CN109176472B - Four-degree-of-freedom decoupling parallel mechanism - Google Patents
Four-degree-of-freedom decoupling parallel mechanism Download PDFInfo
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- CN109176472B CN109176472B CN201811160449.9A CN201811160449A CN109176472B CN 109176472 B CN109176472 B CN 109176472B CN 201811160449 A CN201811160449 A CN 201811160449A CN 109176472 B CN109176472 B CN 109176472B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
The invention discloses a four-degree-of-freedom decoupling parallel mechanism, which comprises a fixed platform, a movable platform and three branched chains, wherein the three branched chains consist of a complex branched chain III, a simple branched chain IV and a simple branched chain V; the fixed platform and the movable platform are connected through three branched chains, and the output motion of the movable platform is formed by the compound motion of the three branched chains. The invention adopts a complex branched chain and two simple branched chains to connect the movable platform and the fixed platform to construct the parallel mechanism, has simple structure, can realize space three-dimensional translation and one-dimensional rotation, can be used for processing and welding operation of industrial complex curved surfaces, is a novel parallel mechanism, and can provide assistance for processing and manufacturing.
Description
Technical Field
The invention relates to a four-degree-of-freedom decoupling parallel mechanism, and belongs to the technical field of parallel robots.
Background
The parallel mechanism has high output precision because of larger strength and rigidity, small accumulated error, so the parallel mechanism is widely paid attention to at home and abroad, and has appeared on the market like the spring bamboo shoots after rain since the 90 th generation. At present, the method for synthesizing the parallel mechanism mainly comprises a displacement subgroup-based method, a spiral theory-based method, a graph theory-based method and a combination method based on a degree of freedom formula, however, most of mechanisms synthesized by the methods have transient characteristics, yang Tingli of Changzhou university teaches to analyze the topological structure of the mechanism, creatively proposes the concept of an azimuth feature set, and uses the concept in parallel mechanism analysis, so that the parallel mechanism has wide attention in the field of parallel mechanisms, and the mechanism synthesized by adopting the theory can have full-circle degree of freedom without transient judgment of the mechanism. Most of the integrated parallel mechanisms are symmetrical and semi-symmetrical mechanisms, and most of the mechanisms are complex mechanisms with coupling degrees larger than 2, and the mechanisms are characterized by very complex forward solutions, kinematics and dynamics solutions, so that decoupling analysis is necessary.
Disclosure of Invention
The invention provides a four-degree-of-freedom decoupling parallel mechanism, which is constructed by connecting a movable platform and a fixed platform through three branched chains, and can realize three-dimensional movement and one-dimensional rotation.
The technical scheme of the invention is as follows: a four-degree-of-freedom decoupling parallel mechanism comprises a fixed platform N, a movable platform M and three branched chains, wherein the three branched chains consist of a complex branched chain III, a simple branched chain IV and a simple branched chain V;
the fixed platform N and the movable platform M are connected through three branched chains, and the compound motion of the three branched chains forms the output motion of the movable platform M;
the complex branched chain III has three-dimensional movement and one-dimensional rotation on the movable platform M;
the simple branched chain IV is a serial chain capable of realizing space 6-degree-of-freedom motion, and does not restrict motion of the movable platform M;
the simple branched chain V is a serial chain capable of realizing space 6-degree-of-freedom motion, and does not restrict motion of the movable platform M;
the structure adopted by the simple branched chain IV is the same as that of the simple branched chain V.
The kinematic pairs at one end of the complex branched chain III, the simple branched chain IV and the simple branched chain V are respectively connected with three corners of the movable platform M, the kinematic pairs at the other end of the complex branched chain III, the other end of the simple branched chain IV and the other end of the simple branched chain V are respectively connected with four sides of the fixed platform M, the side of the fixed platform N connected with the kinematic pairs at the other end of the complex branched chain III is an adjacent side, the kinematic pairs are positioned at the middle points of the sides and keep the axes mutually perpendicular, the kinematic pairs at the other end of the simple branched chain IV and the other end of the simple branched chain V are connected with the other two sides of the fixed platform N and the kinematic pairs are positioned at any positions of the sides, and the three branched chains are not intersected.
