WO2022088508A1 - 一种约束冗余的两转动两移动四自由度并联机构 - Google Patents

一种约束冗余的两转动两移动四自由度并联机构 Download PDF

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Publication number
WO2022088508A1
WO2022088508A1 PCT/CN2021/070772 CN2021070772W WO2022088508A1 WO 2022088508 A1 WO2022088508 A1 WO 2022088508A1 CN 2021070772 W CN2021070772 W CN 2021070772W WO 2022088508 A1 WO2022088508 A1 WO 2022088508A1
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moving
pair
frame
branches
axis
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PCT/CN2021/070772
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English (en)
French (fr)
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柴馨雪
徐灵敏
李秦川
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浙江理工大学
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Publication of WO2022088508A1 publication Critical patent/WO2022088508A1/zh

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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

Definitions

  • the invention relates to the field of industrial robots, in particular to a constrained redundant two-rotation, two-movement, four-degree-of-freedom parallel mechanism.
  • the parallel mechanism is a multi-space closed-loop mechanism.
  • the fixed platform and the moving platform are connected in parallel by two or more branches, and the position and attitude of the moving platform can be changed by driving the branches to achieve multi-degree-of-freedom output.
  • the parallel mechanism has the advantages of good overall stiffness, high precision, strong load capacity, and good dynamic performance. Spraying, surface grinding, etc.
  • two-rotation and one-movement three-degree-of-freedom parallel mechanisms can be combined with two series-moving guide rails or two-degree-of-freedom series pendulums.
  • the corner head forms a five-degree-of-freedom hybrid processing robot, which is used in the processing and grinding of aerospace structural parts and other fields.
  • the two-rotation, two-movement, four-degree-of-freedom parallel mechanism has less related configuration designs.
  • the hybrid processing robot can be used in the fields of material handling and parts processing, and can also form a five-degree-of-freedom by combining a single-degree-of-freedom moving guide rail.
  • the hybrid processing robot has a certain advantage in the field of high precision due to the small error caused by the single-degree-of-freedom series guide rail.
  • a two-rotation, two-movement, four-degree-of-freedom parallel mechanism with constrained redundancy can be designed, which can improve the bearing capacity and avoid some singular positions. Therefore, it is necessary to design a two-rotation, two-movement, four-degree-of-freedom parallel mechanism with constrained redundancy.
  • the purpose of the present invention is to overcome the deficiencies in the above-mentioned background technology, and to provide a two-rotation, two-movement, four-degree-of-freedom parallel mechanism with redundant constraints.
  • the parallel mechanism has high precision/rigidity, fast operation speed, good dynamic performance and large bearing capacity The advantages.
  • a two-rotation, two-movement, four-degree-of-freedom parallel mechanism with constrained redundancy is characterized in that: the parallel mechanism includes a frame, a moving platform, and two first branches and two second branches connected in parallel between the frame and the moving platform.
  • Two branches the first branch includes a first moving pair, a first spherical hinge, a first connecting rod and a second spherical hinge sequentially connected between the frame and the moving platform;
  • the second branch includes The second moving pair, the first rotating pair, the second connecting rod and the first Hooke hinge between the frame and the moving platform; in the second branch: the first rotating shaft of the first Hooke hinge is connected with the moving platform, and is connected with the first Hooke hinge.
  • the axis of the second rotating shaft of the first Hooke hinge connected with the two connecting rods is parallel to the axis of the first rotating pair and perpendicular to the moving axis of the second moving pair.
  • the two first branches are arranged symmetrically to the second branch, and the two second branches are arranged symmetrically to the first branch; in the two second branches: the axes of the first rotation shafts of the two first Hooke hinges coincide; The axes of the second rotation shafts of the two first Hooke hinges are parallel to each other.
