CN210414528U - Two-rotational-freedom parallel robot - Google Patents
Two-rotational-freedom parallel robot Download PDFInfo
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- CN210414528U CN210414528U CN201920753373.4U CN201920753373U CN210414528U CN 210414528 U CN210414528 U CN 210414528U CN 201920753373 U CN201920753373 U CN 201920753373U CN 210414528 U CN210414528 U CN 210414528U
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Abstract
The utility model belongs to the parallel robot field. The robot has the advantages of simple structure, high rigidity, decoupling performance of the motion of a movable platform, easiness in control, low motion quality, good dynamic performance and the like. The technical scheme is as follows: a two-rotational-freedom parallel robot comprises a movable platform, a rack and three branches connected in parallel between the movable platform and the rack; characterized in that, of the three branches: the first branch comprises a first spherical hinge and a first connecting rod which are sequentially connected between the movable platform and the rack; the second branch comprises a second spherical hinge, a second connecting rod, a first rotating pair, a third connecting rod and a first moving pair which are sequentially connected between the moving platform and the rack, and the first moving pair comprises a sliding hole formed in the rack and the third connecting rod in sliding fit with the sliding hole.
Description
Technical Field
The utility model belongs to the parallel robot field specifically is a two rotational degree of freedom motion decoupling zero parallel robot is related to.
Background
The parallel robot mechanism is a multi-loop closed chain with multiple degrees of freedom in space, has the characteristics of high rigidity, high bearing capacity, small accumulated error, good dynamic performance, compact structure and the like, and is widely applied to the aspects of submarines, docking devices and attitude controllers of space vehicles in the military field, cell operation robots in biomedical engineering, microsurgical operation robots, attitude adjusting devices of large radio astronomical telescopes and the like. Compared with a serial robot structure, the parallel robot structure has the defects of small working space, strong coupling between motions, difficult control and the like.
The decoupling parallel robot summarized in the global scope at present mainly comprises a three-movement freedom degree mechanism and a three-movement one-rotation mechanism. The Yuan et al at Yanshan university and the GOGU in France respectively integrate a two-rotational-freedom decoupling parallel robot structure, wherein the structure comprises three branches between a moving platform and a moving platform, the structure comprises only two branches, the rigidity of the two branches is not as good as that of the three branches, and a large number of kinematic pairs in the branches can cause large accumulated errors.
The simplest of such mechanisms for GOGU integration is: the first branch is composed of two revolute pairs, and the second branch is composed of five kinematic pairs. The simplest of such mechanisms in huangzhen synthesis is: the movable platform in the parallel mechanism is connected with the fixed platform through three branches, wherein the first branch is provided with a kinematic pair, the second branch is provided with three kinematic pairs, the first branch and the second branch form a plane guide rod mechanism or a plane hinge mechanism, the third branch is a branched chain with six spatial degrees of freedom, but the parallel robot has to ensure that two ends of the third branched chain are connected with the movable platform and the fixed platform through ball pairs, and the processing difficulty of the mechanism is higher due to the existence of a plurality of ball pairs.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming not enough among the above-mentioned background art, provide a two rotational degree of freedom parallel robot, this robot should have simple structure, rigidity height, move the motion of platform and have decoupling zero characteristic, easily control, motion quality is low, dynamic behavior advantage such as good.
The utility model provides a technical scheme is:
a two-rotational-freedom parallel robot comprises a movable platform, a rack and three branches connected in parallel between the movable platform and the rack; characterized in that, of the three branches:
the first branch comprises a first spherical hinge and a first connecting rod which are sequentially connected between the movable platform and the rack;
the second branch comprises a second spherical hinge, a second connecting rod, a first rotating pair, a third connecting rod and a first moving pair which are sequentially connected between the movable platform and the rack, and the first moving pair comprises a sliding hole formed in the rack and the third connecting rod in sliding fit with the sliding hole;
the third branch comprises a third spherical hinge, a fourth connecting rod, a second revolute pair, a fifth connecting rod serving as a second sliding pair guide rod and a second sliding pair which are sequentially connected between the movable platform and the rack; the second sliding pair comprises a sliding hole formed in the frame and a fifth connecting rod in sliding fit with the sliding hole; the first revolute pair axis is perpendicular to the second revolute pair axis.
