Two-rotation one-movement parallel mechanism capable of realizing motion decoupling

Abstract

The invention discloses a two-rotation one-movement parallel mechanism capable of realizing motion decoupling, and relates to the technical field of robots and spatial mechanisms. The parallel mechanism comprises a fixed platform, a movable platform and three branch chains for connecting the two platforms, wherein the two branch chains are respectively formed from the fixed platform to the movable platform through a rotating pair R, a moving pair P, a hooke joint T and a connecting rod therein; and the other one branch chain is formed from the fixed platform to the movable platform through a spherical pair S, a moving pair P, a rotating pair R and a connecting rod therein. According to the invention, the two-dimensional rotation and the one-dimensional movement are realized by the working platforms, and the output of a decoupling motion is realized by the three motion freedoms. In addition, the position and the posture of the movable platform can be adjusted by controlling the displacement of the moving pair P in each chain. The parallel mechanism provided by the invention has advantages of simple and novel structure, simplicity in forward / inverse motion, large working space and convenience in controlling method. Therefore, the parallel mechanism has a wide application foreground in various fields such as robot technology, machining, positioning devices and sensors.

Description

technical field [0001] The invention belongs to the technical field of robots and space mechanisms, and in particular relates to a two-rotation-one-movement parallel mechanism capable of realizing motion decoupling. Background technique [0002] The Stewart platform proposed by Stewart in 1965 is composed of upper and lower platforms and 6 driving rods. The driving rods can be independently expanded and retracted, and are connected to the upper and lower platforms by ball hinges respectively. In this way, the upper platform has 6 degrees of freedom. With the continuous deepening of research on various parallel mechanisms, people will collectively refer to all mechanisms that connect the upper and lower platforms through two or more branch chains, the mechanism has two or more degrees of freedom, and the driving mode is parallel drive. is a parallel mechanism. Compared with the traditional serial mechanism, the parallel mechanism has the advantages of large load capacity, hi...

AI Technical Summary

Problems solved by technology

However, the existing mechanisms of this type, such as: 3-RPS parallel mechanism, 3-PRS parallel mechanism, etc., have a large number of linear motion pairs, high requirements for the processing and assembly of parts, and the rotation and translation of the mechanism. The coupling of kinematics makes the kinematics solution very cumbersome and complicated, which limits the practical application range of this type of mechanism to a certain extent.

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