CN116394223A - Symmetrical two-rotation one-movement full-redundancy driving parallel mechanism with composite spherical hinge - Google Patents
Symmetrical two-rotation one-movement full-redundancy driving parallel mechanism with composite spherical hinge Download PDFInfo
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Abstract
The invention provides a symmetrical two-rotation one-movement full-redundancy driving parallel mechanism comprising a fixed platform, a movable platform and movable branched chains, wherein the movable platform is connected with the fixed platform through six movable branched chains, the movable branched chains are identical and are in RPS configuration, each movable branched chain comprises a driving rod and a spherical hinge opening, a first end of the driving rod is rotationally connected with the fixed platform through a revolute pair, two connecting rods in the driving rod are slidingly connected through a movable pair, two sides of the spherical hinge opening are respectively provided with an interface for rotationally connecting the driving rod, and a second end of the driving rod is rotationally connected with the movable platform through the spherical hinge opening. The invention forms a redundant driving over-constraint parallel mechanism by the linear driving mechanism of the driving rod in the moving branched chain, realizes the rotation of the moving platform around the X axis and the Y axis and the movement of the moving platform along the Z axis, has the advantages of strong bearing capacity, high stability, high rigidity, convenient control, simple mechanical installation interface and the like, and is applied to processing occasions requiring high precision, high rigidity and larger load.
Description
Technical Field
The invention relates to a parallel mechanism, belongs to the field of robots, and in particular relates to a symmetrical two-rotation one-movement full-redundancy driving parallel mechanism with a composite spherical hinge.
Background
The two-to-one-shift parallel mechanism belongs to a typical few-degree-of-freedom parallel mechanism, and is widely focused in academic and industrial fields due to the characteristics of simple structure, easy control and the like. Among the parallel mechanisms with less degrees of freedom, there are mechanisms with different structures and identical kinematic characteristics, and the mechanisms are called as motion equivalent mechanisms. Currently, the parallel machine tool bodies with wider application mostly adopt two-rotation one-shift mechanisms, such as a Tricept mechanism (us 4732525), a parallel body 3-PRS mechanism of a Z3 power drill bit (WO 2000025976) and a parallel body 2-UPR+SPR mechanism of an Exechon machine tool (WO 2006054935).
The inventor K.E. Neumann doctor of the Tricept mechanism notes that joint geometry errors, clearances, etc. are the major sources of parallel machine tool accuracy problems (Adaptive in-jig high load Exechon maching & assembly technology SAE International, 08 AMT-0044). Although parallel machine tools with few joints often have over-constraint, the manufacturing and assembling difficulties of the machine tools are increased, from the perspective of improving the precision and rigidity of the mechanism, parallel machine tools with few joints and few invalid degrees of freedom are still a better choice. Based on this, k.e. neumann doctor proposes an Exechon mechanism containing two overconstraints, which acts with a joint number of 2, which is currently widely adopted in the industry. The Chinese patent No. CN202113388268.3 discloses a two-rotation one-movement few-joint multi-redundancy driving parallel mechanism which comprises a fixed platform, a movable platform, five branched chains connected with the movable platform and the fixed platform, wherein the first branched chain and the third branched chain have the same RPU structure. The parallel mechanism has the advantages of less joint number, simple structure, high rigidity, decoupling of the motion part, easy control and the like, and can realize a motion mode of two rotations and one movement.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a symmetrical two-to-one-shift full-redundancy driving parallel mechanism with a composite spherical hinge, which is characterized in that a driving rod of a moving branched chain is used for carrying out telescopic driving to drive the mechanism to move, and the redundant driving branched chain or a joint is added to realize the optimal distribution of driving force of equipment, reduce the requirements on the mechanical strength of the branched chain of the equipment and the loading capacity of a driving unit, realize the design of the equipment with light weight and high reliability, and have the advantages of strong bearing capacity, high stability, high rigidity, convenient control, simple mechanical installation interface and the like.
