Four-branch-chain six-degree-of-freedom series-parallel mechanism

Abstract

The invention relates to a four-branch-chain six-degree-of-freedom series-parallel mechanism. The four-branch-chain six-degree-of-freedom series-parallel mechanism comprises a fixed platform, slidingguide rails arranged on the fixed platform, two sliding blocks, a movable platform and four linear driving branch chains connected with the movable platform, the first sliding block and the second sliding block; the movable platform is square, and the first sliding block and the second sliding block are identical in structure and shape and are L-shaped; the first linear driving branch chain and the third linear driving branch chain in the four linear driving branch chains are identical in structure, and the second linear driving branch chain and the fourth linear driving branch chain are identical in structure; and the movable platform can realize six degrees of freedom, the four linear driving branch chains coordinately drive to achieve two movements and two rotational degrees of freedom,and the first sliding block and the second sliding block coordinately drive to achieve the other movement and rotational degrees of freedom. The four-branch-chain six-degree-of-freedom series-parallel mechanism has few branch chains, simple structure, simple kinematic model, high motion decoupling property, large working space, high carrying capacity and high application prospect.

Description

technical field [0001] The invention relates to the field of robots, and more specifically, the invention relates to a four-chain six-degree-of-freedom hybrid mechanism. Background technique [0002] An object has six degrees of freedom in space, including three movements along three Cartesian axes and three rotations about three Cartesian axes, namely (X, Y, Z, α, β, γ). If the six degrees of freedom of the object in space are determined, the position and attitude of the object in space are also determined. [0003] The most common six-degree-of-freedom parallel mechanism is the Stewart platform with six telescopic drive cylinders. Since the platform was invented, because it has six degrees of freedom in space, it can completely determine the arbitrary motion posture of the object in space. Advantages, are widely used in various simulators, such as tank simulators, flight simulators, car driving simulators and ship simulators. However, the classic Stewart platform has lar...

AI Technical Summary

Problems solved by technology

However, due to the characteristics of its own mechanism, the inertia is large during the movement process, and the bearing capacity is low and the stiffness is small.

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