The kinematic pairs at one end of three branched chains connected with three corners of the movable platform M are as follows: the kinematic pair of the complex branched chain III is a revolute pair, and the kinematic pair of the simple branched chain IV and the simple branched chain V is a ball pair or a Hooke hinge; the kinematic pairs of two branches at the other end of the complex branched chain III, the other end of the simple branched chain IV and the other end of the simple branched chain V which are used as driving pairs and are respectively connected with four sides of the fixed platform N are as follows: the kinematic pairs of the two branches at the other end of the complex branched chain III are revolute pairs or shifting pairs, and the kinematic pairs of the simple branched chain IV and the simple branched chain V are revolute pairs or shifting pairs; when the kinematic pair of the simple branched chain IV is a kinematic pair, the kinematic pair on the opposite side of the fixed platform N where the kinematic pair is positioned is parallel to the kinematic pair axis; when the kinematic pair of the simple branched chain V is a kinematic pair, the kinematic pair on the opposite side of the fixed platform N where the kinematic pair is positioned is parallel to the minor axis of the kinematic pair.
The movable platform M is configured in any triangle form; the fixed platform N is configured in any quadrilateral form.
The complex branched chain III is formed by compounding a simple branched chain I, a complex branched chain II and a fourth connecting rod 4; the revolute pair R11 at one end of the simple branched chain I is connected with the side of the fixed platform N, the revolute pair R14 at the other end of the simple branched chain I is connected with the revolute pair R22 of the complex branched chain II through a fourth connecting rod 4, the revolute pair R21 at one end of the complex branched chain II is connected with the side of the fixed platform N, and the revolute pair R15 at the other end of the complex branched chain II is connected with the corner of the movable platform M; the rotating pair R11 is perpendicular to the axis of the rotating pair R21, the axes of the rotating pair R14 and the rotating pair R22 are parallel, the axis of the rotating pair R14 is perpendicular to the fixed platform N, and the axes of the rotating pair R22 and the rotating pair R15 are coincident.
The simple branched chain I consists of a revolute pair R11, a revolute pair R12, a revolute pair R13, a revolute pair R14, a first connecting rod 1, a second connecting rod 2 and a third connecting rod 3, and the revolute pair R11 serving as a driving pair can be replaced by a movable pair; one end of a first connecting rod 1 is connected with a fixed platform N through a revolute pair R11, the other end of the first connecting rod 1 is connected with one end of a second connecting rod 2 through a revolute pair R12, the other end of the second connecting rod 2 is connected with one end of a third connecting rod 3 through a revolute pair R13, and the other end of the third connecting rod 3 is connected with one end of a fourth connecting rod 4 through a revolute pair R14; the axes of the revolute pair R11, the revolute pair R12 and the revolute pair R13 are parallel, and the revolute pair R13 is perpendicular to the revolute pair R14.
The complex branched chain II consists of a revolute pair R21, a parallelogram mechanism formed by four ball pairs S1-S2-S3-S4, a revolute pair R22, a revolute pair R15, a fifth connecting rod 5, a sixth connecting rod 6 and a seventh connecting rod 7, and the revolute pair R21 serving as a driving pair can be replaced by a movable pair; one ends of a sixth connecting rod 6 and a seventh connecting rod 7 are respectively welded and fixed on the midpoints of two opposite sides of the parallelogram mechanism, the other end of the seventh connecting rod 7 is connected with the fixed platform N through a revolute pair R21, the other end of the sixth connecting rod 6 is connected with one end of a fifth connecting rod 5 through a revolute pair R22, and the other end of the fifth connecting rod 5 is connected with the movable platform M through a revolute pair R15; the sixth connecting rod 6 is positioned in the same plane with the side rods of the parallelogram mechanism connected with the sixth connecting rod, and the other two sides of the parallelogram mechanism are connected through a rod piece formed by revolute pairs Ra and Rb.
