CN113319832A - Three-translation parallel mechanism with symmetrical branches - Google Patents
Three-translation parallel mechanism with symmetrical branches Download PDFInfo
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- CN113319832A CN113319832A CN202110810612.7A CN202110810612A CN113319832A CN 113319832 A CN113319832 A CN 113319832A CN 202110810612 A CN202110810612 A CN 202110810612A CN 113319832 A CN113319832 A CN 113319832A
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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
Abstract
The invention discloses a three-translation parallel mechanism with symmetrical branches, which comprises a fixed platform and a movable platform, wherein a first branched chain, a second branched chain, a third branched chain and a fourth branched chain are arranged between the fixed platform and the movable platform, the first branched chain and the fourth branched chain are symmetrically arranged, and the second branched chain and the third branched chain are symmetrically arranged. The second branched chain and the fourth branched chain respectively comprise two moving pairs which are driving pairs, the first branched chain and the third branched chain comprise one moving pair, the moving pair and the rotating pair connected with the fixed platform are driving pairs, so the parallel mechanism comprises eight driving pairs, and the eight driving pairs drive the movable platform to realize translational motion in three directions relative to the fixed platform. The three-translation parallel mechanism with symmetrical branches has the advantages of symmetrical distribution of the branched chains, strong bearing capacity and simple calculation and control, and can be applied to carrying and sorting of goods, large-sized part precision machine tools, large-sized engineering machinery vibration isolation systems and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a three-translation parallel mechanism with symmetrical branches.
Background
The existing three-translation parallel mechanism has fewer driving pairs and is mostly driven singly, so that the rigidity is low, the bearing capacity is poor and the control is difficult.
Therefore, it is an urgent problem to provide a three-translation parallel mechanism with symmetrical branches.
Disclosure of Invention
The invention aims to provide a three-translation parallel mechanism with symmetrical branches to solve the problems in the prior art, the mechanism has the advantages that the branches comprise closed loop units, the structure is compact, the branches are symmetrically distributed, the rigidity is high, the number of driving pairs is excessive, the freedom degree is high, redundant driving is realized, the condition that the bearing capacity is insufficient due to single driving is avoided, and the performances of the mechanism such as the bearing capacity, the driving stability and the integral rigidity are improved.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a three-translation parallel mechanism with symmetrical branches, which comprises a fixed platform and a movable platform arranged at the top of the fixed platform, wherein a first branched chain, a second branched chain, a third branched chain and a fourth branched chain are arranged between the fixed platform and the movable platform;
the first branch chain comprises a first branch chain first connecting rod, a first branch chain second connecting rod, a first branch chain third connecting rod, a first branch chain sliding block, a first branch chain cylindrical pair, a first branch chain first rotating pair, a first branch chain second rotating pair, a first branch chain third rotating pair and a first branch chain moving pair; the first branch chain moving pair and the first branch chain third rotating pair are driving pairs;
the top end of a first branch chain first connecting rod and the top end of a first branch chain second connecting rod are connected with a cylindrical slide rail arranged at the head end of the movable platform through a first branch chain cylindrical pair, the tail end of the first branch chain first connecting rod is connected with a first branch chain sliding block through a first branch chain first rotating pair, the first branch chain sliding block is connected with a first vertical slide rail arranged at the head end of the fixed platform through a first branch chain moving pair, the tail end of the first branch chain second connecting rod is connected with the top end of a first branch chain third connecting rod through a first branch chain second rotating pair, the tail end of the first branch chain third connecting rod is connected with a first fixed hinged support on the fixed platform through a first branch chain third rotating pair, and the first fixed hinged support is arranged on the inner side of the first vertical slide rail;
the third branched chain comprises a third branched chain first connecting rod, a third branched chain second connecting rod, a third branched chain third connecting rod, a third branched chain sliding block, a third branched chain cylindrical pair, a third branched chain first rotating pair, a third branched chain second rotating pair, a third branched chain third rotating pair and a third branched chain moving pair; the third branched chain sliding pair and the third branched chain third rotating pair are driving pairs;
