth connecting rod 4, the twenty-second rotational pair R22, the fifth connecting rod 5, the twenty-third moving pair P23, the sixth connecting rod 6, the twenty-fourth moving pair P24, the seventh connecting rod 7 and the twenty-fifth helical pair H25 connected in sequence; the twenty-fifth helical pair H25 is also connected to the end of the second support rod 2-2, and the twenty-first moving pair P21 is also connected to the base 14.

[0066] Example 4

[0067] A spatial three-degree-of-freedom parallel mixing robot with fully decoupled characteristics, such as Figure 1 As shown, it includes a base 14 and a moving platform 3, a first kinematic chain and a third kinematic chain are arranged between the base 14 and the moving platform 3, a second kinematic chain is also connected to the base 14, and the second kinematic chain and the third kinematic chain are both connected to the first kinematic chain.

[0068] The first kinematic chain includes an eleventh revolute pair R11, a first connecting rod 1, a twelfth revolute pair R12, a second connecting rod 2, and a thirteenth revolute pair R13, which are connected in sequence. The thirteenth revolute pair R13 is also connected to the moving platform 3, and the eleventh revolute pair R11 is also connected to the base 14.

[0069] The second connecting rod 2 is a Y-shaped connecting rod, comprising a first supporting rod 2-1, a second supporting rod 2-2, and a third supporting rod 2-3, the three supporting rods intersecting at a point; the end of the first supporting rod 2-1 is connected to the thirteenth rotation pair R13, the end of the second supporting rod 2-2 is connected to the second kinematic chain, and the end of the third supporting rod 2-3 is connected to the third kinematic chain;

[0070] The twelfth rotation pair R12 is connected to the rod body of the second support rod 2-2.

[0071] The second kinematic chain includes the twenty-first moving pair P21, the fourth connecting rod 4, the twenty-second rotational pair R22, the fifth connecting rod 5, the twenty-third moving pair P23, the sixth connecting rod 6, the twenty-fourth moving pair P24, the seventh connecting rod 7 and the twenty-fifth helical pair H25 connected in sequence; the twenty-fifth helical pair H25 is also connected to the end of the second support rod 2-2, and the twenty-first moving pair P21 is also connected to the base 14.

[0072] The sixth connecting rod 6 is a V-shaped connecting rod.

[0073] Example 5

[0074] A spatial three-degree-of-freedom parallel mixing robot with fully decoupled characteristics, such as Figure 1 As shown, it includes a base 14 and a moving platform 3, a first kinematic chain and a third kinematic chain are arranged between the base 14 and the moving platform 3, a second kinematic chain is also connected to the base 14, and the second kinematic chain and the third kinematic chain are both connected to the first kinematic chain.

[0075] The first kinematic chain includes an eleventh revolute pair R11, a first connecting rod 1, a twelfth revolute pair R12, a second connecting rod 2, and a thirteenth revolute pair R13, which are connected in sequence. The thirteenth revolute pair R13 is also connected to the moving platform 3, and the eleventh revolute pair R11 is also connected to the base 14.

[0076] The second connecting rod 2 is a Y-shaped connecting rod, comprising a first supporting rod 2-1, a second supporting rod 2-2, and a third supporting rod 2-3, the three supporting rods intersecting at a point; the end of the first supporting rod 2-1 is connected to the thirteenth rotation pair R13, the end of the second supporting rod 2-2 is connected to the second kinematic chain, and the end of the third supporting rod 2-3 is connected to the third kinematic chain;

[0077] The twelfth rotation pair R12 is connected to the rod body of the second support rod 2-2.

[0078] The second kinematic chain includes the twenty-first moving pair P21, the fourth connecting rod 4, the twenty-second rotational pair R22, the fifth connecting rod 5, the twenty-third moving pair P23, the sixth connecting rod 6, the twenty-fourth moving pair P24, the seventh connecting rod 7 and the twenty-fifth helical pair H25 connected in sequence; the twenty-fifth helical pair H25 is also connected to the end of the second support rod 2-2, and the twenty-first moving pair P21 is also connected to the base 14.

[0079] The sixth connecting rod 6 is a V-shaped connecting rod.

[0080] The third kinematic chain includes a thirty-first movable pair P31, an eighth connecting rod 8, a thirty-second rotational pair R32, a ninth connecting rod 9, a thirty-third movable pair P33, a tenth connecting rod 10, a thirty-fourth movable pair P34, an eleventh connecting rod 11, a thirty-fifth rotational pair R35, a twelfth connecting rod 12, a thirty-seventh movable pair P37, a thirteenth connecting rod 13, and a thirty-eighth helical pair H38, which are connected in sequence; the thirty-eighth helical pair H38 is also connected to the movable platform 3, and the thirty-first movable pair P31 is also connected to the base 14.

[0081] The tenth connecting rod 10 is a V-shaped connecting rod;

[0082] The twelfth connecting rod 12 is a V-shaped connecting rod, and the thirty-sixth movable pair P36 is connected to the turning point of the twelfth connecting rod 12; the thirty-sixth movable pair P36 is also connected to the third support rod 2-3.

[0083] Example 6

[0084] A spatial three-degree-of-freedom parallel mixing robot with fully decoupled characteristics, such as Figure 1 As shown, it includes a base 14 and a moving platform 3, a first kinematic chain and a third kinematic chain are arranged between the base 14 and the moving platform 3, a second kinematic chain is also connected to the base 14, and the second kinematic chain and the third kinematic chain are both connected to the first kinematic chain.

[0085] The first kinematic chain includes an eleventh revolute pair R11, a first connecting rod 1, a twelfth revolute pair R12, a second connecting rod 2, and a thirteenth revolute pair R13, which are connected in sequence. The thirteenth revolute pair R13 is also connected to the moving platform 3, and the eleventh revolute pair R11 is also connected to the base 14.

