CN110465923B - Parallel mechanism with three-movement, two-movement one-rotation and two-rotation one-movement modes - Google Patents

Parallel mechanism with three-movement, two-movement one-rotation and two-rotation one-movement modes Download PDF

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CN110465923B
CN110465923B CN201910712657.3A CN201910712657A CN110465923B CN 110465923 B CN110465923 B CN 110465923B CN 201910712657 A CN201910712657 A CN 201910712657A CN 110465923 B CN110465923 B CN 110465923B
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connecting rod
universal hinge
pair
revolute
parallel
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CN110465923A (en
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刘伟
曹亚斌
王永辉
刘宏昭
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Xi'an Depsecco Measuring Equipment Co ltd
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Xian Polytechnic University
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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
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • 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
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a parallel mechanism with three-movement, two-movement and one-rotation and two-rotation and one-movement modes, which comprises a movable platform and a fixed platform, wherein the movable platform is connected with a first branched chain, a second branched chain and a third branched chain, and the movable platform is connected with the fixed platform through the first branched chain, the second branched chain and the third branched chain respectively; the first branch chain comprises a moving pair P connected in sequence11A first connecting rod and a revolute pair R11A second connecting rod and a revolute pair R12Third connecting rod and universal hinge U11Of moving pair P11And is also connected with a fixed platform and a universal hinge U11And is also connected with the movable platform. The parallel mechanism can be applied to motion simulation, machine assembly, sorting and grabbing and parallel machine tools, can quickly change motion modes, and meets the working requirements under complex conditions.

Description

Parallel mechanism with three-movement, two-movement one-rotation and two-rotation one-movement modes
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a parallel mechanism with three-movement, two-movement and one-rotation and two-rotation and one-movement modes.
Background
The parallel robot mechanism is in a space multi-degree-of-freedom multi-ring closed chain form. Since the eighties of the last century, the parallel mechanism has the characteristics of high rigidity, large bearing capacity, small accumulated error, good dynamic characteristic, compact structure and the like, and is widely applied to the industrial fields of virtual axis machine tools, micro-motion operation tables, motion simulators, multi-dimensional force sensors and the like. The parallel mechanism has 2, 3, 4, 5 or 6 degrees of freedom, at present, the parallel mechanism with 6 degrees of freedom is researched more comprehensively and deeply, but the reduction of the degrees of freedom of the parallel mechanism enables the mechanism structure to be simpler, and the manufacturing and control cost to be relatively lower, so that the parallel robot with less degrees of freedom has unique advantages under the condition of meeting the expected working requirement.
The parallel mechanism with multiple motion modes has the characteristic of motion bifurcation under the singular configuration of the mechanism, and can realize multiple motion modes through fewer driving pairs and branched chains, thereby being suitable for different work requirements. And the movement mode of the mechanism is changed without reassembling the mechanism, and the movement mode is high in changing speed and simple and convenient in process. The method has certain application value in the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools and the like. The parallel structure with three motion modes of three movements (3T), two movements and one rotation (2T1R) and two rotations and one movement (2R1T) is adapted to various different motion modes, the work under various circumstances is adapted, and the whole work flow is simplified, but the parallel structure with three motion modes of three movements (3T), two movements and one rotation (2T1R) and two rotations and one movement (2R1T) is less at present.
Disclosure of Invention
The invention aims to provide a parallel mechanism with three-movement, two-movement and one-rotation and two-rotation and one-movement modes, which can be applied to motion simulation, machine assembly, sorting and grabbing and parallel machine tools, can quickly change the movement modes and meet the working requirements under complex conditions.
The technical scheme adopted by the invention is that the parallel mechanism with three-movement, two-movement and one-rotation and two-rotation and one-movement modes comprises a movable platform and a fixed platform, wherein the movable platform is connected with a first branched chain, a second branched chain and a third branched chain, and the movable platform is connected with the fixed platform through the first branched chain, the second branched chain and the third branched chain respectively;
the first branch chain comprises a moving pair P connected in sequence11A first connecting rod and a revolute pair R11A second connecting rod and a revolute pair R12Third connecting rod and universal hinge U11Of moving pair P11And is also connected with a fixed platform and a universal hinge U11And is also connected with the movable platform.