the top end of the first connecting rod of the third branched chain and the top end of the second connecting rod of the third branched chain are connected with a cylindrical slide rail arranged at the tail end of the movable platform through a cylindrical pair of the third branched chain, the tail end of the first connecting rod of the third branched chain is connected with a slide block of the third branched chain through a first rotating pair of the third branched chain, the slide block of the third branched chain is connected with a third vertical slide rail arranged at the tail end of the fixed platform through a moving pair of the third branched chain, the tail end of the second connecting rod of the third branched chain is connected with the top end of the third connecting rod of the third branched chain through a second rotating pair of the third branched chain, the tail end of the third connecting rod of the third branched chain is connected with a second fixed hinged support on the fixed platform through a third rotating pair of the third branched chain, and the second fixed hinged support is arranged at the inner side of the third vertical slide rail;
the second branched chain comprises a second branched chain first connecting rod, a second branched chain second connecting rod, a second branched chain first sliding block, a second branched chain second sliding block, a second branched chain cylindrical pair, a second branched chain first rotating pair, a second branched chain second rotating pair, a second branched chain first moving pair and a second branched chain second moving pair; the first moving pair of the second branched chain and the second moving pair of the second branched chain are driving pairs;
the top end of a first connecting rod of the second branched chain is connected with the top end of a second connecting rod of the second branched chain through a cylindrical slide rail arranged on one side of the movable platform through a cylindrical pair of the second branched chain, the tail end of the first connecting rod of the second branched chain is connected with a first slide block of the second branched chain through a first rotating pair of the second branched chain, the first slide block of the second branched chain is connected with a second vertical slide rail arranged on one side of the fixed platform through a first moving pair of the second branched chain, the tail end of the second connecting rod of the second branched chain is connected with a second slide block of the second branched chain through a second rotating pair of the second branched chain, the second slide block of the second branched chain is connected with a horizontal slide rail arranged on the fixed platform through a second moving pair of the second branched chain, and the second slide block of the second branched chain is arranged on the inner side of the second vertical slide rail;
the fourth branched chain comprises a fourth branched chain first connecting rod, a fourth branched chain second connecting rod, a fourth branched chain first sliding block, a fourth branched chain second sliding block, a fourth branched chain cylindrical pair, a fourth branched chain first rotating pair, a fourth branched chain second rotating pair, a fourth branched chain first moving pair and a fourth branched chain second moving pair; the fourth branched chain first sliding pair and the fourth branched chain second sliding pair are driving pairs;
the top end of the first connecting rod of the fourth branched chain and the top end of the second connecting rod of the fourth branched chain are connected with a cylindrical sliding rail arranged on the other side of the movable platform through a cylindrical pair of the fourth branched chain, the tail end of the first connecting rod of the fourth branched chain is connected with a first sliding block of the fourth branched chain through a first sliding pair of the fourth branched chain and a fourth vertical sliding rail arranged on the other side of the fixed platform, the tail end of the second connecting rod of the fourth branched chain is connected with a second sliding block of the fourth branched chain through a second sliding pair of the fourth branched chain, the second sliding block of the fourth branched chain is connected with a horizontal sliding rail arranged on the fixed platform through a second sliding pair of the fourth branched chain, and the second sliding block of the fourth branched chain is arranged on the inner side of the fourth vertical sliding rail.
Preferably, the movable platform and the fixed platform are both rectangular platforms, and the cylindrical slide rails are respectively arranged at four sides of the movable platform; the first vertical sliding rail, the second vertical sliding rail, the third vertical sliding rail and the fourth vertical sliding rail are perpendicular to the fixed platform and located at four corners of the fixed platform, and the horizontal sliding rails are arranged on two right-angled connections of the fixed platform where the second vertical sliding rail and the fourth vertical sliding rail are located.
Preferably, the first branch chain and the third branch chain are the same in structure and are symmetrically arranged; the second branched chain and the fourth branched chain are identical in structure and are symmetrically arranged.