  • the first moving pair includes a first moving auxiliary guide rail connected with the frame, and a first moving auxiliary sliding block connected with the first spherical hinge and slidingly matched with the first moving auxiliary guide rail;
  • the second moving pair includes and a second moving auxiliary guide rail connected with the frame, and a second moving auxiliary sliding block connected with the first rotating pair and slidably matched with the second moving auxiliary guide rail.
  • the axis of the first moving auxiliary guide rail and the axis of the second moving auxiliary guide rail are both arranged perpendicular to the horizontal plane.
  • the first moving pair and the second moving pair are driving pairs; the driving mechanisms of the first moving pair and the second moving pair are both ball screw mechanisms driven by motors.
  • a two-rotation, two-movement, four-degree-of-freedom parallel mechanism with constrained redundancy is characterized in that: the parallel mechanism includes a frame, a moving platform, and two first branches and two second branches connected in parallel between the frame and the moving platform.
  • the first branch includes a first bearing seat and a second bearing seat, a third Hooke hinge, a third moving pair and a third spherical hinge, which are sequentially connected between the frame and the moving platform;
  • the third Hooke The first rotating shaft of the hinge cooperates with the first bearing seat and the second bearing seat installed on the frame to form a rotating pair;
  • the third moving auxiliary sliding block cooperates with the third moving auxiliary connecting rod to form a third moving pair;
  • the second rotating shaft of the Hook hinge is connected with the third moving auxiliary sliding block;
  • the axis of the second rotating shaft of the third Hook hinge is perpendicular to the third moving auxiliary axis;
  • the frame rotating pair consists of the third bearing seat and the fourth bearing seat installed on the frame, and the shaft connecting the slider of the fourth moving pair
  • the fourth moving pair is formed by the fourth moving pair sliding block, which is formed in cooperation with the fourth moving pair link connecting the
  • the two first branches are arranged symmetrically to the two second branches; in the two first branches: the axes of the first rotating shafts of the two third Hooke hinges connected to the frame coincide, and the two third Hooke hinges
  • the axes of the second rotating shafts are parallel;
  • the two second branches are arranged symmetrically to the two first branches; in the two second branches: the axes of the first rotating shafts of the two fourth Hooke hinges connected to the moving platform coincide, and the two The axes of the second rotating shafts of the fourth Hooke hinges are parallel.
  • the third moving auxiliary link is connected with the third spherical hinge; the fourth moving auxiliary sliding block is connected with the rotating shaft of the frame rotating pair.
  • the third moving pair and the fourth moving pair are driving pairs; the driving mechanisms of the third moving pair and the fourth moving pair are both ball screw mechanisms driven by motors.
  • the parallel mechanism proposed by the invention is a constrained redundant two-rotation, two-movement, four-degree-of-freedom parallel mechanism, which has the advantages of high rigidity/precision, good dynamic response performance, large bearing capacity, etc., and can be used for grinding and polishing of complex curved surfaces, materials Sorting and handling, etc.
  • FIG. 1 is a schematic three-dimensional structure diagram of Embodiment 1 of the present invention.
  • FIG. 2 is a schematic three-dimensional structure diagram of the first branch in FIG. 1 .
  • FIG. 3 is a schematic three-dimensional structural diagram of the second branch in FIG. 1 .
  • FIG. 4 is a schematic three-dimensional structure diagram of Embodiment 2 of the present invention.
  • FIG. 5 is a schematic three-dimensional structural diagram of the first branch in FIG. 4 .
  • FIG. 6 is a schematic three-dimensional structure diagram of the second branch in FIG. 4 .
  • a two-rotation, two-movement, four-degree-of-freedom parallel mechanism with constrained redundancy includes a frame (omitted from the figure), a moving platform 1, and a parallel connection between the frame and the moving platform. Two first branches and two second branches.
  • the first branch includes a first moving auxiliary guide rail 11 and a first moving auxiliary sliding block 12 that are sequentially connected between the frame and the moving platform (the first moving auxiliary guide rail and the first moving auxiliary sliding block cooperate to form a first moving auxiliary rail).