The invention provides a symmetrical two-rotation one-movement full-redundancy driving parallel mechanism comprising a composite spherical hinge, wherein the full-symmetry driving parallel mechanism comprises a fixed platform, a movable platform and a movable branched chain, the movable platform is connected with the fixed platform through six movable branched chains, each movable branched chain is in an RPS (reactive power system) configuration, each movable branched chain comprises a driving rod and a spherical hinge opening, a first end of the driving rod is rotationally connected with the fixed platform through a revolute pair, two connecting rods in the driving rod are slidingly connected through the revolute pair, two sides of the spherical hinge opening are respectively provided with an interface for rotationally connecting the driving rod, a second end of the driving rod is rotationally connected with the movable platform through the spherical hinge opening, the full-symmetry movable branched chain comprises a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain and a sixth branched chain, the first branched chain, the second branched chain and the third branched chain are positioned at the triangular position of the fixed platform, the fourth branched chain, the fifth branched chain and the sixth branched chain are positioned in the fixed platform, the axis of the first revolute pair is in a full-rotation mode of 30 degrees, and the axis of the first revolute pair is in a full-rotation mode of being arranged with the axis of the revolute pair; all revolute pairs are located in the same plane, the axis of the first revolute pair is parallel to the axis of the fourth revolute pair, the axis of the second revolute pair is parallel to the axis of the fifth revolute pair, and the axis of the third revolute pair is parallel to the axis of the sixth revolute pair.
Preferably, the semi-symmetrical driving parallel mechanism comprises a fixed platform, a movable platform and a moving branched chain, the movable platform is connected with the fixed platform through six moving branched chains, each moving branched chain has the same RPS configuration, each moving branched chain comprises a driving rod and a spherical hinge opening, a first end of the driving rod is rotationally connected with the fixed platform through a revolute pair, two connecting rods in the driving rod are slidingly connected through a movable pair, two sides of the spherical hinge opening are respectively provided with an interface for rotationally connecting the driving rod, a second end of the driving rod is rotationally connected with the movable platform through the spherical hinge opening, the semi-symmetrical moving branched chain comprises a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain and a sixth branched chain, the first branched chain, the second branched chain, the third branched chain, the fourth branched chain and the fifth branched chain are all positioned on the periphery side of the fixed platform, the sixth branched chain is positioned in the fixed platform, the axis of the first revolute pair is perpendicular to the X axis, the axis of the second revolute pair is parallel to the X axis, and the semi-symmetrical moving branched chain is arranged in a manner of being perpendicular to the X axis; all revolute pairs are located in the same plane, the axis of the first revolute pair is parallel to the axis of the fourth revolute pair, the axis of the second revolute pair is parallel to the axis of the fifth revolute pair, and the axis of the third revolute pair is parallel to the axis of the sixth revolute pair.
Preferably, the fixed platform and the movable platform are both in equilateral triangle structures, and the centroids of the fixed platform and the movable platform are positioned on the same plumb line.
Preferably, the first branched chain and the fourth branched chain are connected with the movable platform through a shared first ball pair, the second branched chain and the fifth branched chain are connected with the movable platform through a shared second ball pair, and the third branched chain and the sixth branched chain are connected with the movable platform through a shared third ball pair.
Preferably, the first branched chain, the fourth branched chain and the fixed platform form an isosceles triangle, wherein the first branched chain and the fourth branched chain are waists; the second branched chain, the fifth branched chain and the fixed platform form an isosceles triangle, wherein the second branched chain and the fifth branched chain are waists; the third branched chain, the sixth branched chain and the fixed platform form an isosceles triangle, wherein the third branched chain and the sixth branched chain are waists.
Preferably, when the movable platform is parallel to the fixed platform, the projection of the first ball pair on the fixed platform is a point on a connecting line of the first revolute pair and the fourth revolute pair, the projection of the second ball pair on the fixed platform is a point on a connecting line of the second revolute pair and the fifth revolute pair, and the projection of the third ball pair on the fixed platform is a point on a connecting line of the third revolute pair and the fourth revolute pair.
Preferably, all the moving pairs are linear driving pairs, and all the rotating pairs and the ball pairs are passive pairs.