Preferably, the first branch chain moving pair, the third branch chain moving pair, the second branch chain first moving pair, the second branch chain second moving pair, the fourth branch chain first moving pair and the fourth branch chain second moving pair are moving pairs generated by a motor driving lead screw, and the first branch chain third rotating pair and the third branch chain third rotating pair are rotating pairs generated by the rotation of the motor.
Preferably, the axes of the first branch chain cylindrical pair, the first branch chain first rotating pair, the first branch chain second rotating pair and the first branch chain third rotating pair are parallel to each other and are perpendicular to the moving direction of the first branch chain moving pair; the axes of the third branched chain cylindrical pair, the third branched chain first rotating pair, the third branched chain second rotating pair and the third branched chain third rotating pair are parallel to each other and are vertical to the movement direction of the third branched chain moving pair.
Preferably, the axes of the second branched chain cylindrical pair, the second branched chain first revolute pair and the second branched chain second revolute pair are parallel to each other and perpendicular to the motion direction of the second branched chain first revolute pair and the motion direction of the second branched chain second revolute pair; the axes of the fourth branched chain cylindrical pair, the fourth branched chain first revolute pair and the fourth branched chain second revolute pair are parallel to each other and are vertical to the motion direction of the fourth branched chain first revolute pair and the motion direction of the fourth branched chain second revolute pair.
Preferably, the first branched chain sliding pair, the third branched chain sliding pair, the second branched chain first sliding pair and the fourth branched chain sliding pair are parallel and are all perpendicular to the fixed platform; the axis of the first branched chain cylinder pair, the first branched chain first rotating pair, the first branched chain second rotating pair, the first branched chain third rotating pair, the third branched chain cylinder pair, the third branched chain first rotating pair, the third branched chain second rotating pair and the third branched chain third rotating pair is perpendicular to the axis of the second branched chain cylinder pair, the second branched chain first rotating pair, the second branched chain second rotating pair, the fourth branched chain cylinder pair, the fourth branched chain first rotating pair and the fourth branched chain second rotating pair.
Compared with the prior art, the invention has the following beneficial technical effects:
according to the three-translation parallel mechanism with symmetrical branches, translation movement of the movable platform relative to the fixed platform in three spatial directions is realized, the number of the driving pairs is larger than that of the freedom degrees, and redundant driving is realized. The parallel mechanism has the advantages of symmetrical distribution of branched chains, strong bearing capacity and simple calculation and control, and can be applied to the carrying and sorting of goods, the precision machine tool of large parts, the vibration isolation system of large engineering machinery and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic perspective view of a three-translation parallel mechanism with symmetrical branches according to the present invention;
FIG. 2 is a side view of a three-translation parallel mechanism of branch symmetry according to the present invention;
FIG. 3 is a schematic perspective view of a three-translation parallel mechanism with symmetrical branches according to the present invention;
FIG. 4 is a front view of a three-translation parallel mechanism of branch symmetry in the present invention;
in the figure: 1-a first branched chain, 1-1-a first branched chain first connecting rod, 1-2-a first branched chain sliding block, 1-3-a first branched chain second connecting rod, 1-4-a first branched chain third connecting rod, 1-5-a first fixed hinged support, 1A-a first branched chain cylindrical pair, 1B-a first branched chain first rotating pair, 1C-a first branched chain moving pair, 1D-a first branched chain second rotating pair and 1E-a first branched chain third rotating pair;
2-a second branched chain, 2-1-a second branched chain first connecting rod, 2-2-a second branched chain first sliding block, 2-3-a second branched chain second connecting rod, 2-4-a second branched chain second sliding block, 2A-a second branched chain cylindrical pair, 2B-a second branched chain first revolute pair, 2C-a second branched chain first revolute pair, 2D-a second branched chain second revolute pair and 2E-a second branched chain second revolute pair;