  • the first spherical hinge 13 the first connecting rod 14 and the second spherical hinge 15; in the first branch: the first spherical hinge is connected between the first connecting rod and the first moving pair, and the second spherical hinge is connected to the first between a connecting rod and the moving platform.
  • the second branch includes a second moving auxiliary guide rail 21 and a second moving auxiliary sliding block 22 which are sequentially connected between the frame and the moving platform (the second moving auxiliary guide rail and the second moving auxiliary sliding block cooperate to form a second moving auxiliary rail).
  • the first rotating pair 23 the second connecting rod 24 and the first Hooke hinge 25; in the second branch: the first rotating shaft of the first Hooke hinge is connected with the moving platform, and the first connecting rod connected with the second connecting rod
  • the axis of the second rotating shaft of the Hooke hinge is parallel to the axis of the first rotating pair and perpendicular to the moving axis of the second moving pair.
  • the two first branches are arranged symmetrically to the second branch, and the two second branches are arranged symmetrically to the first branch.
  • the axes of the first rotating shafts of the two first Hooke hinges coincide; the axes of the second rotating shafts of the two first Hooke hinges are parallel to each other.
  • first moving auxiliary guide rail and the second moving auxiliary guide rail are both arranged perpendicular to the horizontal plane.
  • the driving pair is the moving pair in the first branch and the second branch
  • the driving mechanism can be selected as a roller screw driven by a motor (not shown in the figure); when the driving pair moves, the parallel mechanism can be used as two Rotation two moves four degrees of freedom motion.
  • the two rotations are respectively the rotation around the axis of the first rotation axis of the two first Hooke hinges and the rotation around the center line of the two second spherical hinges. Movement perpendicular to the plane of the two second moving sub-rails.
  • a two-rotation, two-movement, four-degree-of-freedom parallel mechanism with constrained redundancy includes a frame (omitted from the figure), a moving platform 1, and a parallel connection between the frame and the moving platform. Two first branches and two second branches.
  • the first branch includes a first bearing seat 31 and a second bearing seat 32 (the rotation axes of the two bearing seats are coaxial), a third Hooke hinge 33, a third moving Auxiliary slider 34, third moving auxiliary connecting rod 35 (the third moving auxiliary sliding block cooperates with the third moving auxiliary connecting rod to form a third moving pair), third ball hinge 36;
  • the first bearing seat and the second bearing seat are installed On the frame, it cooperates with the first rotating shaft of the third Hook hinge to form a rotating pair;
  • the third moving auxiliary sliding block is connected with the second rotating shaft 37 of the third Hook hinge, and the third moving auxiliary connecting rod is connected with the third connecting rod.
  • the axis of the second rotating shaft of the third Hooke hinge ie the axis of the rotating shaft connecting the third Hooke hinge and the third moving auxiliary slider
  • the axis of the second rotating shaft of the third Hooke hinge is perpendicular to the rotating auxiliary axis and the third moving auxiliary axis.
  • the second branch includes a third bearing seat 41 and a fourth bearing seat 42 (the rotation axes of the two bearing seats are coaxial), the fourth movable auxiliary slider 43, the fourth The moving auxiliary connecting rod 44 (the fourth moving auxiliary sliding block cooperates with the fourth moving auxiliary connecting rod to form the second moving pair), the fourth Hook hinge 45; the third bearing seat and the fourth bearing seat are installed on the frame, and the The rotating shaft 46 connected with the fourth moving auxiliary sliding block cooperates with the third bearing seat and the fourth bearing seat to form a frame rotating pair; the fourth moving auxiliary sliding block is connected with the rotating shaft 46 of the frame rotating pair;
  • the axes of the two rotating shafts ie the axes of the rotating shafts connecting the fourth Hooke hinge and the fourth moving auxiliary link
  • the two first branches are arranged symmetrically to the two second branches; in the two first branches: the axes of the first rotation shafts of the two third Hooke hinges connected to the frame coincide; the two third Hooke hinges The axis of the second rotation axis is parallel.