A two-rotational-freedom parallel robot comprises a movable platform, a rack and three branches connected in parallel between the movable platform and the rack; characterized in that, of the three branches:
the first branch comprises a first spherical hinge and a first connecting rod which are sequentially connected between the movable platform and the rack;
the second branch comprises a second spherical hinge, a second connecting rod, a first rotating pair, a third connecting rod and a first moving pair which are sequentially connected between the movable platform and the rack, and the first moving pair comprises a sliding hole formed in the rack and the third connecting rod in sliding fit with the sliding hole;
the third branch comprises a third spherical hinge, a fourth connecting rod, a fourth spherical hinge, a fifth connecting rod and a second sliding pair which are sequentially connected between the movable platform and the rack; or,
the third branch comprises a first hook hinge, a fourth connecting rod, a third spherical hinge, a fifth connecting rod and a second sliding pair which are sequentially connected between the movable platform and the rack; or,
the third branch comprises a third spherical hinge, a fourth connecting rod, a first hook hinge, a fifth connecting rod and a second sliding pair which are sequentially connected between the movable platform and the rack;
the second sliding pair comprises a sliding hole formed in the frame and a fifth connecting rod in sliding fit with the sliding hole.
A two-rotational-freedom parallel robot comprises a movable platform, a rack and three branches connected in parallel between the movable platform and the rack; the method is characterized in that: of the three branches:
the first branch comprises a first spherical hinge and a first connecting rod which are sequentially connected between the movable platform and the rack;
the second branch comprises a second spherical hinge, a second connecting rod, a first hook hinge, a third connecting rod and a first sliding pair which are sequentially connected between the movable platform and the rack, and the first sliding pair comprises a sliding hole formed in the rack and the third connecting rod in sliding fit with the sliding hole;
the third branch comprises a second hook hinge, a fourth connecting rod, a first revolute pair, a fifth connecting rod and a second revolute pair which are sequentially connected between the movable platform and the rack; the second sliding pair comprises a sliding hole formed in the frame and a fifth connecting rod in sliding fit with the sliding hole.
A two-rotational-freedom parallel robot comprises a movable platform, a rack and three branches connected in parallel between the movable platform and the rack; characterized in that, of the three branches:
the first branch comprises a first hook joint and a first connecting rod which are sequentially connected between the movable platform and the rack;
the second branch comprises a second hook hinge, a second connecting rod, a first rotating pair, a third connecting rod and a first moving pair which are sequentially connected between the moving platform and the rack, and the first moving pair comprises a sliding hole formed in the rack and the third connecting rod in sliding fit with the sliding hole;
the third branch comprises a first spherical hinge, a fourth connecting rod, a second spherical hinge, a fifth connecting rod and a second sliding pair which are sequentially connected between the movable platform and the rack; the second sliding pair comprises a sliding hole formed in the frame and a fifth connecting rod in sliding fit with the sliding hole; or,
the third branch comprises a first spherical hinge, a fourth connecting rod, a third hooke hinge, a fifth connecting rod and a second sliding pair which are sequentially connected between the movable platform and the rack; the second sliding pair comprises a sliding hole formed in the frame and a fifth connecting rod in sliding fit with the sliding hole.