3-third branched chain, 3-1-third branched chain first connecting rod, 3-2-third branched chain sliding block, 3-3-third branched chain second connecting rod, 3-4-third branched chain third connecting rod, 3-5-second fixed hinged support, 3A-third branched chain cylindrical pair, 3B-third branched chain first rotating pair, 3C-third branched chain moving pair, 3D-third branched chain second rotating pair and 3E-third branched chain third rotating pair;
4-fourth branched chain, 4-1-fourth branched chain first connecting rod, 4-2-fourth branched chain first sliding block, 4-3-fourth branched chain second connecting rod, 4-4-fourth branched chain second sliding block, 4A-fourth branched chain cylindrical pair, 4B-fourth branched chain first revolute pair, 4C-fourth branched chain first revolute pair, 4D-fourth branched chain second revolute pair and 4E-fourth branched chain second revolute pair;
5-moving platform, 6-fixed platform, 7-first vertical slide rail, 8-second vertical slide rail, 9-third vertical slide rail, 10-fourth vertical slide rail, 11-horizontal slide rail and 12-cylindrical slide rail.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a three-translation parallel mechanism with symmetrical branches to solve the problems in the prior art.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The three-translation parallel mechanism with symmetrical branches in this embodiment, as shown in fig. 1 to 4, includes a fixed platform 6 and a movable platform 5 disposed on the top of the fixed platform 6, a first branched chain 1, a second branched chain 2, a third branched chain 3, and a fourth branched chain 4 are disposed between the fixed platform 6 and the movable platform 5, the first branched chain 1 and the third branched chain 3 are identical in structure and are symmetrically disposed, and the second branched chain 2 and the fourth branched chain 4 are identical in structure and are symmetrically disposed. The second branched chain 2 and the fourth branched chain 4 respectively comprise two moving pairs and are driving pairs, the first branched chain 1 and the third branched chain 3 comprise one moving pair, and the moving pair and a rotating pair connected with the fixed platform are driving pairs. Therefore, the parallel mechanism comprises 8 driving pairs in total. By driving 8 sliding pairs including the first branch chain sliding pair 1C, the first branch chain third sliding pair 1E, the second branch chain first sliding pair 2C, the second branch chain second sliding pair 2E, the third branch chain sliding pair 3C, the third branch chain third sliding pair 3E, the fourth branch chain first sliding pair 4C and the fourth branch chain second sliding pair 4E, the movable driving platform 5 realizes translational motion in three spatial directions relative to the fixed platform 6, the number of the driving pairs is larger than that of the degrees of freedom, and redundant driving is realized. The parallel mechanism has the advantages of symmetrical distribution of branched chains, strong bearing capacity and simple calculation and control, and can be applied to the carrying and sorting of goods, the precision machine tool of large parts, the vibration isolation system of large engineering machinery and the like.
In the embodiment, the first branch chain 1 comprises a first branch chain first connecting rod 1-1, a first branch chain second connecting rod 1-3, a first branch chain third connecting rod 1-4, a first branch chain sliding block 1-2, a first branch chain cylindrical pair 1A, a first branch chain first rotating pair 1B, a first branch chain second rotating pair 1D, a first branch chain third rotating pair 1E and a first branch chain moving pair 1C, the top end of the first branch chain first connecting rod 1-1 and the top end of the first branch chain second connecting rod 1-3 are connected with a cylindrical slide rail 12 arranged at the head end of the moving platform 5 through the first branch chain cylindrical pair 1A, the tail end of the first branch chain first connecting rod 1-1 is connected with the first branch chain sliding block 1-2 through the first branch chain first rotating pair 1B, the first branch chain sliding block 1-2 is connected with a first vertical slide rail 7 arranged at the head end of the fixed platform 6 through the first branch chain moving pair 1C, the tail end of a first branch chain second connecting rod 1-3 is connected with the top end of a first branch chain third connecting rod 1-4 through a first branch chain second revolute pair 1D, the tail end of the first branch chain third connecting rod 1-4 is connected with a first fixed hinged support 1-5 on a fixed platform 6 through a first branch chain third revolute pair 1E, and the first fixed hinged support 1-5 is arranged on the inner side of a first vertical slide rail 7;
the third branched chain 3 comprises a third branched chain first connecting rod 3-1, a third branched chain second connecting rod 3-3, a third branched chain third connecting rod 3-4, a third branched chain sliding block 3-2, a third branched chain cylindrical pair 3A, a third branched chain first revolute pair 3B, a third branched chain second revolute pair 3D, a third branched chain third revolute pair 3E and a third branched chain moving pair 3C; the third branched-chain moving pair 3C and the third branched-chain third rotating pair 3E are driving pairs;
