Novel plane two-degree-of-freedom redundant drive parallel moving platform

Abstract

The invention discloses a novel plane two-degree-of-freedom redundant drive parallel moving platform, and belongs to the technical field of mechanical manufacturing. The novel plane two-degree-of-freedom redundant drive parallel moving platform comprises a moving platform, parallel guide rails, three equal-length branch chains, a telescopic branch chain and slide blocks; the positions of the slide blocks on the corresponding guide rails and the lengths of the telescopic branch chains are controlled under driving of a servo motor; and the moving platform has two translation degrees of freedom in the plane. Because a parallel mechanism is adopted, the moving platform has the advantages of high rigidity and good dynamic performance; the telescopic branch chains are taken as the redundant drive branch chains, a pull pressure sensor is installed close to the connection point of the telescopic branch chains and the moving platform, preset pull pressure force can be applied to the moving platform by utilizing the servo motor at the point along the directions of the telescopic branch chains through force enclosed loop control. Through optimizing the size and direction of applied load of the redundant drive branch chains, the rigidity and dynamic performance of the mechanism can be improved further.

Description

technical field [0001] The invention belongs to the technical field of mechanical manufacturing, in particular to a novel planar two-degree-of-freedom redundant drive parallel mobile platform. Background technique [0002] As a highly versatile device, the mobile platform can be used for carrying, positioning, and handling, and has been widely used in machine tools, automobiles, aviation, medical and other industries. With the continuous development of technology towards high speed, high efficiency, precision and automation, various related industries have put forward higher and higher requirements for the rapidity, positioning accuracy and carrying capacity of mobile platforms. [0003] At present, the common planar mobile platform is mainly composed of a single-degree-of-freedom linear feed system connected in series, and the transmission methods include ball screw, worm gear, rack and pinion transmission, etc. The single-degree-of-freedom linear system has the characteri...

AI Technical Summary

Problems solved by technology

However, there are still some unavoidable shortcomings in the application of the mobile platform formed by the series of single-degree-of-freedom linear systems

If the tandem mobile platform driven by the ball screw is used, under heavy load conditions, it will be deformed due to insufficient rigidity; under high-speed operation, the vibration caused by the elastic deformation of the ball screw will affect its positioning accuracy

The mobile platform using worm gear transmission has poor dynamic characteristics, low operating efficiency, and it is difficult to achieve high positioning accuracy

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