Preferably, the moving branched chain is divided into a full-symmetrical moving branched chain and a half-symmetrical moving branched chain according to the arrangement form of the moving branched chain on the fixed platform, wherein the moving branched chain connected with the fixed platform in the full-symmetrical manner is arranged in an equilateral triangle, three moving branched chains are positioned at the triangle of the fixed platform, and the other three moving branched chains are positioned at the inner triangle of the fixed platform; five motion branched chains in the semi-symmetrical type are positioned at the corners of the fixed platform, the other one is positioned in the fixed platform, and the connection modes of the full-symmetrical motion branched chains and the semi-symmetrical motion branched chains are completely the same as those of the movable platform.
The two-rotation one-movement full-redundancy driving parallel mechanism disclosed by the invention is characterized by comprising the following steps of:
wherein the order of the mechanism is lambda=6, the number of components with the rack is n=14, the number of kinematic pairs is g=18, f i The degree of freedom of the ith kinematic pair is represented, the number of degrees of freedom of the movable pair, the revolute pair and the ball pair in the mechanism is 30, the over-constraint number v=6, the parameters are sequentially put into a formula, F represents the degree of freedom of the mechanism, and F=3 is calculated. The driving number of the whole mechanism is 6, the degree of freedom is 3, and the driving number is larger than the degree of freedom number, so that a redundant driving parallel mechanism is formed, the stress characteristic of the mechanism is improved by the redundant driving parallel mechanism, the singular configuration of the mechanism can be avoided, and meanwhile, the rigidity and the bearing capacity of the mechanism are greatly improved by over-restricting the parallel mechanism.
Compared with the prior art, the invention has the following advantages:
1. the symmetrical two-rotation one-movement full-redundancy driving parallel mechanism with the composite spherical hinge provided by the invention has the advantages that the driving rod in the moving branched chain is used for carrying out telescopic driving to drive the mechanism to move, the redundant driving over-constraint parallel mechanism is formed, and the movement or stress adjustment performance of the mechanism is better through the mutual coordination of a plurality of redundant driving branched chains, so that the multi-angle optimization of the mechanism performance is realized.
2. The symmetrical two-to-one-shift full-redundancy driving parallel mechanism with the composite spherical hinge realizes the optimal distribution of the driving force of the equipment by adding the redundancy driving branched chains or joints, reduces the requirements on the mechanical strength of the branched chains of the equipment and the loading capacity of the driving unit, and realizes the design of the equipment with light weight and high reliability.
3. The symmetrical two-to-one-shift full-redundancy driving parallel mechanism with the composite spherical hinge has the advantages of being large in bearing capacity, good in each item and the like, and the two-to-one-shift full-redundancy driving parallel mechanism with the composite spherical hinge has the advantages of being small in freedom degree of each moving branched chain, identical in branched chain structure, convenient to process and manufacture of equipment, and capable of combining the passive overconstrained parallel mechanism and the redundant driving parallel mechanism.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a fully redundant drive parallel mechanism of the fully symmetric connection mode of the present invention;
FIG. 2 is a schematic top view of a fully redundant drive parallel mechanism of the present invention;
FIG. 3 is a schematic diagram of a fully redundant drive parallel mechanism of the fully symmetric connection of the present invention;
FIG. 4 is a schematic diagram of the overall structure of a semi-symmetrical connection type full-redundant drive parallel mechanism of the present invention;
FIG. 5 is a schematic top view of a semi-symmetrical connection full-redundant drive parallel mechanism of the present invention;
fig. 6 is a schematic diagram of a semi-symmetrical connection type full-redundancy driving parallel mechanism according to the present invention.
The main reference numerals:
a fixed platform 1, a movable platform 2, a first branched chain 3, a second branched chain 4, a third branched chain 5, a fourth branched chain 6, a fifth branched chain 7, a sixth branched chain 8, a first revolute pair 31, a second revolute pair 41, a third revolute pair 51, a fourth revolute pair 61, a fifth revolute pair 71, a sixth revolute pair 81, a first revolute pair 32, a second revolute pair 42, a third revolute pair 52, a fourth revolute pair 62, a fifth revolute pair 72, a sixth revolute pair 82, a first ball pair 33, a second ball pair 43, and a third ball pair 53.
Detailed Description
In order to make the technical content, the structural features, the achieved objects and the effects of the present invention more detailed, the following description will be taken in conjunction with the accompanying drawings.
