Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation
A three-dimensional translation and three-dimensional rotation technology, applied in the field of robotics, can solve the problems of affecting the dynamic performance of the mechanism, difficult to achieve high-speed motion, increase the mass and inertia of moving parts, etc., to meet the requirements of complex pick-and-place operations, reduce mass, The effect of reducing institutional complexity
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[0014] The present invention will be further described in detail below in combination with specific embodiments.
[0015] Such as figure 1 As shown, the present invention is a parallel mechanism that can realize three-dimensional translation and three-dimensional rotation, including a fixed frame 2 and a moving platform 9, and six driving devices 1 are fixedly connected to the fixed frame 2.
[0016] Such as figure 2 As shown, the moving platform 9 includes a center plate 10 and a rocker 15 vertically penetrating through the center of the center plate 10, and a Hooke hinge is used between the center plate 10 and the rocker 15 to connect, as figure 2 with image 3 As shown, the Hooke hinge includes a Hooke inner ring 11 and a Hooke outer ring 12, the Hooke inner ring 11 is rotatably connected to the Hooke outer ring 12, and the Hooke outer ring 12 is connected to the center plate 10 Rotationally connected, the upper and lower parts of the rocker 15 are respectively a first...
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