The present invention is also characterized in that,
sliding pair P11Is connected with a driving motor.
Sliding pair P11Moving direction of (3), revolute pair R11Rotation axis and revolute pair R12Rotation axis and universal hinge U11The rotating axes of the rotating pairs connected with the third connecting rod are all vertical to the horizontal plane.
The second branch chain comprises universal hinges U which are connected in sequence21A fourth connecting rod and a sliding pair P21Fifth connecting rod and universal hinge U22Universal hinge U21And is also connected with a fixed platform and a universal hinge U22And is also connected with the movable platform.
Sliding pair P21Is connected with a driving motor.
Universal hinge U21The revolute pair connected with the fixed platform 1 is connected with an auxiliary driving motor.
The third branch chain comprises a universal hinge U which is connected in sequence31A sixth connecting rod and a sliding pair P31Seventh connecting rod and universal hinge U32Universal hinge U31And is also connected with a fixed platform and a universal hinge U32And is also connected with the movable platform.
Sliding pair P31Is connected with a driving motor.
The parallel mechanism has the advantages that the parallel mechanism has three motion modes of 3T, 2T1R and 2R1T, three branched chains can flexibly move, and the parallel mechanism can realize the motion modes of three movements (3T), two movements and one rotation (2T1R) and two rotations and one movement (2R1T) by controlling the moving pair and the rotating pair, so that the parallel mechanism can quickly change the motion modes after being used in the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools and the like, and meets the working requirements under complex conditions.
Drawings
FIG. 1 is a schematic diagram of a 3T motion mode of the parallel mechanism of the present invention having three shift, two shift one rotation and two rotation one shift modes;
FIG. 2 is a schematic representation of the configuration of the parallel mechanism of the present invention with 3T1R instantaneous degrees of freedom;
FIG. 3 is a schematic representation of the parallel mechanism of the present invention in a 2T1R mode of motion;
FIG. 4 is a schematic representation of the configuration of the parallel mechanism of the present invention with 2T2R instantaneous degrees of freedom;
fig. 5 is a schematic diagram of the parallel mechanism of the present invention in a 2R1T motion mode.
In the figure, 1 is a fixed platform, 2 is a first connecting rod, 3 is a second connecting rod, 4 is a third connecting rod, 5 is a fourth connecting rod, 6 is a fifth connecting rod, 7 is a sixth connecting rod, 8 is a seventh connecting rod, and 9 is a movable platform.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention has three movements, two move one rotate and two rotate one parallel mechanism of the movement pattern, including moving platform 9 and fixed platform 1, connect with the first branched chain, second branched chain, third branched chain on the moving platform 9, the moving platform 9 is connected with fixed platform 1 through the first branched chain, second branched chain, third branched chain separately;
defining the joint of the movable platform 1 and the first branch chain as B1Defining the joint of the movable platform 1 and the second branched chain as B2Defining the joint of the movable platform 1 and the third branched chain as B3；
The first branch chain comprises a moving pair P connected in sequence11A first connecting rod 2 and a revolute pair R11A second connecting rod 3 and a revolute pair R12A third connecting rod 4 and a universal hinge U11Of moving pair P11And is also connected with the fixed platform 1 and is provided with a universal hinge U11And is also connected with a movable platform 9.
Universal hinge U11Universal hinge U21Universal hinge U22Universal hinge U31Universal hinge U32The structure is the same and is formed by connecting two revolute pairs.
The second branch chain comprises universal hinges U which are connected in sequence21A fourth connecting rod 5 and a sliding pair P21Fifth connecting rod 6 and universal hinge U22Universal hinge U21And is also connected with the fixed platform 1 and is provided with a universal hinge U22And is also connected with a movable platform 9.
The third branch chain comprises a universal hinge U which is connected in sequence31A sixth connecting rod 7 and a sliding pair P31Seventh connecting rod 8 and universal hinge U32Universal hinge U31And is also connected with the fixed platform 1 and is provided with a universal hinge U32And is also connected with a movable platform 9.
Sliding pair P11Is connected with a driving motor.
Sliding pair P21Is connected with a driving motor.
Sliding pair P31Is connected with a driving motor.