The invention relates to a symmetrical two-rotation one-movement full-redundancy driving parallel mechanism comprising a composite spherical hinge, which is shown in figure 1, wherein the full-symmetry driving parallel mechanism comprises a fixed platform 1, a movable platform 2 and a movable branched chain, the movable platform 2 is connected with the fixed platform 1 through six movable branched chains, each movable branched chain has the same RPS structure, each movable branched chain comprises a driving rod and a spherical hinge opening, a first end of the driving rod is rotationally connected with the fixed platform 1 through a revolute pair, two connecting rods in the driving rod are slidingly connected through the revolute pair, two sides of the spherical hinge opening are respectively provided with an interface for rotationally connecting the driving rod, a second end of the driving rod is rotationally connected with the movable platform 2 through the spherical hinge opening, the full-symmetry movable branched chain comprises a first branched chain 3, a second branched chain 4, a third branched chain 5, a fourth branched chain 6, a fifth branched chain 7 and a sixth branched chain 8, the first branched chain 3, the second branched chain 4 and the third branched chain 5 are positioned at the triangular position of the fixed platform 1, the fourth branched chain 6, the fifth branched chain 7 and the sixth branched chain 8 are positioned in the fixed platform 1, the first branched chain 31 and the second branched chain and the X shaft are provided with an included angle of 30 degrees, and the X shaft is provided with a third pair of an included angle of 30 degrees, and the X shaft is provided with the X shaft is vertical to the X shaft and the X shaft is provided with an included angle of 30 degrees. All the revolute pairs are located in the same plane, the axis of the first revolute pair 31 is parallel to the axis of the fourth revolute pair 61, the axis of the second revolute pair 41 is parallel to the axis of the fifth revolute pair 71, and the axis of the third revolute pair 51 is parallel to the axis of the sixth revolute pair 81. The first 32 and fourth 62 kinematic pair axes intersect the first ball pair 33, the second 42 and fifth 72 kinematic pair axes intersect the second ball pair 43, and the third 52 and sixth 82 kinematic pair axes intersect the third ball pair 53.
As shown in fig. 4, the semi-symmetrical driving parallel mechanism comprises a fixed platform 1, a movable platform 2 and a moving branched chain, the movable platform 2 is connected with the fixed platform 1 through six moving branched chains, each moving branched chain has the same RPS configuration, each moving branched chain comprises a driving rod and a spherical hinge opening, a first end of the driving rod is rotationally connected with the fixed platform 1 through a revolute pair, two connecting rods in the driving rod are slidingly connected through the revolute pair, two sides of the spherical hinge opening are respectively provided with an interface for rotationally connecting the driving rod, a second end of the driving rod is rotationally connected with the movable platform 2 through the spherical hinge opening, the semi-symmetrical moving branched chain comprises a first branched chain 3, a second branched chain 4, a third branched chain 5, a fourth branched chain 6, a fifth branched chain 7 and a sixth branched chain 8, the first branched chain 3, the second branched chain 4, the third branched chain 5, the fourth branched chain 6 and the fifth branched chain 7 are all positioned on the periphery side of the fixed platform 1, the sixth branched chain 8 is positioned in the fixed platform 1, the axis of the first revolute pair 31 is perpendicular to the X axis, the axis of the second revolute pair 41 is parallel to the X axis, and the axis of the third revolute pair 51 is perpendicular to the X axis. All the revolute pairs are located in the same plane, the axis of the first revolute pair 31 is parallel to the axis of the fourth revolute pair 61, the axis of the second revolute pair 41 is parallel to the axis of the fifth revolute pair 71, and the axis of the third revolute pair 51 is parallel to the axis of the sixth revolute pair 81.
As shown in fig. 1 and 4, the first branch 3 and the fourth branch 6 are connected to the movable platform 2 by sharing the first ball pair 33, the second branch 4 and the fifth branch 7 are connected to the movable platform 2 by sharing the second ball pair 43, and the third branch 5 and the sixth branch 6 are connected to the movable platform 2 by sharing the third ball pair 53. The first branched chain 3, the fourth branched chain 6 and the fixed platform 1 form an isosceles triangle, and the first branched chain 3 and the fourth branched chain 6 are waists. The second branched chain 4, the fifth branched chain 7 and the fixed platform 1 form an isosceles triangle, and the second branched chain 4 and the fifth branched chain 7 are waists. The third branched chain 5, the sixth branched chain 8 and the fixed platform 1 form an isosceles triangle, wherein the third branched chain 5 and the sixth branched chain 8 are waists. All the moving pairs are driving pairs driven by straight lines, and all the rotating pairs and the ball pairs are passive pairs.
