Novel dual annular guide rail double rotation parallel mechanism

Abstract

The invention discloses a novel dual annular guide rail double rotation parallel mechanism. The novel dual annular guide rail double rotation parallel mechanism comprises a static platform and a dynamic platform; a driven branched chain, a first drive branched chain and a second drive branched chain are connected between the static platform and the dynamic platform; the dynamic platform comprises a drive annular guide rail; a driven annular guide rail is fixed on the circumference of the inner wall of the drive annular guide rail; the symmetric center plane of the upper and lower surfaces of the driven annular guide rail coincides with the symmetric center plane of the upper and lower surfaces of the drive annular guide rail; and the center point of the driven annular guide rail coincides with the center point of the drive annular guide rail, so as to form the center point of the dynamic platform; the central axis of the driven annular guide rail coincides with the central axis of the drive annular guide rail; After employing the device, the rotation center point inside each branched chain coincides with each other; the driven branched chain limits the mobility of the drive branched chain; the driven branched chain of the mechanism is connected with the static platform and the dynamic platform, thus providing excellent rigidity performance for the mechanism in the perpendicular direction; due to the introduction of annular guide rails, the mechanism is more likely to achieve large angle rotation in two degrees of freedom.

Description

technical field [0001] The invention relates to a two-rotation parallel mechanism, and mainly relates to a novel double-ring guide rail two-rotation parallel mechanism. Background technique [0002] The two-rotation parallel mechanism has broad application prospects in the industrial field, and can be used for positioning and tracking devices for inter-satellite link satellites, robotic shoulder / wrist joints, minimally invasive surgical robotic hands, etc. The above application fields require that the rotating parallel mechanism has the advantages of large rotation angle, flexible movement, and easy assembly. In addition, in order to better support satellites, robot arms, surgical instruments, etc. to achieve positioning tracking, attitude adjustment and other operations, two rotations The parallel mechanism must have a certain stiffness performance. [0003] At present, the proposed parallel mechanism mainly has the following deficiencies: 1) The proposed two-rotation para...

AI Technical Summary

Problems solved by technology

[0003]At present, the proposed parallel mechanism mainly has the following shortcomings: 1) The proposed two-rotation parallel mechanism has a complex structure, and interference between the rods is easy to occur, and it is impossible to achieve a large angle Rotation, as described in patents CN 102079090 A and CN 102294693 A, the mechanism is composed of multiple branch chains, the structure is complex, and the branch chain composition includes complex hinges, which limits the rotation ability and movement flexibility of the mechanism; 2) the existing mechanism cannot Provide sufficient rigidity to complete the required operations, such as the structural features of the mechanism described in patents CN 102126212 A and CN103624559 A can be equivalent to a type of planar mechanism, which cannot provide sufficient support stiffness for the normal direction of the mechanism, so it cannot support satellites , robot arm, etc. to complete the required tracking and positioning operations

[0004] To sum up, the existing two-rotation parallel mechanism has deficiencies and cannot meet the requirements of the above application fields

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