Universal hinge U21The revolute pair connected with the fixed platform 1 is connected with an auxiliary driving motor, and the motor only works when the movement mode of the mechanism is changed.
Sliding pair P11Moving direction of (3), revolute pair R11Rotation axis and revolute pair R12Rotation axis and universal hinge U11The rotating axes of the revolute pairs connected with the third connecting rod 4 are all vertical to the horizontal plane.
In the configuration shown in FIG. 1, the sliding pair P11Moving direction of (3), revolute pair R11And a revolute pair R12And a universal hinge U connected with the third connecting rod 411The rotating axes of the rotating pairs are vertical to the horizontal plane; universal hinge U21The rotation axis of the revolute pair connected with the fourth connecting rod 5 and the universal hinge U22The rotation axes of the revolute pairs connected with the fifth connecting rod 6 are parallel; universal hinge U21The rotation axis of the revolute pair which is not connected with the fourth connecting rod 5 and the universal hinge U22Wherein the rotation axis of the revolute pair connected with the fifth connecting rod 6 is not parallel, and the universal hinge U22The rotation axis of the revolute pair connected with the movable platform 9 and the universal hinge U connected with the movable platform 9 in the first branch chain11The rotating axes of the rotating pairs are parallel.
Universal hinge U31The rotation axis of the revolute pair connected with the sixth connecting rod 7 and the universal hinge U32The rotation axes of the revolute pairs connected with the seventh connecting rod 8 are parallel; universal hinge U31The rotation axis of the revolute pair which is not connected with the sixth connecting rod 7 and the universal hinge U32The rotation axis of the revolute pair which is not connected with the seventh connecting rod 8 is parallel, and the universal hinge U32The rotating axis of the revolute pair connected with the movable platform 9 and the universal hinge U connected with the movable platform 9 in the first branched chain11The axes of rotation of the revolute pairs are not parallel. And universal hinge U31The rotating axis of the rotating pair connected with the fixed platform 1 is vertical to the horizontal plane.
In the mechanism configuration shown in fig. 1, the movable platform has a 3T motion mode and controls the movable driving pair P31Of moving pair P21Move ofSubsidiary P11Control of the mechanism can be achieved.
When the mechanism shown in fig. 1 is moved to the configuration shown in fig. 2, the movable platform 9 in the third branch has a 3R1T movement pattern. Under the position, the universal hinge U21The rotation axis of the revolute pair connected with the fourth connecting rod 5 and the universal hinge U22The rotation axes of the revolute pairs connected with the fifth connecting rod 6 are parallel; universal hinge U21The rotation axis of the revolute pair which is not connected with the fourth connecting rod 5 and the universal hinge U22The axis of rotation of the revolute pair connected with the fifth link 6 is not parallel. Universal hinge U31The rotation axis of the revolute pair connected with the sixth connecting rod 7 and the universal hinge U32The rotation axes of the revolute pairs connected with the seventh connecting rod 8 are parallel; universal hinge U31The rotation axis of the revolute pair which is not connected with the sixth connecting rod 7 and the universal hinge U32The rotating axes of the two rotating pairs are not parallel to the rotating axis of the rotating pair connected with the seventh connecting rod 8, and the rotating axes of the two rotating pairs are perpendicular to the plane of the movable platform 9. And, the universal hinge U31The rotation axis of the revolute pair connected with the sixth connecting rod 7 and the universal hinge U32The rotating axes of the revolute pairs connected with the seventh connecting rod 8 are connected with the universal hinges U11The rotating axes of the rotating pair of the middle connecting movable platform 9 are parallel.
Controlling the sliding pair P31And a sliding pair P21And a sliding pair P11Universal hinge U21The rotating pair connected with the fixed platform 1 can make the mechanism move to the configuration shown in figure 3. Under the position, the universal hinge U31The rotation axis of the revolute pair which is not connected with the sixth connecting rod 7 and the universal hinge U32The axis of rotation of the revolute pair which is not connected to the seventh link 8. Universal hinge U31The rotation axis of the revolute pair connected with the sixth connecting rod 7 and the universal hinge U32The rotation axis of the revolute pair connected with the seventh connecting rod 8 is parallel to the universal hinge U11The rotation axis of the revolute pair connected with the movable platform 9 is parallel. Universal hinge U21The rotation axis of the revolute pair connected with the fourth connecting rod 5 and the universal hinge U22The rotation axes of the revolute pairs connected with the fifth connecting rod 6 are parallel; universal hinge U21The axis of rotation of the revolute pair not connected to the fourth link 5And universal hinge U22The axis of rotation of the revolute pair connected with the fifth link 6 is not parallel. In the configuration of the mechanism shown in fig. 3, the movable platform has a 2T1R motion mode to control the sliding pair P31And a sliding pair P21And a sliding pair P11Control of the mechanism in this motion mode can be achieved. .