The serial chain of the simple branched chain IV is of an RSS structure and consists of a revolute pair R31, a ball pair S32, a ball pair S33, an eighth connecting rod 8 and a ninth connecting rod 9, wherein the revolute pair R31 serving as a driving pair can be replaced by a shifting pair, so that the branched chain is of a PSS structure, and the action effect of the mechanism is equivalent to that of the RSS branched chain; the ball pair S33 can be replaced by a Hooke joint; one end of the ninth connecting rod 9 is connected with the movable platform M through a ball pair S33, the other end of the ninth connecting rod 9 is connected with one end of the eighth connecting rod 8 through a ball pair S32, and the other end of the eighth connecting rod 8 is connected with the fixed platform N through a revolute pair R31.
The serial chain of the simple branched chain V is of an RSS structure and consists of a revolute pair R41, a ball pair S42, a ball pair S43, a tenth connecting rod 10 and an eleventh connecting rod 11, wherein the revolute pair R41 serving as a driving pair is replaced by a movable pair, so that the branched chain is of a PSS structure, and the action effect of the mechanism is equivalent to that of the RSS branched chain; the ball pair S42 can be replaced by a Hooke joint; one end of the eleventh connecting rod 11 is connected with the movable platform M through a ball pair S43, the other end of the eleventh connecting rod 11 is connected with one end of the tenth connecting rod 10 through a ball pair S42, and the other end of the tenth connecting rod 10 is connected with the fixed platform N through a revolute pair R41.
The beneficial effects of the invention are as follows: the parallel mechanism is constructed by connecting the movable platform and the fixed platform by adopting one complex branched chain and two simple branched chains based on the azimuth feature set theory and the method, has simple structure, is easy to control, can realize spatial three-dimensional translation and one-dimensional rotation, can be used for processing and welding operation of industrial complex curved surfaces, is a novel parallel mechanism, and can provide assistance for processing and manufacturing.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
the reference numerals in the figures are: the device comprises an N-fixed platform, an M-fixed platform, a 1-first connecting rod, a 2-second connecting rod, a 3-third connecting rod, a 4-fourth connecting rod, a 5-fifth connecting rod, a 6-sixth connecting rod, a 7-seventh connecting rod, an 8-eighth connecting rod, a 9-ninth connecting rod, a 10-tenth connecting rod and an 11-eleventh connecting rod.
Detailed Description
The invention will be further described with reference to the drawings and examples, but the invention is not limited to the scope.
Example 1: as shown in FIG. 1, the four-degree-of-freedom decoupling parallel mechanism comprises a fixed platform N, a movable platform M and three branched chains, wherein the three branched chains consist of a complex branched chain III, a simple branched chain IV and a simple branched chain V; the fixed platform N and the movable platform M are connected through three branched chains, and the compound motion of the three branched chains forms the output motion of the movable platform M; the complex branched chain III has three-dimensional movement and one-dimensional rotation on the movable platform M; the simple branched chain IV is a serial chain capable of realizing space 6-degree-of-freedom motion, and does not restrict motion of the movable platform M; the simple branched chain V is a serial chain capable of realizing space 6-degree-of-freedom motion, and does not restrict motion of the movable platform M; the structure adopted by the simple branched chain IV is the same as that of the simple branched chain V.
Further, the kinematic pairs at one end of the complex branched chain iii, the simple branched chain iv and the simple branched chain v may be respectively connected with three corners of the movable platform M, the kinematic pairs at the other end of the complex branched chain iii, the other end of the simple branched chain iv and the other end of the simple branched chain v are respectively connected with four sides of the fixed platform M, the side of the fixed platform N connected with the kinematic pair at the other end of the complex branched chain iii is an adjacent side, the kinematic pairs are located at the midpoints of the sides and keep the axes mutually perpendicular (as seen in fig. 1, that is, the sides of the R11 and the R21 located at the fixed platform are adjacent sides and are located at the midpoints of the sides, the axes of the R11 and the R21 are perpendicular), the other two sides of the fixed platform N connected with the kinematic pairs at the other end of the simple branched chain v are located at any positions of the sides, and the three branched chains are not intersected.