  • the two second branches are arranged symmetrically to the two first branches; in the two second branches: the axes of the first rotating shafts of the two fourth Hooke hinges connected to the moving platform coincide; The axes of the two rotating shafts are parallel to each other.
  • the driving pair is the moving pair in the first branch and the second branch
  • the driving mechanism can be selected as a roller screw driven by a motor (not shown in the figure); when the driving pair moves, the parallel mechanism can be used as two Rotation two moves four degrees of freedom motion.
  • the two rotations are respectively the rotation around the axis of the first rotation axis of the two fourth Hook hinges and the rotation around the center line of the two third spherical hinges.

Abstract

一种约束冗余的两转动两移动四自由度并联机构，该并联机构包括机架、动平台（1）以及并联连接在机架与动平台之间的两个第一分支和两个第二分支；第一分支包括依次连接在机架与动平台之间的第一移动副、第一球铰(13)、第一连杆(14)以及第二球铰(15)；第二分支包括依次连接在机架与动平台之间的第二移动副、第一转动副(23)、第二连杆(24)以及第一虎克铰(25)；第二分支中第一虎克铰的第一转动轴与动平台相连，与第二连杆相连的第一虎克铰的第二转动轴轴线与第一转动副轴线平行且垂直于第二移动副移动轴线。该并联机构具有精度/刚度高、操作速度快、动态性能好、承载能力大的优点。

Description

一种约束冗余的两转动两移动四自由度并联机构 技术领域
本发明涉及工业机器人领域，具体是一种约束冗余的两转动两移动四自由度并联机构。
 背景技术
并联机构为空间多闭环机构，其定平台和动平台由两条及以上的分支并联起来，通过驱动分支改变动平台的位置和姿态，实现多自由度输出。相比于传统的串联机构，并联机构具有整体刚度好、精度高、负载能力强、动态性能佳等优势，在学界和工业界得到了广泛的关注与应用，已用于物料搬运分拣、焊接喷涂、曲面打磨加工等。
在少自由度并联机构的构型中，大多为三自由度并联机构，如两转动一移动三自由度并联机构（如Z3并联主轴头）可通过结合两个串联移动导轨或两自由度串联摆角头形成五自由度混联加工机器人，用于航空结构件的加工打磨等领域。相比于三自由度并联机构，两转动两移动四自由度并联机构的相关构型设计较少，其可用于物料搬运和零件加工等领域，亦可通过结合单自由度移动导轨形成五自由度混联加工机器人，该方式中由于单自由度串联导轨带来的误差较小，在高精度领域具有一定优势。另外，通过构型可设计出约束冗余的两转动两移动四自由度并联机构，可提高承载能力和避免一些奇异位型。因此，设计出一种约束冗余的两转动两移动四自由度并联机构是十分有必要的。