As shown in fig. 2 and 5, the fixed platform 1 and the movable platform 2 are both in equilateral triangle structures, and the centroids of the fixed platform 1 and the movable platform 2 are located on the same plumb line. When the movable platform 2 is parallel to the fixed platform 1, the projection of the first ball pair 33 on the fixed platform 1 is a point on the connection line of the first revolute pair 31 and the fourth revolute pair 61, the projection of the second ball pair 43 on the fixed platform 1 is a point on the connection line of the second revolute pair 41 and the fifth revolute pair 71, and the projection of the third ball pair 53 on the fixed platform 1 is a point on the connection line of the third revolute pair 51 and the fourth revolute pair 81. According to the arrangement form of the motion branched chains on the fixed platform 1, the motion branched chains are divided into full-symmetrical motion branched chains and semi-symmetrical motion branched chains, wherein the motion branched chains connected with the fixed platform 1 in the full-symmetrical mode are arranged in an equilateral triangle, three motion branched chains are positioned at the triangle of the fixed platform 1, and the other three motion branched chains are positioned at the inner triangle of the fixed platform 1. Five motion branched chains in the semi-symmetrical type are positioned at the corners of the fixed platform 1, the other one is positioned in the fixed platform 1, and the connection mode of the full-symmetrical type motion branched chains and the semi-symmetrical type motion branched chains is completely the same as that of the movable platform 2.
As shown in fig. 3 and 6, the two-to-one-shift full-redundancy driving parallel mechanism of the invention uses a degree of freedom G-K calculation formula:
wherein the order of the mechanism is lambda=6, the number of components with the rack is n=14, the number of kinematic pairs is g=18, f i The degree of freedom of the ith kinematic pair is represented, the number of degrees of freedom of the movable pair, the revolute pair and the ball pair in the mechanism is 30, the over-constraint number v=6, the parameters are sequentially put into a formula, F represents the degree of freedom of the mechanism, and F=3 is calculated. The driving number of the whole mechanism is 6, the degree of freedom is 3, and the driving number is larger than the degree of freedom number, so that a redundant driving parallel mechanism is formed, the stress characteristic of the mechanism is improved by the redundant driving parallel mechanism, the singular configuration of the mechanism can be avoided, and meanwhile, the rigidity and the bearing capacity of the mechanism are greatly improved by over-restricting the parallel mechanism.
The symmetrical two-to-one-shift full-redundancy driving parallel mechanism with the composite spherical hinge is further described by the following embodiment:
as shown in FIGS. 3 and 6, the fixed coordinate system O-XYZ is on the fixed platform 1, the movable coordinate system O-XYZ is on the movable platform 2, and the triangle A 1 A 2 A 3 Trilateral A 4 A 5 A 6 All are regular triangles, and the origin O is the regular triangleA 1 A 2 A 3 Center of (C), X-axis and A 1 A 2 The connecting line is vertical, trilateral B 1 B 2 B 3 Is a regular triangle, the origin o is B 1 B 2 B 3 Center of (C), X-axis and B 1 B 2 The connection line is vertical. OA of order i ＝R 1 (i＝1,2,3)，oB i ＝r(i＝1,2,3)，OA i ＝R 2 (i=4, 5, 6), wherein point a 1 、A 2 、A 3 、A 4 、A 5 、A 6 、B 1 、B 2 And B 3 Respectively represent a first revolute pair 31 hinge point, a second revolute pair 41 hinge point, a third revolute pair 51 hinge point, a fourth revolute pair 61 hinge point, a fifth revolute pair 71 hinge point, a sixth revolute pair 81 hinge point, a first ball pair 33 hinge point, a second ball pair 43 hinge point and a third ball pair 53 hinge point.