Further, the kinematic pair at one end of three branched chains connected with three corners of the movable platform M can be set as follows: the kinematic pairs of the complex branched chain III are revolute pairs (1 choice), and the kinematic pairs of the simple branched chain IV and the simple branched chain V are ball pairs or Hooke hinges; the kinematic pairs of two branches at the other end of the complex branched chain III, the other end of the simple branched chain IV and the other end of the simple branched chain V which are used as driving pairs and are respectively connected with four sides of the fixed platform N are as follows: the kinematic pairs of the two branches at the other end of the complex branched chain III are revolute pairs or shifting pairs, and the kinematic pairs of the simple branched chain IV and the simple branched chain V are revolute pairs or shifting pairs; when the kinematic pair of the simple branched chain IV is a kinematic pair, the kinematic pair on the opposite side of the fixed platform N where the kinematic pair is positioned is parallel to the kinematic pair axis; when the kinematic pair of the simple branched chain V is a kinematic pair, the kinematic pair on the opposite side of the fixed platform N where the kinematic pair is positioned is parallel to the minor axis of the kinematic pair.
Further, the movable platform M may be configured in any triangle form (e.g., right triangle, acute triangle, obtuse triangle, regular triangle, isosceles triangle, etc.); the fixed platform N is configured in any quadrilateral form (such as trapezoids, various trapezoids, parallelograms, etc.).
Further, the complex branched chain III can be formed by compounding a simple branched chain I, a complex branched chain II and a fourth connecting rod 4; the revolute pair R11 at one end of the simple branched chain I is connected with the side of the fixed platform N, the revolute pair R14 at the other end of the simple branched chain I is connected with the revolute pair R22 of the complex branched chain II through a fourth connecting rod 4, the revolute pair R21 at one end of the complex branched chain II is connected with the side of the fixed platform N, and the revolute pair R15 at the other end of the complex branched chain II is connected with the corner of the movable platform M; the rotating pair R11 is perpendicular to the axis of the rotating pair R21, the axes of the rotating pair R14 and the rotating pair R22 are parallel, the axis of the rotating pair R14 is perpendicular to the fixed platform N, and the axes of the rotating pair R22 and the rotating pair R15 are coincident.
Further, the simple branched chain I can be provided to be composed of a revolute pair R11, a revolute pair R12, a revolute pair R13, a revolute pair R14, a first connecting rod 1, a second connecting rod 2 and a third connecting rod 3, and the revolute pair R11 serving as a driving pair can be replaced by a movable pair; one end of a first connecting rod 1 is connected with a fixed platform N through a revolute pair R11, the other end of the first connecting rod 1 is connected with one end of a second connecting rod 2 through a revolute pair R12, the other end of the second connecting rod 2 is connected with one end of a third connecting rod 3 through a revolute pair R13, and the other end of the third connecting rod 3 is connected with one end of a fourth connecting rod 4 through a revolute pair R14; the axes of the revolute pair R11, the revolute pair R12 and the revolute pair R13 are parallel, and the revolute pair R13 is perpendicular to the revolute pair R14.