 技术解决方案
本发明的目的是克服上述背景技术中的不足，提供一种约束冗余的两转动两移动四自由度并联机构，该并联机构具有精度/刚度高、操作速度快、动态性能好、承载能力大的优点。
本发明提供的技术方案是：
一种约束冗余的两转动两移动四自由度并联机构，其特征在于：该并联机构包括机架、动平台以及并联连接在机架与动平台之间的两个第一分支和两个第二分支；所述第一分支包括依次连接在机架与动平台之间的第一移动副、第一球铰、第一连杆以及第二球铰；所述第二分支包括依次连接在机架与动平台之间的第二移动副、第一转动副、第二连杆以及第一虎克铰；第二分支中：第一虎克铰的第一转动轴与动平台相连，与第二连杆相连的第一虎克铰的第二转动轴轴线与第一转动副轴线平行且垂直于第二移动副移动轴线。
所述两个第一分支对称于第二分支布置，所述两个第二分支对称于第一分支布置；两个第二分支中：两个第一虎克铰的第一转动轴轴线重合；两个第一虎克铰的第二转动轴轴线相互平行。
所述第一移动副包括与机架连接的第一移动副导轨，以及与第一球铰连接且与第一移动副导轨滑动配合的第一移动副滑块；所述第二移动副包括与机架连接的第二移动副导轨，以及与第一转动副连接且与第二移动副导轨滑动配合的第二移动副滑块。
所述第一移动副导轨轴线与第二移动副导轨轴线均垂直于水平面布置。
所述第一移动副与第二移动副为驱动副；所述第一移动副与第二移动副的驱动机构均为电机带动的滚珠丝杠机构。
一种约束冗余的两转动两移动四自由度并联机构，其特征在于：该并联机构包括机架、动平台以及并联连接在机架与动平台之间的两个第一分支和两个第二分支；所述第一分支包括依次连接在机架与动平台之间的第一轴承座和第二轴承座、第三虎克铰、第三移动副以及第三球铰；第三虎克铰的第一转动轴，与安装在机架上的第一轴承座和第二轴承座配合形成转动副；第三移动副滑块与第三移动副连杆配合形成第三移动副；第三虎克铰的第二转动轴与第三移动副滑块连接；第三虎克铰的第二转动轴轴线垂直于第三移动副轴线；所述第二分支包括依次连接在机架与动平台之间的机架转动副、第四移动副以及第四虎克铰；机架转动副由安装在机架上的第三轴承座和第四轴承座，与连接第四移动副滑块的转轴配合形成；所述第四移动副由第四移动副滑块，与连接第四虎克铰的第四移动副连杆配合形成；与第四移动副连杆连接的第四虎克铰的第二转动轴轴线，平行于机架转动副轴线且垂直于第四移动副轴线。
所述两个第一分支对称于两个第二分支布置；两个第一分支中：与机架连接的两个第三虎克铰的第一转动轴轴线重合，两个第三虎克铰的第二转动轴轴线平行；两个第二分支对称于两个第一分支布置；两个第二分支中：与动平台连接的两个第四虎克铰的第一转动轴轴线重合，两个第四虎克铰的第二转动轴轴线平行。
所述第三移动副连杆与第三球铰连接；第四移动副滑块与机架转动副的转轴连接。
所述第三移动副与第四移动副为驱动副；所述第三移动副与第四移动副的驱动机构均为电机带动的滚珠丝杠机构。
 有益效果
本发明提出的并联机构是一种约束冗余的两转动两移动四自由度并联机构，具有刚度/精度高、动态响应性能好、承载能力大等优点，可用于复杂曲面的打磨抛光加工、物料分拣搬运等领域。
 附图说明
图1为本发明实施例一的立体结构示意图。
图2为图1中第一分支的立体结构示意图。
图3为图1中第二分支的立体结构示意图。
图4为本发明实施例二的立体结构示意图。
图5为图4中第一分支的立体结构示意图。
图6为图4中第二分支的立体结构示意图。
 具体实施方式
以下结合说明书附图所示的实施例，对本发明作进一步说明，但本发明并不局限于以下实施例。
实施例一
如图1，2，3所示，一种约束冗余的两转动两移动四自由度并联机构，包括机架（图中省略）、动平台1以及并联连接在机架与动平台之间的两个第一分支和两个第二分支。
