Three-translation 2cpr-uru parallel mechanism

Abstract

The invention relates to a three degrees-of-freedom translational 2CPR-URU parallel mechanism. The mechanism comprises a moving platform, a fixed platform and moving branched chains enabling the moving platform and the fixed platform to be connected. The moving branched chains include the first moving branched chain, the second moving branched chain and the third moving branched chain. The first moving branched chain and the second moving branched chain are arranged symmetrically. The third moving branched chain is located between the first moving branched chain and the second moving branchedchain. The first moving branched chain and the second moving branched chain are same in structure and each comprise a moving branched chain sleeve rod, a slide rod and a cylinder pair. The first endsof the moving branched chain sleeve rods are hinged to the moving platform, the first moving branched chain sleeve rods and the slide rods are connected to form moving pairs correspondingly, and the second end of the first slide rod is connected with the fixed platform through the first cylinder pair. The third moving branched chain comprises connecting rods, universal hinges and a third rotatingpair. One ends of the two connecting rods are connected through the third rotating pair. The other ends of the connecting rods are connected with the moving platform and the fixed platform through theuniversal hinges correspondingly. The parallel mechanism provided by the invention is simple in structure, small in number of the moving pairs, compact in structure and high in operating speed.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a three-translation 2CPR-URU parallel mechanism. Background technique [0002] The parallel mechanism is a kind of mechanical structure opposite to the series mechanism. Unlike the series mechanism similar to the human arm, the parallel mechanism is a closed-chain mechanical structure composed of multiple parallel kinematic chains, including a fixed platform, a moving platform and connecting them. Multiple motion sub-chains. Compared with the series mechanism, the parallel mechanism has the advantages of high rigidity, compact structure, small cumulative error, and good dynamic performance. Parallel mechanisms are divided into six-degree-of-freedom parallel mechanisms and few-degree-of-freedom parallel mechanisms. The six-degree-of-freedom parallel mechanism has significant shortcomings such as strong kinematic coupling, complex kinematics forward solution, and small working space, and i...

AI Technical Summary

Problems solved by technology

The six-degree-of-freedom parallel mechanism has significant shortcomings such as strong kinematic coupling, complex kinematics forward solution, and small work space, and in many application fields, six-degree-of-freedom is not required

The existing three-translation parallel mechanism has the problems of complex mechanical structure, large number of kinematic pairs, small working space, and large inertia of the end effector, which lead to low operating speed of the mechanism.

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