[0086] The second connecting rod 2 is a Y-shaped connecting rod, comprising a first supporting rod 2-1, a second supporting rod 2-2, and a third supporting rod 2-3, the three supporting rods intersecting at a point; the end of the first supporting rod 2-1 is connected to the thirteenth rotation pair R13, the end of the second supporting rod 2-2 is connected to the second kinematic chain, and the end of the third supporting rod 2-3 is connected to the third kinematic chain;

[0087] The twelfth rotation pair R12 is connected to the rod body of the second support rod 2-2.

[0088] The second kinematic chain includes the twenty-first moving pair P21, the fourth connecting rod 4, the twenty-second rotational pair R22, the fifth connecting rod 5, the twenty-third moving pair P23, the sixth connecting rod 6, the twenty-fourth moving pair P24, the seventh connecting rod 7 and the twenty-fifth helical pair H25 connected in sequence; the twenty-fifth helical pair H25 is also connected to the end of the second support rod 2-2, and the twenty-first moving pair P21 is also connected to the base 14.

[0089] The sixth connecting rod 6 is a V-shaped connecting rod.

[0090] The third kinematic chain includes a thirty-first movable pair P31, an eighth connecting rod 8, a thirty-second rotational pair R32, a ninth connecting rod 9, a thirty-third movable pair P33, a tenth connecting rod 10, a thirty-fourth movable pair P34, an eleventh connecting rod 11, a thirty-fifth rotational pair R35, a twelfth connecting rod 12, a thirty-seventh movable pair P37, a thirteenth connecting rod 13, and a thirty-eighth helical pair H38, which are connected in sequence; the thirty-eighth helical pair H38 is also connected to the movable platform 3, and the thirty-first movable pair P31 is also connected to the base 14.

[0091] The tenth connecting rod 10 is a V-shaped connecting rod;

[0092] The twelfth connecting rod 12 is a V-shaped connecting rod, and the thirty-sixth movable pair P36 is connected to the turning point of the twelfth connecting rod 12; the thirty-sixth movable pair P36 is also connected to the third support rod 2-3.

Claims

1. A spatial three-degree-of-freedom parallel mixing robot with complete decoupling characteristics, characterized in that: It includes a base (14) and a moving platform (3), wherein a first kinematic chain and a third kinematic chain are provided between the base (14) and the moving platform (3), a second kinematic chain is further connected to the base (14), and the second kinematic chain and the third kinematic chain are both connected to the first kinematic chain; The first kinematic chain comprises an eleventh rotational pair (R11), a first connecting rod (1), a twelfth rotational pair (R12), a second connecting rod (2), and a thirteenth rotational pair (R13) connected in sequence; the thirteenth rotational pair (R13) is also connected to the moving platform (3), and the eleventh rotational pair (R11) is also connected to the base (14); The second connecting rod (2) is a Y-shaped connecting rod, and the second connecting rod (2) includes a first supporting rod (2-1), a second supporting rod (2-2) and a third supporting rod (2-3), and the three supporting rods intersect at a point; the end of the first supporting rod (2-1) is connected to the thirteenth rotation pair (R13), the end of the second supporting rod (2-2) is connected to the second kinematic chain, and the end of the third supporting rod (2-3) is connected to the third kinematic chain; The twelfth rotation pair (R12) is connected to the rod body of the second support rod (2-2); The second kinematic chain comprises a twenty-first moving pair (P21), a fourth connecting rod (4), a twenty-second rotating pair (R22), a fifth connecting rod (5), a twenty-third moving pair (P23), a sixth connecting rod (6), a twenty-fourth moving pair (P24), a seventh connecting rod (7) and a twenty-fifth helical pair (H25) connected in sequence; the twenty-fifth helical pair (H25) is also connected to the end of the second support rod (2-2), and the twenty-first moving pair (P21) is also connected to the base (14); The sixth connecting rod (6) is a V-shaped connecting rod; The third kinematic chain includes a thirty-first moving pair (P31), an eighth connecting rod (8), a thirty-second rotating pair (R32), a ninth connecting rod (9), a thirty-third moving pair (P33), a tenth connecting rod (10), a thirty-fourth moving pair (P34), an eleventh connecting rod (11), a thirty-fifth rotating pair (R35), a twelfth connecting rod (12), a thirty-seventh moving pair (P37), a thirteenth connecting rod (13) and a thirty-eighth helical pair (H38) connected in sequence; the thirty-eighth helical pair (H38) is also connected to the moving platform (3), and the thirty-first moving pair (P31) is also connected to the base (14); The tenth connecting rod (10) is a V-shaped connecting rod; The twelfth connecting rod (12) is a V-shaped connecting rod, and the thirty-sixth movable pair (P36) is connected to the inflection point of the twelfth connecting rod (12); the thirty-sixth movable pair (P36) is also connected to the third support rod (2-3); The eleventh rotating pair (R11) is connected to a driving motor; The twenty-first movable pair (P21) is connected to a driving motor; The thirty-first movable pair (P31) is connected to a driving motor.

2. The driving method of the spatial three-degree-of-freedom parallel stirring robot with complete decoupling characteristics according to claim 1, characterized in that: Specifically, the eleventh rotating pair (R11) is connected to the motor to control the moving platform (3) to rotate around the axis of the eleventh rotating pair (R11); the twenty-first moving pair (P21) is connected to the motor to control the moving platform (3) to rotate around the axis of the twelfth rotating pair (R12); and the thirty-first moving pair (P31) is connected to the motor to control the moving platform (3) to rotate around the axis of the thirteenth rotating pair (R13).

Images