所述第一分支包括依次连接在机架与动平台之间的第一移动副导轨11、第一移动副滑块12（第一移动副导轨与第一移动副滑块配合形成第一移动副）、第一球铰13、第一连杆14以及第二球铰15；第一分支中：第一球铰连接于第一连杆与第一移动副之间，第二球铰连接于第一连杆与动平台之间。
所述第二分支包括依次连接在机架与动平台之间的第二移动副导轨21、第二移动副滑块22（第二移动副导轨与第二移动副滑块配合形成第二移动副）、第一转动副23、第二连杆24以及第一虎克铰25；第二分支中：第一虎克铰的第一转动轴与动平台相连，与第二连杆相连的第一虎克铰的第二转动轴轴线与第一转动副轴线平行且垂直于第二移动副移动轴线。
所述两个第一分支对称于第二分支布置，所述两个第二分支对称于第一分支布置。两个第二分支中：两个第一虎克铰的第一转动轴轴线重合；两个第一虎克铰的第二转动轴轴线相互平行。
本实施例中，所述第一移动副导轨与第二移动副导轨均垂直于水平面布置。
本实施例中，驱动副为第一分支和第二分支中的移动副，驱动机构可选用为电机带动的滚柱丝杠（图中省略）；当驱动副运动时，该并联机构可作两转动两移动四自由度运动。其中的两转动分别是绕两个第一虎克铰第一转动轴轴线的转动和绕两个第二球铰中心连线的转动，两移动分别是沿着移动副导轨方向的移动和沿着垂直于两个第二移动副导轨平面方向的移动。
实施例二
如图4，5，6所示，一种约束冗余的两转动两移动四自由度并联机构，包括机架（图中省略）、动平台1以及并联连接在机架与动平台之间的两个第一分支和两个第二分支。
所述第一分支包括依次连接在机架与动平台之间的第一轴承座31和第二轴承座32（两个轴承座的转动轴线共轴）、第三虎克铰33、第三移动副滑块34、第三移动副连杆35（第三移动副滑块与第三移动副连杆配合形成第三移动副）、第三球铰36；第一轴承座和第二轴承座安装在机架上，与第三虎克铰的第一转动轴配合形成转动副；第三移动副滑块与第三虎克铰的第二转动轴37连接，第三移动副连杆与第三球铰连接；第三虎克铰的第二转动轴轴线（即第三虎克铰与第三移动副滑块连接的转动轴轴线）垂直于转动副轴线和第三移动副轴线。
所述第二分支包括依次连接在机架与动平台之间的第三轴承座41和第四轴承座42（两个轴承座的转动轴线共轴）、第四移动副滑块43、第四移动副连杆44（第四移动副滑块与第四移动副连杆配合形成第二移动副）、第四虎克铰45；第三轴承座和第四轴承座安装在机架上，与第四移动副滑块连接的转轴46与第三轴承座和第四轴承座配合形成机架转动副；第四移动副滑块与机架转动副的转轴46连接；第四虎克铰的第二转动轴轴线（即第四虎克铰与第四移动副连杆连接的转动轴轴线）平行于机架转动副轴线，且垂直于第四移动副轴线。
所述两个第一分支对称于两个第二分支布置；两个第一分支中：与机架连接的两个第三虎克铰的第一转动轴轴线重合；两个第三虎克铰的第二转动轴轴线平行。所述两个第二分支对称于两个第一分支布置；两个第二分支中：与动平台连接的两个第四虎克铰第一转动轴轴线重合；两个第四虎克铰第二转动轴轴线相互平行。
本实施例中，驱动副为第一分支和第二分支中的移动副，驱动机构可选用为电机带动的滚柱丝杠（图中省略）；当驱动副运动时，该并联机构可作两转动两移动四自由度运动。其中的两转动分别是绕两个第四虎克铰第一转动轴轴线的转动和绕两个第三球铰中心连线的转动，两移动分别是垂直于由四个轴承座的轴孔中心线所组成平面的移动和沿着两个第四移动副滑块中心连线的移动。

Claims (9)

  1. 一种约束冗余的两转动两移动四自由度并联机构，其特征在于：该并联机构包括机架、动平台（1）以及并联连接在机架与动平台之间的两个第一分支和两个第二分支；
    所述第一分支包括依次连接在机架与动平台之间的第一移动副、第一球铰（13）、第一连杆（14）以及第二球铰（15）；