the top end of the third branched chain first connecting rod 3-1 and the top end of the third branched chain second connecting rod 3-3 are connected with a cylindrical slide rail 12 arranged at the tail end of the movable platform 5 through a third branched chain cylindrical pair 3A, the tail end of a third branched chain first connecting rod 3-1 is connected with a third branched chain sliding block 3-2 through a third branched chain first rotating pair 3B, the third branched chain sliding block 3-2 is connected with a third vertical sliding rail 9 arranged at the tail end of the fixed platform 6 through a third branched chain moving pair 3C, the tail end of a third branched chain second connecting rod 3-3 is connected with the top end of a third branched chain third connecting rod 3-4 through a third branched chain second rotating pair 3D, the tail end of the third branched chain third connecting rod 3-4 is connected with a second fixed hinged support 3-5 on the fixed platform 6 through a third branched chain third rotating pair 3E, and the second fixed hinged support 3-5 is arranged on the inner side of the third vertical sliding rail 9;
the second branched chain 2 comprises a second branched chain first connecting rod 2-1, a second branched chain second connecting rod 2-3, a second branched chain first sliding block 2-2, a second branched chain second sliding block 2-4, a second branched chain cylindrical pair 2A, a second branched chain first rotating pair 2B, a second branched chain second rotating pair 2D, a second branched chain first moving pair 2C and a second branched chain second moving pair 2E; the second branched chain first sliding pair 2C and the second branched chain second sliding pair 2E are driving pairs;
the top end of the first connecting rod 2-1 of the second branched chain is connected with the top end of the second connecting rod 2-3 of the second branched chain through a cylindrical pair 2A of the second branched chain and a cylindrical slide rail 12 arranged at one side of the movable platform 5, the tail end of a first connecting rod 2-1 of a second branched chain is connected with a first sliding block 2-2 of the second branched chain through a first rotating pair 2B of the second branched chain, the first sliding block 2-2 of the second branched chain is connected with a second vertical sliding rail 8 arranged on one side of a fixed platform 6 through a first moving pair 2C of the second branched chain, the tail end of a second connecting rod 2-3 of the second branched chain is connected with a second sliding block 2-4 of the second branched chain through a second rotating pair 2D of the second branched chain, the second sliding block 2-4 of the second branched chain is connected with a horizontal sliding rail 11 arranged on the fixed platform 6 through a second moving pair 2E of the second branched chain, and the second sliding block 2-4 of the second branched chain is arranged on the inner side of the second vertical sliding rail 8;
the fourth branched chain 4 comprises a fourth branched chain first connecting rod 4-1, a fourth branched chain second connecting rod 4-3, a fourth branched chain first sliding block 4-2, a fourth branched chain second sliding block 4-4, a fourth branched chain cylindrical pair 4A, a fourth branched chain first revolute pair 4B, a fourth branched chain second revolute pair 4D, a fourth branched chain first revolute pair 4C and a fourth branched chain second revolute pair 4E; the fourth branched chain first sliding pair 4C and the fourth branched chain second sliding pair 4E are driving pairs;
the top end of the fourth branched chain first connecting rod 4-1 is connected with the top end of the fourth branched chain second connecting rod 4-3 through a fourth branched chain cylindrical pair 4A and a cylindrical slide rail 12 arranged at the other side of the movable platform 5, the tail end of a fourth branched chain first connecting rod 4-1 is connected with a fourth branched chain first sliding block 4-2 through a fourth branched chain first revolute pair 4B, the fourth branched chain first sliding block 4-2 is connected with a fourth vertical sliding rail 10 arranged on the other side of the fixed platform 6 through a fourth branched chain first moving pair 4C, the tail end of a fourth branched chain second connecting rod 4-3 is connected with a fourth branched chain second sliding block 4-4 through a fourth branched chain second revolute pair 4D, the fourth branched chain second sliding block 4-4 is connected with a horizontal sliding rail 11 arranged on the fixed platform 6 through a fourth branched chain second moving pair 4E, and the fourth branched chain second sliding block 4-4 is arranged on the inner side of the fourth vertical sliding rail 10.