In the fixed coordinate system O-XYZ, the degree of freedom of the general position type of the mechanism is analyzed, and the obtained result has more general applicability. Thus B 1 、B 2 、B 3 The coordinates of the points are denoted as (x) 1 y 1 z 1 )、(x 2 y 2 z 2 )、(x 3 y 3 z 3 ) Branch A 1 B 1 、A 2 B 2 、A 3 B 3 、A 4 B 4 、A 5 B 5 、A 6 B 6 The directional cosine of the middle sliding pair is respectively expressed as (d) 1 m 1 n 1 )、(d 2 m 2 n 2 )、(d 3 m 3 n 3 )、(d 4 m 4 n 4 )、(d 5 m 5 n 5 )、(d 6 m 6 n 6 )。
Branch A 1 B 1 For the RPS branch, the motion helix of this branch is denoted as:
the reverse helix of the helix system (1.1) is:
similarly available, branch A i B i The reverse helices of (i=2, 3,4,5, 6) are:
the helices of formulae (1.2) and (1.3) were simplified to give:
from equation (1.4), the 3 constraint lines are independent, so that the 3 degrees of freedom of the movable platform 2 are constrained, and the constrained motion comprises two movements of the movable platform 2 and a rotation around the normal line of the movable platform 2. Therefore, the mechanism is a three-degree-of-freedom parallel mechanism with two rotations and one movement, and can realize the rotation of the movable platform 2 around the X axis and the Y axis and the movement of the movable platform in the Z axis direction.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (9)
1. A symmetrical two-to-one-shift full-redundancy driving parallel mechanism containing a composite spherical hinge is characterized by comprising a fixed platform, a movable platform and a movable branched chain, wherein the movable platform is connected with the fixed platform through six movable branched chains, each movable branched chain has the same RPS configuration,
each motion branched chain comprises a driving rod and a spherical hinge opening, a first end of the driving rod is rotationally connected with the fixed platform through a revolute pair, two connecting rods in the driving rod are in sliding connection through a shifting pair, two sides of the spherical hinge opening are respectively provided with an interface for rotationally connecting the driving rod, a second end of the driving rod is rotationally connected with the movable platform through the spherical hinge opening,
the full-symmetrical type movement branched chain comprises a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain and a sixth branched chain, wherein the first branched chain, the second branched chain and the third branched chain are positioned at the triangular position of the fixed platform, the fourth branched chain, the fifth branched chain and the sixth branched chain are positioned in the fixed platform, the included angle between the axis of the first revolute pair and the X axis is 30 degrees, the included angle between the axis of the second revolute pair and the X axis is 30 degrees, and the axis of the third revolute pair is perpendicular to the X axis;
all revolute pairs are located in the same plane, the axis of the first revolute pair is parallel to the axis of the fourth revolute pair, the axis of the second revolute pair is parallel to the axis of the fifth revolute pair, and the axis of the third revolute pair is parallel to the axis of the sixth revolute pair.
2. A symmetrical two-to-one-shift full-redundancy driving parallel mechanism containing a composite spherical hinge is characterized in that the half-symmetrical driving parallel mechanism comprises a fixed platform, a movable platform and a movable branched chain, wherein the movable platform is connected with the fixed platform through six movable branched chains, each movable branched chain structure is of an RPS configuration,
each motion branched chain comprises a driving rod and a spherical hinge opening, a first end of the driving rod is rotationally connected with the fixed platform through a revolute pair, two connecting rods in the driving rod are in sliding connection through a shifting pair, two sides of the spherical hinge opening are respectively provided with an interface for rotationally connecting the driving rod, a second end of the driving rod is rotationally connected with the movable platform through the spherical hinge opening,
the semi-symmetrical type movement branched chain comprises a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain and a sixth branched chain, wherein the first branched chain, the second branched chain, the third branched chain, the fourth branched chain and the fifth branched chain are all positioned on the outer peripheral side of the fixed platform, the sixth branched chain is positioned in the fixed platform, the axis of the first revolute pair is vertical to an X axis, the axis of the second revolute pair is parallel to the X axis, and the axis of the third revolute pair is vertical to the X axis;
all revolute pairs are located in the same plane, the axis of the first revolute pair is parallel to the axis of the fourth revolute pair, the axis of the second revolute pair is parallel to the axis of the fifth revolute pair, and the axis of the third revolute pair is parallel to the axis of the sixth revolute pair.