    所述第二分支包括依次连接在机架与动平台之间的第二移动副、第一转动副（23）、第二连杆（24）以及第一虎克铰（25）；第二分支中：第一虎克铰的第一转动轴与动平台相连，与第二连杆相连的第一虎克铰的第二转动轴轴线与第一转动副轴线平行且垂直于第二移动副移动轴线。
  2. 根据权利要求1所述的约束冗余的两转动两移动四自由度并联机构，其特征在于：所述两个第一分支对称于第二分支布置，所述两个第二分支对称于第一分支布置；两个第二分支中：两个第一虎克铰的第一转动轴轴线重合；两个第一虎克铰的第二转动轴轴线相互平行。
  3. 根据权利要求2所述的约束冗余的两转动两移动四自由度并联机构，其特征在于：所述第一移动副包括与机架连接的第一移动副导轨（11），以及与第一球铰连接且与第一移动副导轨滑动配合的第一移动副滑块（12）；所述第二移动副包括与机架连接的第二移动副导轨（21），以及与第一转动副连接且与第二移动副导轨滑动配合的第二移动副滑块（22）。
  4. 根据权利要求3所述的约束冗余的两转动两移动四自由度并联机构，其特征在于：所述第一移动副导轨轴线与第二移动副导轨轴线均垂直于水平面布置。
  5. 根据权利要求4所述的约束冗余的两转动两移动四自由度并联机构，其特征在于：所述第一移动副与第二移动副为驱动副；所述第一移动副与第二移动副的驱动机构均为电机带动的滚珠丝杠机构。
  6. 一种约束冗余的两转动两移动四自由度并联机构，其特征在于：该并联机构包括机架、动平台（1）以及并联连接在机架与动平台之间的两个第一分支和两个第二分支；
    所述第一分支包括依次连接在机架与动平台之间的第一轴承座（31）和第二轴承座（32）、第三虎克铰（33）、第三移动副以及第三球铰（36）；第三虎克铰的第一转动轴，与安装在机架上的第一轴承座（31）和第二轴承座（32）配合形成转动副；第三移动副滑块（34）与第三移动副连杆（35）配合形成第三移动副；第三虎克铰的第二转动轴（37）与第三移动副滑块（34）连接；第三虎克铰的第二转动轴轴线垂直于第三移动副轴线；
    所述第二分支包括依次连接在机架与动平台之间的机架转动副、第四移动副以及第四虎克铰（45）；机架转动副由安装在机架上的第三轴承座（41）和第四轴承座（42），与连接第四移动副滑块的转轴（46）配合形成；所述第四移动副由第四移动副滑块（43），与连接第四虎克铰的第四移动副连杆（44）配合形成；与第四移动副连杆（44）连接的第四虎克铰的第二转动轴轴线，平行于机架转动副轴线且垂直于第四移动副轴线。
  7. 根据权利要求6所述的约束冗余的两转动两移动四自由度并联机构，其特征在于：所述两个第一分支对称于两个第二分支布置；两个第一分支中：与机架连接的两个第三虎克铰的第一转动轴轴线重合，两个第三虎克铰的第二转动轴轴线平行；两个第二分支对称于两个第一分支布置；两个第二分支中：与动平台连接的两个第四虎克铰的第一转动轴轴线重合，两个第四虎克铰的第二转动轴轴线相互平行。
  8. 根据权利要求7所述的约束冗余的两转动两移动四自由度并联机构，其特征在于：所述第三移动副连杆（35）与第三球铰（36）连接；第四移动副滑块（43）与机架转动副的转轴（46）连接。
  9. 根据权利要求8所述的约束冗余的两转动两移动四自由度并联机构，其特征在于：所述第三移动副与第四移动副为驱动副；所述第三移动副与第四移动副的驱动机构均为电机带动的滚珠丝杠机构。
PCT/CN2021/070772 2020-10-26 2021-01-08 一种约束冗余的两转动两移动四自由度并联机构 WO2022088508A1 (zh)

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