A two-rotational-freedom parallel robot comprises a movable platform, a rack and three branches connected in parallel between the movable platform and the rack; the method is characterized in that: of the three branches:
the first branch comprises a first hook joint and a first connecting rod which are sequentially connected between the movable platform and the rack;
the second branch comprises a first spherical hinge, a second connecting rod, a second hooke hinge, a third connecting rod and a first sliding pair which are sequentially connected between the movable platform and the rack, and the first sliding pair comprises a sliding hole formed in the rack and the third connecting rod in sliding fit with the sliding hole;
the third branch comprises a second spherical hinge, a fourth connecting rod, a third hooke hinge, a fifth connecting rod and a second sliding pair which are sequentially connected between the movable platform and the rack; the second sliding pair comprises a sliding hole formed in the frame and a fifth connecting rod in sliding fit with the sliding hole.
A two-rotational-freedom parallel robot comprises a movable platform, a rack and three branches connected in parallel between the movable platform and the rack; characterized in that, of the three branches:
the first branch comprises a first hook joint and a first connecting rod which are sequentially connected between the movable platform and the rack; the second branch comprises a first spherical hinge, a second connecting rod, a second spherical hinge, a third connecting rod and a first sliding pair which are sequentially connected between the movable platform and the rack, and the first sliding pair comprises a sliding hole formed in the rack and a third connecting rod in sliding fit with the sliding hole;
the third branch comprises a third spherical hinge, a fourth connecting rod, a first revolute pair, a fifth connecting rod and a second revolute pair which are sequentially connected between the movable platform and the rack; or,
the third branch comprises a second hook joint, a fourth connecting rod, a third hook joint, a fifth connecting rod and a second sliding pair which are sequentially connected between the movable platform and the rack;
the second sliding pair comprises a sliding hole formed in the frame and a fifth connecting rod in sliding fit with the sliding hole.
The axes of the first connecting rod, the second connecting rod and the third connecting rod are arranged in parallel.
The first secondary axis of movement is parallel to the second secondary axis of movement.
The first moving pair and the second moving pair are both active driving pairs; the driving pair is driven by a ball screw mechanism driven by a servo motor.
The utility model has the advantages that:
the utility model discloses a first branch has a motion pair, and second, three branches have three motion pairs, and these three branches constitute plane guide arm mechanism, have rigidity height, simple structure, move two of platform and rotate complete decoupling zero, easily control, motion inertia is little, the dynamic behavior is good, the processing degree of difficulty is low grade advantage, not only can be applied to sun tracking equipment, also can be applied to equipment such as guided missile launcher, radar tracking, telescope, dynamic camera simultaneously.
Drawings
Fig. 1 is a schematic perspective view of a first embodiment of the present invention.
Fig. 2 is a schematic perspective view of a second embodiment of the present invention.
Fig. 3 is a schematic perspective view of a third embodiment of the present invention.
Fig. 4 is a schematic perspective view of a fourth embodiment of the present invention.
Fig. 5 is a schematic perspective view of a fifth embodiment of the present invention.
Fig. 6 is a schematic perspective view of a sixth embodiment of the present invention.
Fig. 7 is a schematic perspective view of a seventh embodiment of the present invention.
Fig. 8 is a schematic perspective view of an eighth embodiment of the present invention.
Fig. 9 is a schematic perspective view of a ninth embodiment of the present invention.
Fig. 10 is a schematic perspective view of a tenth embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the drawings attached to the specification, but the present invention is not limited to the following embodiments.
Example one
As shown in fig. 1, a two-rotational-degree-of-freedom parallel robot includes a movable platform 4, a frame 5, and three branches connected in parallel between the movable platform and the frame. Of the three branches:
the first branch 1 comprises a first spherical hinge S1 and a first connecting rod L1 which are sequentially connected between the movable platform and the frame; the second branch 2 comprises a second spherical hinge S2, a second connecting rod L2, a first revolute pair R1, a third connecting rod L3 and a first revolute pair P1 which are sequentially connected between the movable platform and the rack, wherein the first revolute pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the third connecting rod L3 is used as the guide rod at the same time); the third branch 3 comprises a third spherical hinge S3, a fourth connecting rod L4, a second revolute pair R2, a fifth connecting rod L5 and a second sliding pair P2 which are sequentially connected between the movable platform and the machine frame, wherein the second sliding pair comprises a sliding hole formed in the machine frame and a guide rod in sliding fit with the sliding hole (the fifth connecting rod L5 is used as the guide rod at the same time).
