Parallel mechanism with three motion modes of 3r, 2r1t and 1r2t

Abstract

The parallel mechanism with three motion modes of 3R, 2R1T and 1R2T disclosed by the present invention includes a fixed platform and a moving platform, and the fixed platform is respectively connected to the first branch chain, the second branch chain, the third branch chain and the eighth connecting rod. On the moving platform, the moving platform is a curved surface, one end of the first branch chain is connected to the fixed platform, the other end is connected to the moving platform, one end of the second branch chain is connected to the fixed platform, and the other end is connected to the eighth connecting rod. On one free end, one end of the third branch chain is connected to the fixed platform, the other end is connected to one free end of the eighth connecting rod, and the other free end of the eighth connecting rod is connected to the rotating pair R 4 , revolving pair R 4 Connected on the moving platform; the parallel mechanism disclosed by the invention can meet the requirements of complex curved surface processing. Suitable for operators who work on curved surfaces, can be used for welding aircraft fuselages, and can also be used for assembly of aircraft wings.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a parallel mechanism with three motion modes of 3R, 2R1T and 1R2T. Background technique [0002] The parallel robot mechanism is a closed-chain form with multiple degrees of freedom and multiple loops in space. Since the 1980s, parallel mechanisms have been widely used in virtual axis machine tools, micro-motion consoles, motion simulators and multi-dimensional force sensors because of their high rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. Widely used in other industries. Parallel mechanisms have 2, 3, 4, 5 or 6 degrees of freedom. At present, the research on parallel mechanisms with 6 degrees of freedom is relatively comprehensive and in-depth, but the reduction of degrees of freedom in parallel mechanisms will make the mechanism structure simpler, manufacturing and control The cost is relatively low, so in the cas...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a parallel mechanism with three motion modes of 3R, 2R1T and 1R2T, which solves the problem that the parallel mechanism with three motion modes of 3R, 2R1T, and 2T1R at the same time has a complicated transformation process. The parallel mechanism of the present invention The mechanism can meet the requirements of complex curved surface processing

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