A two-branched three-degree-of-freedom planar parallel mechanism and a skin cleaning executor

By designing a two-branch, three-degree-of-freedom planar parallel mechanism, motion decoupling of the skin cleaning actuator is achieved, improving scrubbing efficiency and comfort, and making it suitable for the field of assisted bathing robots.

CN122299583APending Publication Date: 2026-06-30HENAN UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
HENAN UNIV OF SCI & TECH
Filing Date
2026-05-19
Publication Date
2026-06-30

AI Technical Summary

Technical Problem

Existing skin cleaning actuators suffer from complex kinematics and difficult control due to motion coupling, making it difficult to achieve precise scrubbing operations that conform to the curved surface of the human body, and resulting in poor user comfort.

Method used

A two-branch, three-degree-of-freedom planar parallel mechanism is adopted. Through the collaborative design of hybrid branches and single open chains, the two-dimensional translation and rotation of the moving platform are decoupled. Combined with the bath towel holder, reciprocating scrubbing and rotational adjustment in the plane are realized.

Benefits of technology

It simplifies the control process, improves dynamic response speed and motion stability, enhances scrubbing efficiency and user comfort, and better conforms to the human body's curves, making it suitable for the field of assisted bathing robots.

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Abstract

This invention relates to a two-branch, three-degree-of-freedom planar parallel mechanism and a skin-cleaning actuator, belonging to the fields of kinematics and robotics. The mechanism includes a moving platform, a stationary platform, and a hybrid branch and a single open chain connecting the two platforms. The hybrid branch comprises a closed loop structure consisting of a first sub-branch and a second sub-branch, with its output end connected in series with a fourth revolute joint. The single open chain sequentially connects a seventh revolute joint, a second universal joint, an eighth revolute joint, and a third universal joint. The fourth revolute joint and the third universal joint are respectively connected to both ends of the moving platform. Using the first, fifth, and seventh revolute joints on the stationary platform as active joints, the two translational and one rotational movements of the moving platform in the plane can be decoupled, making the translation in the X and Y directions and the rotation around the Z-axis independently controllable. This invention has a simple structure, low inertia, fast response, and excellent motion decoupling characteristics, possessing significant engineering practical value and promising prospects in the field of assisted bathing robots.
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