(2T1R) and 1T four-degree-of-freedom decoupling parallel and serial mechanism
A hybrid mechanism and degree of freedom technology, applied in the field of robotics, can solve the problems of poor decoupling of the hybrid mechanism and the scarcity of the hybrid mechanism, and achieve the effect of improving the performance of the parallel mechanism, simple assembly, and stable structure
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[0015] exist figure 2 , 3 In the schematic diagram of a three-moving-one-rotating four-degree-of-freedom decoupling space hybrid mechanism, the fixed platform 1 and the moving platform 27 have a rectangular structure, and there are cylindrical guide rails on the adjacent two sides of the fixed platform, and the center line of the guide rail and the fixed bottom surface Parallel; one end of the first connecting rod 3 in the branch one is connected with the cylindrical guide rail on the fixed platform 1 through the cylindrical pair 2, the other end of the connecting rod 3 is connected with the parallelogram hinge 4, and the other end of the parallelogram hinge 4 is connected with the second The connecting rod 5 is connected, the other end of the second connecting rod 5 is connected with the third connecting rod 7 through the rotating joint 6, the other end of the connecting rod 7 is connected with the fourth connecting rod 9 through the rotating joint 8, and the other end of th...
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