Four-degree-of-freedom parallel connection mechanism

Abstract

The invention relates to a four-degree-of-freedom parallel connection mechanism. The four-degree-of-freedom parallel connection mechanism comprises a movable platform and a stationary platform which are arranged in a vertically spaced manner; four movement branched chains are connected between the movable platform and the stationary platform; two adjacent movement branched chains form a first group of kinematic chains; the other two movement branched chains form a second group of kinematic chains; four points in any cross section of the first group of kinematic chains and the second group of kinematic chains can be connected end to end to define a quadrangel; each of the two movement branched chains in the first group of kinematic chains comprises a moving pair and two universal joints; each of the two movement branched chains in the second group of kinematic chains comprises a moving pair, a universal joint and a rotating pair; the rotating axes of the two rotating pairs are located in the same straight line; the other ends of the moving pairs are connected with the stationary platform through the rotating pairs; and the four moving pairs are driving pieces. The four-degree-of-freedom parallel connection mechanism merely has four degrees of freedom, the redundant degree of freedom is omitted, a larger stroke can be obtained with a small size, and an overall structure is simpleand symmetrical.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a four-degree-of-freedom parallel mechanism. Background technique [0002] At present, in the field of robotics, six-degree-of-freedom industrial robots are the most widely used, with high flexibility, large working range, and relatively moving parts on the joints are easy to seal and prevent dust. Among them, the six-degree-of-freedom motion platform can simulate various spatial motion postures, so It is widely used in various simulation training devices, such as flight simulators, ship simulators, naval helicopter take-off and landing simulation platforms, and so on. [0003] Among them, when studying and analyzing the influence of sunlight on spaceborne equipment in the space environment, it is necessary to test the changes and responses of the spaceborne equipment when it is illuminated by different directions and angles in a vacuum environment on the ground. The platform is ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a four-degree-of-freedom parallel mechanism to solve the technical problem of large space size and redundant degrees of freedom in the prior art

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