The axes of the first connecting rod, the second connecting rod and the third connecting rod are arranged in parallel. The first secondary axis of movement is parallel to the second secondary axis of movement. The first rotating pair axis is perpendicular to the first moving pair axis, and the second rotating pair axis is perpendicular to the second moving pair axis.
The first moving pair axis is perpendicular to the second moving pair axis.
Example two
As shown in fig. 2, a two-rotational-degree-of-freedom parallel robot includes a movable platform 4, a frame 5, and three branches connected in parallel between the movable platform and the frame. Of the three branches:
the first branch comprises a first spherical hinge S1 and a first connecting rod L1 which are sequentially connected between the movable platform and the rack; the second branch comprises a second spherical hinge S2, a second connecting rod L2, a first revolute pair R1, a third connecting rod L3 and a first revolute pair P1 which are sequentially connected between the movable platform and the rack, wherein the first revolute pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the third connecting rod L3 is used as the guide rod at the same time); the third branch comprises a third spherical hinge S3, a fourth connecting rod L4, a fourth spherical hinge S4, a fifth connecting rod L5 and a second sliding pair P2 which are sequentially connected between the movable platform and the rack, wherein the second sliding pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the fifth connecting rod L5 is used as the guide rod at the same time).
The axes of the first connecting rod, the second connecting rod and the third connecting rod are arranged in parallel. The first secondary axis of movement is parallel to the second secondary axis of movement. The first rotation pair axis is perpendicular to the first movement pair axis.
The cross section of the second connecting rod is circular; the first sliding pair can simultaneously move along the direction of the self axis and rotate around the axis of the third connecting rod.
EXAMPLE III
As shown in fig. 3, a two-rotational-degree-of-freedom parallel robot includes a movable platform 4, a frame 5, and three branches connected in parallel between the movable platform and the frame. Of the three branches:
the first branch comprises a first spherical hinge S1 and a first connecting rod L1 which are sequentially connected between the movable platform and the rack; the second branch comprises a second spherical hinge S2, a second connecting rod L2, a first revolute pair R1, a third connecting rod L3 and a first revolute pair P1 which are sequentially connected between the movable platform and the rack, wherein the first revolute pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the third connecting rod L3 is used as the guide rod at the same time); the third branch comprises a first hook joint U1, a fourth connecting rod L4, a third ball joint S3, a fifth connecting rod L5 and a second sliding pair P2 which are sequentially connected between the movable platform and the rack, wherein the second sliding pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the fifth connecting rod L5 is used as the guide rod at the same time).
The first connecting rod, the second connecting rod and the third connecting rod are arranged in parallel. The first secondary axis of movement is parallel to the second secondary axis of movement. The first rotation pair axis is perpendicular to the first movement pair axis.
The cross section of the second connecting rod is circular; the first sliding pair can simultaneously move along the direction of the self axis and rotate around the axis of the third connecting rod.
Example four
As shown in fig. 4, a two-rotational-degree-of-freedom parallel robot includes a movable platform 4, a frame 5, and three branches connected in parallel between the movable platform and the frame. Of the three branches:
the first branch comprises a first spherical hinge S1 and a first connecting rod L1 which are sequentially connected between the movable platform and the rack; the second branch comprises a second spherical hinge S2, a second connecting rod L2, a first revolute pair R1, a third connecting rod L3 and a first revolute pair P1 which are sequentially connected between the movable platform and the rack, wherein the first revolute pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the third connecting rod L3 is used as the guide rod at the same time); the third branch comprises a third spherical hinge S3, a fourth connecting rod L4, a first hooke hinge U1, a fifth connecting rod L5 and a second sliding pair P2 which are sequentially connected between the movable platform and the rack, wherein the second sliding pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the fifth connecting rod L5 is used as the guide rod at the same time).