In the present embodiment, the movable platform 5 and the fixed platform 6 are both rectangular platforms, and the cylindrical slide rails 12 are respectively disposed at four sides of the movable platform 5; first vertical slide rail 7, the vertical slide rail 8 of second, the vertical slide rail 9 of third and the vertical slide rail 10 of fourth are perpendicular to and decide platform 6 and are located the four corners department of deciding platform 6, and horizontal slide rail 11 sets up in the connection of two right angles of deciding platform 6 at the vertical slide rail 8 of second, the vertical slide rail 10 of fourth place.
In this embodiment, the first branched-chain sliding pair 1C, the third branched-chain sliding pair 3C, the second branched-chain first sliding pair 2C, the second branched-chain second sliding pair 2E, the fourth branched-chain first sliding pair 4C, and the fourth branched-chain second sliding pair 4E are sliding pairs generated by driving a screw by a motor, and the first branched-chain third revolute pair 1E and the third branched-chain third revolute pair 3E are revolute pairs generated by rotation of the motor.
In this embodiment, the axes of the first branched cylindrical pair 1A, the first branched first revolute pair 1B, the first branched second revolute pair 1D, and the first branched third revolute pair 1E are parallel to each other and perpendicular to the movement direction of the first branched moving pair 1C; the axes of the third branched chain cylindrical pair 3A, the third branched chain first revolute pair 3B, the third branched chain second revolute pair 3D and the third branched chain third revolute pair 3E are parallel to each other and are vertical to the movement direction of the third branched chain revolute pair 3C.
In this embodiment, the axes of the second branched-chain cylindrical pair 2A, the second branched-chain first revolute pair 2B and the second branched-chain second revolute pair 2D are parallel to each other and perpendicular to the moving directions of the second branched-chain first revolute pair 2C and the second branched-chain second revolute pair 2E; the axes of the fourth branched chain cylindrical pair 4A, the fourth branched chain first revolute pair 4B and the fourth branched chain second revolute pair 4D are parallel to each other and perpendicular to the movement direction of the fourth branched chain first revolute pair 4C and the movement direction of the fourth branched chain second revolute pair 4E.
In the present embodiment, the first branched chain sliding pair 1C, the third branched chain sliding pair 3C, the second branched chain first sliding pair 2C, and the fourth branched chain first sliding pair are parallel to 4C, and are all perpendicular to the fixed platform 6; the axis of the first branched chain cylindrical pair 1A, the first branched chain first revolute pair 1B, the first branched chain second revolute pair 1D, the first branched chain third revolute pair 1E, the third branched chain cylindrical pair 3A, the third branched chain first revolute pair 3B, the third branched chain second revolute pair 3D and the third branched chain third revolute pair 3E is perpendicular to the axis of the second branched chain cylindrical pair 2A, the second branched chain first revolute pair 2B, the second branched chain second revolute pair 2D, the fourth branched chain cylindrical pair 4A, the fourth branched chain first revolute pair 4B and the fourth branched chain second revolute pair 4D.
The principle and the implementation mode of the invention are explained by applying specific examples, and the description of the above examples is only used for helping understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.