Further, the complex branched chain II can be provided to be composed of a revolute pair R21, a parallelogram mechanism composed of four ball pairs S1-S2-S3-S4, a revolute pair R22, a revolute pair R15, a fifth connecting rod 5, a sixth connecting rod 6 and a seventh connecting rod 7, and the revolute pair R21 serving as a driving pair can be replaced by a movable pair; one ends of the sixth connecting rod 6 and the seventh connecting rod 7 are respectively welded and fixed on the midpoints of two opposite sides of the parallelogram mechanism (as shown in fig. 1, one end of the seventh connecting rod 7 is welded and fixed on the midpoint f of the lower side rod S1-S2 of the parallelogram mechanism, the midpoint e of the upper side rod S3-S4 of the parallelogram mechanism is welded and connected with the sixth connecting rod 6), the other end of the seventh connecting rod 7 is connected with the fixed platform N through a revolute pair R21, the other end of the sixth connecting rod 6 is connected with one end of the fifth connecting rod 5 through a revolute pair R22, and the other end of the fifth connecting rod 5 is connected with the movable platform M through a revolute pair R15; the side bars of the parallelogram mechanism connected with the sixth connecting rod 6 are positioned in the same plane, and the other two sides of the parallelogram mechanism are connected through a rod piece formed by rotating pairs Ra and Rb (the parallelogram mechanism S1-S2-S3-S4 in the complex branched chain II generally can cause the change of mechanism characteristics due to assembly errors, so that the rod piece Ra-Rb with the same length as the side bars S3-S4 is required to be added between the two side bars S1-S3 and S2-S4, and the parallelogram mechanism can be ensured to be a parallelogram).
Further, the serial chain of the simple branched chain iv may be provided as an RSS structure, and is composed of a revolute pair R31, a ball pair S32, a ball pair S33, an eighth connecting rod 8 and a ninth connecting rod 9, and the revolute pair R31 as a driving pair may be replaced by a shifting pair, so that the branched chain is a PSS structure, and the action effect of the mechanism is equivalent to the action effect of the RSS branched chain (if R31 is a shifting pair, it is satisfied that R31 is parallel to the axis of R11); the ball pair S33 can be replaced by a Hooke joint; one end of the ninth connecting rod 9 is connected with the movable platform M through a ball pair S33, the other end of the ninth connecting rod 9 is connected with one end of the eighth connecting rod 8 through a ball pair S32, and the other end of the eighth connecting rod 8 is connected with the fixed platform N through a revolute pair R31.
Further, the serial chain of the simple branched chain v may be provided as an RSS structure, and is composed of a revolute pair R41, a ball pair S42, a ball pair S43, a tenth connecting rod 10, and an eleventh connecting rod 11, and the revolute pair R41 as a driving pair is replaced by a shifting pair, so that the branched chain is a PSS structure, and the action effect of the mechanism is equivalent to the RSS branched chain action effect (if R41 is a shifting pair, it is satisfied that R41 is parallel to the R21 axis); the ball pair S42 can be replaced by a Hooke joint; one end of the eleventh connecting rod 11 is connected with the movable platform M through a ball pair S43, the other end of the eleventh connecting rod 11 is connected with one end of the tenth connecting rod 10 through a ball pair S42, and the other end of the tenth connecting rod 10 is connected with the fixed platform N through a revolute pair R41.
The working principle of the invention is as follows:
because the simple branched chain I can output space three-dimensional movement and one-dimensional rotation (3T 1R), the complex branched chain II can output space three-dimensional rotation and two-dimensional rotation (3T 2R), and the compound action of the simple branched chain I and the complex branched chain II enables the output movement of the fifth connecting rod to be three-dimensional movement one-dimensional rotation (3T 1R), wherein the one-dimensional rotation is perpendicular to the plane of the movable platform, and the revolute pair R15 is used for connecting the branched chain and the movable platform M, so that the final output movement of the whole branched chain III is three-dimensional movement one-dimensional rotation (3T 1R). At this time, the parallel mechanism moving platform M has actually been provided with a space three-dimensional movement one-dimensional rotation (3T 1R). When the simple branched chain IV is identical to the simple branched chain V in structure, the effect is identical, the strength and the rigidity of the parallel mechanism are improved, and the revolute pair at the bottom of the fixed platform is used as driving input. The complex branched chain III, the simple branched chain IV and the simple branched chain V are intersected, and the complex branched chain III, the simple branched chain IV and the simple branched chain V are still three-dimensional moving one-dimensional rotating mechanisms.