The first connecting rod, the second connecting rod and the third connecting rod are arranged in parallel. The first secondary axis of movement is parallel to the second secondary axis of movement. The first rotation pair axis is perpendicular to the first movement pair axis. One of the rotation axes of the first hook joint is perpendicular to the axis of the second moving pair.
EXAMPLE five
As shown in fig. 5, a two-rotational-degree-of-freedom parallel robot includes a movable platform 4, a frame 5, and three branches connected in parallel between the movable platform and the frame. Of the three branches:
the first branch comprises a first hook joint U1 and a first connecting rod L1 which are sequentially connected between the movable platform and the rack; the second branch comprises a second hook joint U2, a second connecting rod L2, a first revolute pair R1, a third connecting rod L3 and a first moving pair P1 which are sequentially connected between the movable platform and the rack, wherein the first moving pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the third connecting rod L3 is used as the guide rod at the same time); the third branch comprises a first spherical hinge S1, a fourth connecting rod L4, a second spherical hinge S2, a fifth connecting rod L5 and a second sliding pair P2 which are sequentially connected between the movable platform and the rack, wherein the second sliding pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the fifth connecting rod L5 is used as the guide rod at the same time).
The first connecting rod, the second connecting rod and the third connecting rod are arranged in parallel. The first secondary axis of movement is parallel to the second secondary axis of movement. The first rotation pair axis is perpendicular to the first movement pair axis. One of the rotation axes of the first hook joint is perpendicular to the axes of the first moving pair and the second moving pair.
EXAMPLE six
As shown in fig. 6, a two-rotational-degree-of-freedom parallel robot includes a movable platform 4, a frame 5, and three branches connected in parallel between the movable platform and the frame. Of the three branches:
the first branch comprises a first hook joint U1 and a first connecting rod L1 which are sequentially connected between the movable platform and the rack; the second branch comprises a second hook joint U2, a second connecting rod L2, a first revolute pair R1, a third connecting rod L3 and a first moving pair P1 which are sequentially connected between the movable platform and the rack, wherein the first moving pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the third connecting rod L3 is used as the guide rod at the same time); the third branch comprises a first spherical hinge S1, a fourth connecting rod L4, a third hooke hinge U3, a fifth connecting rod L5 and a second sliding pair P2 which are sequentially connected between the movable platform and the rack, wherein the second sliding pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the fifth connecting rod L5 is used as the guide rod at the same time).
The first connecting rod, the second connecting rod and the third connecting rod are arranged in parallel. The first secondary axis of movement is parallel to the second secondary axis of movement. The first rotation pair axis is perpendicular to the first movement pair axis. One of the rotation axes of the first hook joint and the third hook joint is perpendicular to the axes of the first moving pair and the second moving pair.
EXAMPLE seven
As shown in fig. 7, a two-rotational-degree-of-freedom parallel robot includes a movable platform 4, a frame 5, and three branches connected in parallel between the movable platform and the frame. Of the three branches:
the first branch comprises a first hook joint U1 and a first connecting rod L1 which are sequentially connected between the movable platform and the rack; the second branch comprises a first spherical hinge S1, a second connecting rod L2, a second spherical hinge S2, a third connecting rod L3 and a first sliding pair P1 which are sequentially connected between the movable platform and the rack, wherein the first sliding pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the third connecting rod L3 is used as the guide rod at the same time); the third branch comprises a third spherical hinge S3, a fourth connecting rod L4, a first revolute pair R1, a fifth connecting rod L5 and a second revolute pair P2 which are sequentially connected between the movable platform and the rack, wherein the second revolute pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the fifth connecting rod L5 is used as the guide rod at the same time).
