Three rotating decoupling spherical surface parallel robot mechanism

Abstract

The invention discloses a three rotating decoupling spherical surface parallel robot mechanism. The three rotating decoupling spherical surface parallel robot mechanism comprises a base, a movable platform and three branches connecting the base with the movable platform, wherein an arc-shaped connecting rod at one end of each branch is connected with the base through a same revolute pair, the other end of the arc-shaped connecting rod of the first branch is connected with one end of a first right-angle connecting rod through a second revolute pair, the other end of the first right-angle connecting rod is connected with one end of a second right-angle connecting rod through a third revolute pair, the other end of the second right-angle connecting rod is connected with the movable platform through the fourth revolute pair, and the axes of two adjacent revolute pairs in the first branch are perpendicular to each other; the structure of the second branch is the same as the structure of the third branch, the other ends of the arc-shaped connecting rods of the second branch and the third branch are connected with one end of the right-angle connecting rod through the second revolute pair, the other end of the right-angle connecting rod is connected with the movable platform through the third revolute pair, and the axes of two adjacent revolute pairs in the second branch and the third branch are perpendicular to each other. The three rotating decoupling spherical surface parallel robot mechanism is simple in structure, easy to control and capable of achieving the complete decoupling in three rotating directions.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel mechanism. Background technique [0002] The traditional parallel mechanism has the characteristics of good structural rigidity, large bearing capacity, and small cumulative error, which makes it widely used in the fields of robots, virtual axis machine tools, and micro manipulators. But it is also the existence of strong coupling that makes parallel mechanisms have many difficulties in configuration design, analysis and calculation, and mechanism control, which limits the application of parallel mechanisms to a certain extent. [0003] The spherical rotation parallel mechanism refers to a parallel mechanism that drives the moving platform jointly through multiple branch chains so that it can rotate around the center of the sphere on any axis. The spherical parallel mechanism can be widely used in robot joints, radar antenna attitude adjustment, camera positioning and other occa...

AI Technical Summary

Problems solved by technology

However, it is precisely the existence of strong coupling that makes parallel mechanisms have many difficulties in configuration design, analysis and calculation, and mechanism control, which limits the application of parallel mechanisms to a certain extent.

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