The four revolute pairs R11, R21, R31 and R41 on the fixed platform should be driving pairs at the same time. When one, two and three driving pairs are fixed in sequence, the device becomes a three-degree-of-freedom, two-degree-of-freedom and single-degree-of-freedom three-translation-one-rotation (3T 1R) parallel mechanism, and the number of independent output movements is three, two and one. Other motions are derivative motions, which can also be understood as derivative motions.
While the present invention has been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (6)
1. A four-degree-of-freedom decoupling parallel mechanism is characterized in that: the device comprises a fixed platform (N), a movable platform (M) and three branched chains, wherein the three branched chains consist of a complex branched chain III, a simple branched chain IV and a simple branched chain V;
the fixed platform (N) and the movable platform (M) are connected through three branched chains, and the compound motion of the three branched chains forms the output motion of the movable platform (M);
the complex branched chain III has three-dimensional movement and one-dimensional rotation on the movable platform (M);
the simple branched chain IV is a serial chain capable of realizing space 6-degree-of-freedom motion, and does not restrict motion of the movable platform (M);
the simple branched chain V is a serial chain capable of realizing space 6-degree-of-freedom motion, and does not restrict motion of the movable platform (M);
the structure adopted by the simple branched chain IV is the same as that of the simple branched chain V;
the motion pairs at one end of the complex branched chain III, the simple branched chain IV and the simple branched chain V are respectively connected with three corners of the movable platform (M), the two branches at the other end of the complex branched chain III, the other end of the simple branched chain IV and the motion pairs at the other end of the simple branched chain V are respectively connected with four sides of the fixed platform (M), the sides of the fixed platform (N) connected with the motion pairs at the two branches at the other end of the complex branched chain III are adjacent sides, the motion pairs are positioned at the midpoints of the sides and keep the axes mutually perpendicular, the other two sides of the fixed platform (N) connected with the motion pairs at the other end of the simple branched chain IV and the other end of the simple branched chain V are positioned at any positions of the sides, and the three branched chains are not intersected;
the kinematic pairs at one end of three branched chains connected with three corners of the movable platform (M) are as follows: the kinematic pair of the complex branched chain III is a revolute pair, and the kinematic pair of the simple branched chain IV and the simple branched chain V is a ball pair or a Hooke hinge; the kinematic pairs of two branches at the other end of the complex branched chain III, the other end of the simple branched chain IV and the other end of the simple branched chain V which are used as driving pairs and are respectively connected with four sides of the fixed platform (N) are as follows: the kinematic pairs of the two branches at the other end of the complex branched chain III are revolute pairs or shifting pairs, and the kinematic pairs of the simple branched chain IV and the simple branched chain V are revolute pairs or shifting pairs; when the kinematic pair of the simple branched chain IV is a kinematic pair, the kinematic pair on the opposite side of the fixed platform (N) where the kinematic pair is positioned is parallel to the minor axis of the kinematic pair; when the kinematic pair of the simple branched chain V is a kinematic pair, the kinematic pair on the opposite side of the fixed platform (N) where the kinematic pair is positioned is parallel to the kinematic pair axis;
the complex branched chain III is formed by compounding a simple branched chain I, a complex branched chain II and a fourth connecting rod (4); the rotating pair R11 at one end of the simple branched chain I is connected with the side of the fixed platform (N), the rotating pair R14 at the other end of the simple branched chain I is connected with the rotating pair R22 of the complex branched chain II through a fourth connecting rod (4), the rotating pair R21 at one end of the complex branched chain II is connected with the side of the fixed platform (N), and the rotating pair R15 at the other end of the complex branched chain II is connected with the angle of the movable platform (M); the rotating pair R11 is perpendicular to the axis of the rotating pair R21, the axes of the rotating pair R14 and the rotating pair R22 are parallel, the axis of the rotating pair R14 is perpendicular to the fixed platform (N), and the axes of the rotating pair R22 and the rotating pair R15 are coincident;