Claims (7)
1. The utility model provides a branch symmetrical three translation parallel mechanism which characterized in that: the device comprises a fixed platform and a movable platform arranged at the top of the fixed platform, wherein a first branched chain, a second branched chain, a third branched chain and a fourth branched chain are arranged between the fixed platform and the movable platform;
the first branch chain comprises a first branch chain first connecting rod, a first branch chain second connecting rod, a first branch chain third connecting rod, a first branch chain sliding block, a first branch chain cylindrical pair, a first branch chain first rotating pair, a first branch chain second rotating pair, a first branch chain third rotating pair and a first branch chain moving pair; the first branch chain moving pair and the first branch chain third rotating pair are driving pairs;
the top end of a first branch chain first connecting rod and the top end of a first branch chain second connecting rod are connected with a cylindrical slide rail arranged at the head end of the movable platform through a first branch chain cylindrical pair, the tail end of the first branch chain first connecting rod is connected with a first branch chain sliding block through a first branch chain first rotating pair, the first branch chain sliding block is connected with a first vertical slide rail arranged at the head end of the fixed platform through a first branch chain moving pair, the tail end of the first branch chain second connecting rod is connected with the top end of a first branch chain third connecting rod through a first branch chain second rotating pair, the tail end of the first branch chain third connecting rod is connected with a first fixed hinged support on the fixed platform through a first branch chain third rotating pair, and the first fixed hinged support is arranged on the inner side of the first vertical slide rail;
the third branched chain comprises a third branched chain first connecting rod, a third branched chain second connecting rod, a third branched chain third connecting rod, a third branched chain sliding block, a third branched chain cylindrical pair, a third branched chain first rotating pair, a third branched chain second rotating pair, a third branched chain third rotating pair and a third branched chain moving pair; the third branched chain sliding pair and the third branched chain third rotating pair are driving pairs;
the top end of the first connecting rod of the third branched chain and the top end of the second connecting rod of the third branched chain are connected with a cylindrical slide rail arranged at the tail end of the movable platform through a cylindrical pair of the third branched chain, the tail end of the first connecting rod of the third branched chain is connected with a slide block of the third branched chain through a first rotating pair of the third branched chain, the slide block of the third branched chain is connected with a third vertical slide rail arranged at the tail end of the fixed platform through a moving pair of the third branched chain, the tail end of the second connecting rod of the third branched chain is connected with the top end of the third connecting rod of the third branched chain through a second rotating pair of the third branched chain, the tail end of the third connecting rod of the third branched chain is connected with a second fixed hinged support on the fixed platform through a third rotating pair of the third branched chain, and the second fixed hinged support is arranged at the inner side of the third vertical slide rail;
the second branched chain comprises a second branched chain first connecting rod, a second branched chain second connecting rod, a second branched chain first sliding block, a second branched chain second sliding block, a second branched chain cylindrical pair, a second branched chain first rotating pair, a second branched chain second rotating pair, a second branched chain first moving pair and a second branched chain second moving pair; the first moving pair of the second branched chain and the second moving pair of the second branched chain are driving pairs;
the top end of a first connecting rod of the second branched chain is connected with the top end of a second connecting rod of the second branched chain through a cylindrical slide rail arranged on one side of the movable platform through a cylindrical pair of the second branched chain, the tail end of the first connecting rod of the second branched chain is connected with a first slide block of the second branched chain through a first rotating pair of the second branched chain, the first slide block of the second branched chain is connected with a second vertical slide rail arranged on one side of the fixed platform through a first moving pair of the second branched chain, the tail end of the second connecting rod of the second branched chain is connected with a second slide block of the second branched chain through a second rotating pair of the second branched chain, the second slide block of the second branched chain is connected with a horizontal slide rail arranged on the fixed platform through a second moving pair of the second branched chain, and the second slide block of the second branched chain is arranged on the inner side of the second vertical slide rail;
the fourth branched chain comprises a fourth branched chain first connecting rod, a fourth branched chain second connecting rod, a fourth branched chain first sliding block, a fourth branched chain second sliding block, a fourth branched chain cylindrical pair, a fourth branched chain first rotating pair, a fourth branched chain second rotating pair, a fourth branched chain first moving pair and a fourth branched chain second moving pair; the fourth branched chain first sliding pair and the fourth branched chain second sliding pair are driving pairs;
the top end of the first connecting rod of the fourth branched chain and the top end of the second connecting rod of the fourth branched chain are connected with a cylindrical sliding rail arranged on the other side of the movable platform through a cylindrical pair of the fourth branched chain, the tail end of the first connecting rod of the fourth branched chain is connected with a first sliding block of the fourth branched chain through a first sliding pair of the fourth branched chain and a fourth vertical sliding rail arranged on the other side of the fixed platform, the tail end of the second connecting rod of the fourth branched chain is connected with a second sliding block of the fourth branched chain through a second sliding pair of the fourth branched chain, the second sliding block of the fourth branched chain is connected with a horizontal sliding rail arranged on the fixed platform through a second sliding pair of the fourth branched chain, and the second sliding block of the fourth branched chain is arranged on the inner side of the fourth vertical sliding rail.