Controlling the sliding pair P31And a sliding pair P21And a sliding pair P11The mechanism can be moved to the configuration shown in figure 4. Under the position, the universal hinge U21The rotation axis of the revolute pair connected with the fourth connecting rod 5 and the universal hinge U22The rotation axis of the revolute pair connected with the fifth connecting rod 6 is parallel to the universal hinge U11The rotation axis of the revolute pair which is not connected with the movable platform 9 is parallel to the U31The middle part is parallel to the rotating axis of a rotating pair connected with the fixed platform 1; universal hinge U21The rotation axis of the revolute pair which is not connected with the fourth connecting rod 5 and the universal hinge U22The rotation axis of the revolute pair which is not connected with the fifth connecting rod 6 is parallel and vertical to the horizontal plane. In this configuration, the mechanism has 2R2T instantaneous degrees of freedom.
Controlling the sliding pair P31And a sliding pair P21And a sliding pair P11Universal hinge U21The rotating pair connected with the fixed platform 1 can make the mechanism move to the configuration shown in figure 5. Under the position, the universal hinge U21The rotation axis of the revolute pair connected with the fourth connecting rod 5 and the universal hinge U22The rotation axis of the revolute pair connected with the fifth connecting rod 6 is parallel to the U11The rotation axis of the revolute pair which is not connected with the movable platform 9 is parallel to the U31The rotation axes of the revolute pairs of the middle connecting fixed platform 1 are parallel and vertical to the horizontal plane; universal hinge U21The rotation axis of the revolute pair which is not connected with the fourth connecting rod 5 and the universal hinge U22The axis of rotation of the revolute pair which is not connected to the fifth link 6.
Universal hinge U31The rotation axis of the revolute pair connected with the sixth connecting rod 7 and the universal hinge U32The rotation axis of the revolute pair connected with the seventh connecting rod 8 is parallel to the universal hinge U11The rotating axes of the rotating pair of the middle connecting movable platform 9 are parallel. Universal hingeU31The rotation axis of the revolute pair of the sixth connecting rod 7 is not connected with the universal hinge U32The rotational axes of the revolute pairs in which the seventh link 8 is not connected intersect. In this configuration, the mechanism has a 2R1T motion mode to control the sliding pair P31And a sliding pair P21And a sliding pair P11Control of the mechanism in this motion mode can be achieved.
According to the parallel mechanism, the fixed platform and the movable platform are connected through the 3 branched chains, different motion modes of the parallel mechanism can be realized by controlling the movable pair and the rotating pair, namely the parallel mechanism comprises three movements (3T1R), two movements and one rotation (2T1R) and two rotations and one movement (2R1T), the parallel mechanism can be applied to motion simulation, machine assembly, sorting and grabbing and parallel machine tools, the motion modes can be rapidly changed, and the working requirements under complex conditions are met.