the simple branched chain I consists of a revolute pair R11, a revolute pair R12, a revolute pair R13, a revolute pair R14, a first connecting rod (1), a second connecting rod (2) and a third connecting rod (3); one end of a first connecting rod (1) is connected with a fixed platform (N) through a revolute pair R11, the other end of the first connecting rod (1) is connected with one end of a second connecting rod (2) through a revolute pair R12, the other end of the second connecting rod (2) is connected with one end of a third connecting rod (3) through a revolute pair R13, and the other end of the third connecting rod (3) is connected with one end of a fourth connecting rod (4) through a revolute pair R14; the axes of the revolute pair R11, the revolute pair R12 and the revolute pair R13 are parallel, and the revolute pair R13 is perpendicular to the revolute pair R14;
the complex branched chain II consists of a revolute pair R21, a parallelogram mechanism formed by four ball pairs S1-S2-S3-S4, a revolute pair R22, a revolute pair R15, a fifth connecting rod (5), a sixth connecting rod (6) and a seventh connecting rod (7); one end of a sixth connecting rod (6) and one end of a seventh connecting rod (7) are respectively welded and fixed on the middle points of two opposite sides of the parallelogram mechanism, the other end of the seventh connecting rod (7) is connected with the fixed platform (N) through a revolute pair R21, the other end of the sixth connecting rod (6) is connected with one end of a fifth connecting rod (5) through a revolute pair R22, and the other end of the fifth connecting rod (5) is connected with the movable platform (M) through a revolute pair R15; the sixth connecting rod (6) is positioned in the same plane with the side rod of the parallelogram mechanism connected with the sixth connecting rod, and the other two sides of the parallelogram mechanism are connected through a rod piece formed by rotating pairs Ra and Rb;
the serial chain of the simple branched chain IV is of an RSS structure and consists of a revolute pair R31, a ball pair S32, a ball pair S33, an eighth connecting rod (8) and a ninth connecting rod (9); the ball pair S33 can be replaced by a Hooke joint; one end of a ninth connecting rod (9) is connected with the movable platform (M) through a ball pair S33, the other end of the ninth connecting rod (9) is connected with one end of an eighth connecting rod (8) through a ball pair S32, and the other end of the eighth connecting rod (8) is connected with the fixed platform (N) through a revolute pair R31;
the serial chain of the simple branched chain V is of an RSS structure and consists of a revolute pair R41, a ball pair S42, a ball pair S43, a tenth connecting rod (10) and an eleventh connecting rod (11), wherein the revolute pair R41 serving as a driving pair is replaced by a movable pair, so that the branched chain is of a PSS structure, and the action effect of the mechanism is equivalent to that of the RSS branched chain; one end of an eleventh connecting rod (11) is connected with the movable platform (M) through a ball pair S43, the other end of the eleventh connecting rod (11) is connected with one end of a tenth connecting rod (10) through a ball pair S42, and the other end of the tenth connecting rod (10) is connected with the fixed platform (N) through a revolute pair R41.
2. The four-degree-of-freedom decoupling parallel mechanism of claim 1, wherein: the movable platform (M) is configured in any triangle form; the fixed platform (N) is configured in any quadrilateral form.
3. The four-degree-of-freedom decoupling parallel mechanism of claim 1, wherein: the revolute pair R11 as the driving pair can be replaced with a movable pair.
4. The four-degree-of-freedom decoupling parallel mechanism of claim 1, wherein: the revolute pair R21 as the driving pair can be replaced with a movable pair.
5. The four-degree-of-freedom decoupling parallel mechanism of claim 1, wherein: the revolute pair R31 as a driving pair can be replaced with a shifting pair so that the branched chain is a PSS structure, and the action effect of the mechanism is equivalent to the RSS branched chain action effect.
6. The four-degree-of-freedom decoupling parallel mechanism of claim 1, wherein: the ball pair S42 can be replaced by a hook hinge.
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| CN114559421B (en) * | 2022-04-24 | 2022-07-29 | 西安德普赛科计量设备有限责任公司 | Completely-decoupled cylindrical coordinate 3-movement parallel mechanism |
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