3. The symmetrical two-to-one-shift full-redundancy driving parallel mechanism with the composite spherical hinge according to claim 1 or 2, wherein the fixed platform and the movable platform are of equilateral triangle structures, and the centroids of the fixed platform and the movable platform are positioned on the same plumb line.
4. The symmetrical two-to-one-shift full-redundancy driving parallel mechanism with the composite spherical hinge according to claim 1 or 2, wherein the first branched chain and the fourth branched chain are connected with the movable platform through a shared first spherical pair, the second branched chain and the fifth branched chain are connected with the movable platform through a shared second spherical pair, and the third branched chain and the sixth branched chain are connected with the movable platform through a shared third spherical pair.
5. The symmetrical two-to-one-shift full-redundancy driving parallel mechanism with the composite spherical hinge as claimed in claim 4, wherein the first branched chain, the fourth branched chain and the fixed platform form an isosceles triangle, and the first branched chain and the fourth branched chain are waists; the second branched chain, the fifth branched chain and the fixed platform form an isosceles triangle, and the second branched chain and the fifth branched chain are waists; the third branched chain, the sixth branched chain and the fixed platform form an isosceles triangle, wherein the third branched chain and the sixth branched chain are waists.
6. The symmetrical two-to-one-shift full-redundancy driving parallel mechanism with the composite spherical hinge according to claim 1 or 2, wherein when the movable platform is parallel to the fixed platform, the projection of the first spherical pair on the fixed platform is a point on a connecting line of the first revolute pair and the fourth revolute pair, the projection of the second spherical pair on the fixed platform is a point on a connecting line of the second revolute pair and the fifth revolute pair, and the projection of the third spherical pair on the fixed platform is a point on a connecting line of the third revolute pair and the fourth revolute pair.
7. The symmetrical two-to-one-shift full-redundancy driving parallel mechanism with the composite spherical hinge according to claim 1 or 2, wherein all the moving pairs are driving pairs driven by straight lines, and all the revolute pairs and the spherical pairs are passive pairs.
8. The symmetrical two-to-one-shift full-redundancy driving parallel mechanism with the composite spherical hinge according to claim 1 or 2, wherein the symmetrical two-to-one-shift full-redundancy driving parallel mechanism is characterized in that the symmetrical two-to-one-shift full-redundancy driving parallel mechanism is divided into full-symmetry moving branched chains and half-symmetry moving branched chains according to the arrangement form of the moving branched chains on the fixed platform, the moving branched chains connected with the fixed platform in the full-symmetry are arranged in an equilateral triangle, three moving branched chains are positioned at the triangle of the fixed platform, and the other three moving branched chains are positioned at the inner triangle of the fixed platform; five motion branched chains in the semi-symmetrical type are positioned at the corners of the fixed platform, the other one is positioned in the fixed platform, and the connection modes of the full-symmetrical motion branched chains and the semi-symmetrical motion branched chains are completely the same as those of the movable platform.
9. The symmetrical two-to-one-shift full-redundancy driving parallel mechanism with the composite spherical hinge according to claim 1 or 2, wherein the degree of freedom G-K is calculated as:
wherein the order of the mechanism is lambda=6, the number of components with the rack is n=14, the number of kinematic pairs is g=18, f i The degree of freedom of the ith kinematic pair is represented, the number of degrees of freedom of the kinematic pair, the revolute pair and the ball pair in the mechanism is 30, the oversupply number v=6, the parameters are sequentially brought into a formula, F represents the degree of freedom of the mechanism, and the number of degrees of freedom of the mechanism is calculatedCalculating to obtain F=3; the driving number of the mechanism is 6, the degree of freedom is 3, and the driving number is larger than the degree of freedom, so that the redundant driving parallel mechanism is formed.
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| CN202310316235.0A CN116394223A (en) | 2023-03-28 | 2023-03-28 | Symmetrical two-rotation one-movement full-redundancy driving parallel mechanism with composite spherical hinge |
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| CN202310316235.0A CN116394223A (en) | 2023-03-28 | 2023-03-28 | Symmetrical two-rotation one-movement full-redundancy driving parallel mechanism with composite spherical hinge |
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