Claims (1)

1. The parallel mechanism with three-movement, two-movement and one-rotation and two-rotation and one-movement modes is characterized by comprising a movable platform (9) and a fixed platform (1), wherein the movable platform (9) is connected with a first branched chain, a second branched chain and a third branched chain, and the movable platform (9) is connected with the fixed platform (1) through the first branched chain, the second branched chain and the third branched chain respectively;
the first branch chain comprises a sliding pair P connected in sequence11A first connecting rod (2) and a revolute pair R11A second connecting rod (3) and a revolute pair R12A third connecting rod (4) and a universal hinge U11Of moving pair P11And is also connected with a fixed platform (1) and a universal hinge U11Is also connected with a movable platform (9);
the sliding pair P11A driving motor is connected on the upper part;
sliding pair P11Moving direction of (3), revolute pair R11Rotation axis and revolute pair R12Rotation axis and universal hinge U11The rotating axes of the revolute pairs connected with the third connecting rod (4) are all vertical to the horizontal plane;
the second branched chain comprises universal hinges U which are connected in sequence21A fourth connecting rod (5) and a sliding pair P21A fifth connecting rod (6) and a universal hinge U22Universal direction of motionHinge U21And is also connected with a fixed platform (1) and a universal hinge U22Is also connected with a movable platform (9);
the sliding pair P21A driving motor is connected on the upper part;
the universal hinge U21The revolute pair connected with the fixed platform (1) is connected with an auxiliary driving motor;
the third branched chain comprises universal hinges U which are connected in sequence31A sixth connecting rod (7) and a sliding pair P31A seventh connecting rod (8) and a universal hinge U32Universal hinge U31And is also connected with a fixed platform (1) and a universal hinge U32Is also connected with a movable platform (9);
the sliding pair P31A driving motor is connected on the upper part;
in the first configuration, the sliding pair P11Moving direction of (3), revolute pair R11And a revolute pair R12And a universal hinge U connected with the third connecting rod (4)11The rotating axes of the rotating pairs are vertical to the horizontal plane; universal hinge U21The rotation axis of a revolute pair of the middle connecting fourth connecting rod (5) is connected with a universal hinge U22The rotation axes of the revolute pairs connected with the fifth connecting rod (6) are parallel; universal hinge U21The rotation axis of a revolute pair which is not connected with the fourth connecting rod (5) and the universal hinge U22The rotation axis of the revolute pair which is not connected with the fifth connecting rod (6) is parallel, and the universal hinge U22The rotating axis of a rotating pair connected with the movable platform (9) and a universal hinge U connected with the movable platform (9) in the first branched chain11The rotation axes of the revolute pairs are parallel;
universal hinge U31The rotation axis of a revolute pair of the middle connecting sixth connecting rod (7) is connected with a universal hinge U32The rotation axes of the revolute pairs connected with the seventh connecting rod (8) are parallel; universal hinge U31The rotation axis of a revolute pair which is not connected with the sixth connecting rod (7) and the universal hinge U32The rotation axis of the revolute pair which is not connected with the seventh connecting rod (8) is parallel, and the universal hinge U32The rotating axis of a rotating pair connected with the movable platform (9) and a universal hinge U connected with the movable platform (9) in the first branched chain11The rotation axes of the revolute pairs are not parallel; and universal hinge U31The rotating axis of the rotating pair connected with the fixed platform (1) is vertical to the horizontal plane;
in the first mechanism configuration, the movable platform has a 3T motion mode and controls the movable driving pair P31Of moving pair P21Of moving pair P11Realizing the control of the mechanism;
when the first mechanism moves to the second mechanism configuration, the movable platform (9) in the third branch chain has a 3R1T movement mode, and under the second mechanism configuration, the universal hinge U is arranged21The rotation axis of a revolute pair of the middle connecting fourth connecting rod (5) is connected with a universal hinge U22The rotation axes of the revolute pairs connected with the fifth connecting rod (6) are parallel; universal hinge U21The rotation axis of a revolute pair which is not connected with the fourth connecting rod (5) and the universal hinge U22The middle part of the connecting rod is not parallel to the rotating axis of the rotating pair connected with the fifth connecting rod (6); universal hinge U31The rotation axis of a revolute pair of the middle connecting sixth connecting rod (7) is connected with a universal hinge U32The rotation axes of the revolute pairs connected with the seventh connecting rod (8) are parallel; universal hinge U31The rotation axis of a revolute pair which is not connected with the sixth connecting rod (7) and the universal hinge U32The rotating axes of the two rotating pairs which are not connected with the seventh connecting rod (8) are parallel, and the rotating axes of the two rotating pairs are vertical to the plane of the movable platform (9); and, the universal hinge U31The rotation axis of a revolute pair connected with a sixth connecting rod (7) and a universal hinge U32The rotating axes of the revolute pairs connected with the seventh connecting rod (8) are connected with the universal hinges U11The rotation axes of the revolute pairs of the middle connecting movable platform (9) are parallel;