2. The branch symmetric three-translation parallel mechanism according to claim 1, wherein: the movable platform and the fixed platform are rectangular platforms, and the cylindrical slide rails are respectively arranged at the four sides of the movable platform; the first vertical sliding rail, the second vertical sliding rail, the third vertical sliding rail and the fourth vertical sliding rail are perpendicular to the fixed platform and located at four corners of the fixed platform, and the horizontal sliding rails are arranged on two right-angled connections of the fixed platform where the second vertical sliding rail and the fourth vertical sliding rail are located.
3. The branch symmetric three-translation parallel mechanism according to claim 1, wherein: the first branched chain and the third branched chain have the same structure and are symmetrically arranged; the second branched chain and the fourth branched chain are identical in structure and are symmetrically arranged.
4. The branch symmetric three-translation parallel mechanism according to claim 1, wherein: the first branch chain moving pair, the third branch chain moving pair, the second branch chain first moving pair, the second branch chain second moving pair, the fourth branch chain first moving pair and the fourth branch chain second moving pair are moving pairs generated by driving a screw rod by a motor, and the first branch chain third rotating pair and the third branch chain third rotating pair are rotating pairs generated by rotating the motor.
5. The branch symmetric three-translation parallel mechanism according to claim 1, wherein: the axes of the first branch chain cylindrical pair, the first branch chain first rotating pair, the first branch chain second rotating pair and the first branch chain third rotating pair are parallel to each other and are vertical to the motion direction of the first branch chain moving pair; the axes of the third branched chain cylindrical pair, the third branched chain first rotating pair, the third branched chain second rotating pair and the third branched chain third rotating pair are parallel to each other and are vertical to the movement direction of the third branched chain moving pair.
6. The branch symmetric three-translation parallel mechanism according to claim 5, wherein: the axes of the second branched chain cylindrical pair, the second branched chain first revolute pair and the second branched chain second revolute pair are parallel to each other and are vertical to the motion direction of the second branched chain first revolute pair and the motion direction of the second branched chain second revolute pair; the axes of the fourth branched chain cylindrical pair, the fourth branched chain first revolute pair and the fourth branched chain second revolute pair are parallel to each other and are vertical to the motion direction of the fourth branched chain first revolute pair and the motion direction of the fourth branched chain second revolute pair.
7. The branch symmetric three-translation parallel mechanism according to claim 5, wherein: the first branched chain moving pair, the third branched chain moving pair, the second branched chain first moving pair and the fourth branched chain moving pair are parallel and are vertical to the fixed platform; the axis of the first branched chain cylinder pair, the first branched chain first rotating pair, the first branched chain second rotating pair, the first branched chain third rotating pair, the third branched chain cylinder pair, the third branched chain first rotating pair, the third branched chain second rotating pair and the third branched chain third rotating pair is perpendicular to the axis of the second branched chain cylinder pair, the second branched chain first rotating pair, the second branched chain second rotating pair, the fourth branched chain cylinder pair, the fourth branched chain first rotating pair and the fourth branched chain second rotating pair.
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