The first connecting rod, the second connecting rod and the third connecting rod are arranged in parallel. The first secondary axis of movement is parallel to the second secondary axis of movement. The first rotating pair axis is perpendicular to the second moving pair axis. One of the rotation axes of the first hook joint is perpendicular to the first moving pair axis and the first moving pair axis.
Example eight
As shown in fig. 8, a two-rotational-degree-of-freedom parallel robot includes a movable platform 4, a frame 5, and three branches connected in parallel between the movable platform and the frame. Of the three branches:
the first branch comprises a first hook joint U1 and a first connecting rod L1 which are sequentially connected between the movable platform and the rack; the second branch comprises a first spherical hinge S1, a second connecting rod L2, a second spherical hinge S2, a third connecting rod L3 and a first sliding pair P1 which are sequentially connected between the movable platform and the rack, wherein the first sliding pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the third connecting rod L3 is used as the guide rod at the same time); the third branch comprises a second hook joint U2, a fourth connecting rod L4, a third hook joint U3, a fifth connecting rod L5 and a second sliding pair P2 which are sequentially connected between the movable platform and the rack, wherein the second sliding pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the fifth connecting rod L5 is used as the guide rod at the same time).
The first connecting rod, the second connecting rod and the third connecting rod are arranged in parallel. The first secondary axis of movement is parallel to the second secondary axis of movement. One of the rotation axes of the first hook joint and the third hook joint is perpendicular to the axis of the first moving pair and the axis of the first moving pair.
Example nine
As shown in fig. 9, a two-rotational-degree-of-freedom parallel robot includes a movable platform 4, a frame 5, and three branches connected in parallel between the movable platform and the frame. Of the three branches:
the first branch comprises a first spherical hinge S1 and a first connecting rod L1 which are sequentially connected between the movable platform and the rack; the second branch comprises a second spherical hinge S2, a second connecting rod L2, a first hooke hinge U1, a third connecting rod L3 and a first sliding pair P1 which are sequentially connected between the movable platform and the rack, wherein the first sliding pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the third connecting rod L3 is used as the guide rod at the same time); the third branch comprises a second hook joint U2, a fourth connecting rod L4, a first revolute pair R1, a fifth connecting rod L5 and a second revolute pair P2 which are sequentially connected between the movable platform and the rack, wherein the second revolute pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the fifth connecting rod L5 is used as the guide rod at the same time).
The first connecting rod, the second connecting rod and the third connecting rod are arranged in parallel. The first secondary axis of movement is parallel to the second secondary axis of movement. The first rotating pair axis is perpendicular to the second moving pair axis. One of the rotation axes of the first hook joint is perpendicular to the first moving pair axis and the first moving pair axis.
Example ten
As shown in fig. 10, a two-rotational-degree-of-freedom parallel robot includes a movable platform 4, a frame 5, and three branches connected in parallel between the movable platform and the frame. Of the three branches:
the first branch comprises a first hook joint U1 and a first connecting rod L1 which are sequentially connected between the movable platform and the rack; the second branch comprises a first spherical hinge S1, a second connecting rod L2, a second hooke hinge U2, a third connecting rod L3 and a first sliding pair P1 which are sequentially connected between the movable platform and the rack, wherein the first sliding pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the third connecting rod L3 is used as the guide rod at the same time); the third branch comprises a second spherical hinge S2, a fourth connecting rod L4, a third hooke hinge U3, a fifth connecting rod L5 and a second sliding pair P2 which are sequentially connected between the movable platform and the rack, wherein the second sliding pair comprises a sliding hole formed in the rack and a guide rod in sliding fit with the sliding hole (the fifth connecting rod L5 is used as the guide rod at the same time).
The first connecting rod, the second connecting rod and the third connecting rod are arranged in parallel. The first secondary axis of movement is parallel to the second secondary axis of movement. One of the rotation axes of the first hook joint, the second hook joint and the third hook joint is perpendicular to the axis of the first moving pair and the axis of the first moving pair.