controlling the sliding pair P31And a sliding pair P21And a sliding pair P11Universal hinge U21A revolute pair connected with the fixed platform (1) is arranged in the middle to enable the mechanism to move to a third mechanism configuration; universal hinge U under the third mechanism position31The rotation axis of a revolute pair which is not connected with the sixth connecting rod (7) and the universal hinge U32The rotating axis of the revolute pair which is not connected with the seventh connecting rod (8) is intersected; universal hinge U31The rotation axis of a revolute pair connected with a sixth connecting rod (7) and a universal hinge U32The rotation axis of a revolute pair connected with a seventh connecting rod (8) is parallel to the rotation axis of the revolute pair, and the revolute pair is also universalHinge U11The rotating axis of the rotating pair connected with the movable platform (9) is parallel; universal hinge U21The rotation axis of a revolute pair of the middle connecting fourth connecting rod (5) is connected with a universal hinge U22The rotation axes of the revolute pairs connected with the fifth connecting rod (6) are parallel; universal hinge U21The rotation axis of a revolute pair which is not connected with the fourth connecting rod (5) and the universal hinge U22The middle part of the connecting rod is not parallel to the rotating axis of the rotating pair connected with the fifth connecting rod (6); in the third mechanism configuration, the movable platform has a 2T1R motion mode and controls the sliding pair P31And a sliding pair P21And a sliding pair P11Realizing the control of the mechanism in the motion mode;
controlling the sliding pair P31And a sliding pair P21And a sliding pair P11Moving the mechanism to a fourth configuration; universal hinge U under the fourth mechanism position21The rotation axis of a revolute pair of the middle connecting fourth connecting rod (5) is connected with a universal hinge U22The rotating axis of the rotating pair connected with the fifth connecting rod (6) is parallel to the rotating axis of the universal hinge U11The rotation axis of the revolute pair which is not connected with the movable platform (9) is parallel to the U31The middle part is parallel to the rotating axis of a rotating pair connected with the fixed platform (1); universal hinge U21The rotation axis of a revolute pair which is not connected with the fourth connecting rod (5) and the universal hinge U22The rotating axis of the rotating pair which is not connected with the fifth connecting rod (6) is parallel and vertical to the horizontal plane; in the fourth mechanism configuration, the mechanism has 2R2T instantaneous freedom degrees;
controlling the sliding pair P31And a sliding pair P21And a sliding pair P11Universal hinge U21A revolute pair connected with the fixed platform (1) is arranged in the middle, so that the mechanism moves to a fifth mechanism configuration; the fifth mechanism is in the shape of a universal hinge U21The rotation axis of a revolute pair of the middle connecting fourth connecting rod (5) is connected with a universal hinge U22The rotation axis of the revolute pair connected with the fifth connecting rod (6) is parallel to the U11The rotation axis of the revolute pair which is not connected with the movable platform (9) is parallel to the U31The rotation axes of the revolute pairs of the middle connecting fixed platform (1) are parallel and vertical to the horizontal plane; universal hinge U21The axis of rotation of the revolute pair which is not connected with the fourth connecting rod (5) anduniversal hinge U22The rotating axis of the revolute pair which is not connected with the fifth connecting rod (6) is intersected;
universal hinge U31The rotation axis of a revolute pair of the middle connecting sixth connecting rod (7) is connected with a universal hinge U32The rotating axis of the revolute pair connected with the seventh connecting rod (8) is parallel to the universal hinge U11The rotation axes of the revolute pairs of the middle connecting movable platform (9) are parallel; universal hinge U31The rotating axis of the revolute pair of the sixth connecting rod (7) is not connected with the universal hinge U32The rotation axes of the revolute pairs which are not connected with the seventh connecting rod (8) are intersected; in the fifth mechanism configuration, the mechanism has a 2R1T motion mode and controls the sliding pair P31And a sliding pair P21And a sliding pair P11And realizing the control of the mechanism in the motion mode.
CN201910712657.3A 2019-08-02 2019-08-02 Parallel mechanism with three-movement, two-movement one-rotation and two-rotation one-movement modes Active CN110465923B (en)

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并联机构拓扑数组综合理论与计算机化研究;丁玲;《中国博士学位论文全文数据库 工程科技Ⅱ辑》;20120815(第08期);第63-78页 *

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