Two-rotation and two-movement parallel mechanism with coupling branches
A coupling branch and parallel technology, applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., to achieve the effects of reducing singular configurations, good rigidity, and easy production and processing
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[0022] Further description will be given below in conjunction with the embodiments shown in the accompanying drawings.
[0023] Such as figure 1 , figure 2 The shown two-rotating-two-moving parallel mechanism with coupling branches includes a base 5, a first branch 1, a second branch 2, a third branch 3, a fourth branch 4 and a moving platform 6; wherein, the first branch, the second branch The second branch and the third branch are connected in parallel between the base and the moving platform, and the fourth branch is connected between the first branch and the second branch as a coupling branch.
[0024] Both the first branch and the second branch are RPU branches, wherein R represents a revolving pair, P represents a moving pair, and U represents a Hooke hinge; the third branch is an SPS branch, wherein S represents a spherical pair; the fourth The branch is an RPR branch. Specifically, one end of the first branch is the first rotating pair connected to the base, the mi...
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