Gear type multi-level coupling parallel mechanism

Abstract

A gear type multi-level coupling parallel mechanism comprises a fixed platform, coupling platforms, a movable platform and three movement branched chains with the same structures, wherein the fixed platform, the coupling platforms and the movable platform are connected by the three movement branched chains with the same structures; three opening grooves which are distributed uniformly are formed in each of the fixed platform, the coupling platforms and the movable platform; two ends of a driving rod in each movement branched chain are separately connected with one end of the fixed platform andone end of a driven rod; the other end of each driven rod is rotatably connected with a first straight-tooth cylindrical gear; each second straight-tooth cylindrical gear is rotatably connected withone end of another driving rod; a first gear is externally engaged with a second gear; the other end of the driving rod is connected with one end of another driven rod; and the other end of the drivenrod is connected with the movable platform. The working space is large, the number of driving units is greatly reduced, forward and inverse kinematics becomes quite easy, and control work in engineering practice is greatly facilitated.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel mechanism. Background technique [0002] Although the parallel mechanism has the advantages of high rigidity, high precision, and good dynamic performance, due to the interference of kinematic pairs and branch chains, and the influence of space singularity, the common shortcoming of the small working space of the parallel mechanism restricts the application level of the parallel mechanism. Many scholars try to adopt the method of simple series connection between multiple parallel mechanisms through a shared platform, that is, the method of hybrid connection, which aims to solve the problem of not only retaining the advantages of parallel mechanisms, but also making up for the lack of working space. In theory, this method does have a significant effect on improving the working space of the parallel mechanism. However, since this connection method requires the installation of power...

AI Technical Summary

Problems solved by technology

However, most of the hybrid mechanisms have the problem that the lower-level drive becomes the load of the upper-level drive, which greatly reduces the dynamic characteristics of the mechanism, and at the same time increases the volume of the upper-level drive. After multiple stages are connected in series, the structure becomes very bloated and loses practical significance.

Moreover, with the increase in the number of parallel joints in the hybrid mechanism, the kinematics forward and reverse solution becomes more and more difficult, and the driving becomes very difficult.

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