In the above embodiment, first sliding pair, second sliding pair are the active drive pair, the utility model discloses in, the active drive is vice to be driven ball screw mechanism by servo motor and realizes the drive.
Claims (9)
1. A two-rotational-freedom parallel robot comprises a movable platform (4), a rack (5) and three branches connected in parallel between the movable platform and the rack; characterized in that, of the three branches:
the first branch comprises a first spherical hinge (S1) and a first connecting rod (L1) which are sequentially connected between the movable platform and the rack; the second branch comprises a second spherical hinge (S2), a second connecting rod (L2), a first rotating pair (R1), a third connecting rod (L3) and a first moving pair (P1) which are sequentially connected between the moving platform and the rack, and the first moving pair comprises a sliding hole formed in the rack and the third connecting rod in sliding fit with the sliding hole;
the third branch comprises a third spherical hinge (S3), a fourth connecting rod (L4), a second revolute pair (R2), a fifth connecting rod (L5) serving as a guide rod of a second sliding pair (P2) and a second sliding pair (P2) which are sequentially connected between the movable platform and the machine frame; the second sliding pair comprises a sliding hole formed in the frame and a fifth connecting rod in sliding fit with the sliding hole;
the first revolute pair axis is perpendicular to the second revolute pair axis.
2. A two-rotational-freedom parallel robot comprises a movable platform (4), a rack (5) and three branches connected in parallel between the movable platform and the rack; characterized in that, of the three branches:
the first branch comprises a first spherical hinge (S1) and a first connecting rod (L1) which are sequentially connected between the movable platform and the rack; the second branch comprises a second spherical hinge (S2), a second connecting rod (L2), a first rotating pair (R1), a third connecting rod (L3) and a first moving pair (P1) which are sequentially connected between the moving platform and the rack, and the first moving pair comprises a sliding hole formed in the rack and the third connecting rod in sliding fit with the sliding hole;
the third branch comprises a third spherical hinge (S3), a fourth connecting rod (L4), a fourth spherical hinge (S4), a fifth connecting rod (L5) and a second sliding pair which are sequentially connected between the movable platform and the rack; or,
the third branch comprises a first hook hinge (U1), a fourth connecting rod (L4), a third spherical hinge (S3), a fifth connecting rod (L5) and a second sliding pair which are sequentially connected between the movable platform and the rack; or,
the third branch comprises a third spherical hinge (S3), a fourth connecting rod (L4), a first hooke hinge (U1), a fifth connecting rod (L5) and a second sliding pair which are sequentially connected between the movable platform and the rack;
the second sliding pair comprises a sliding hole formed in the frame and a fifth connecting rod in sliding fit with the sliding hole.
3. A two-rotational-freedom parallel robot comprises a movable platform (4), a rack (5) and three branches connected in parallel between the movable platform and the rack; the method is characterized in that: of the three branches:
the first branch comprises a first spherical hinge (S1) and a first connecting rod (L1) which are sequentially connected between the movable platform and the rack;
the second branch comprises a second spherical hinge (S2), a second connecting rod (L2), a first hooke hinge (U1), a third connecting rod (L3) and a first sliding pair (P1), wherein the second spherical hinge (S2), the second connecting rod (L2), the first hooke hinge (U1), the third connecting rod (L3) and the first sliding pair are sequentially connected between the movable platform and the rack;
the third branch comprises a second hook joint (U2), a fourth connecting rod (L4), a first rotating pair (R1), a fifth connecting rod (L5) and a second moving pair (P2) which are sequentially connected between the movable platform and the rack; the second sliding pair comprises a sliding hole formed in the frame and a fifth connecting rod in sliding fit with the sliding hole.
4. A two-rotational-freedom parallel robot comprises a movable platform (4), a rack (5) and three branches connected in parallel between the movable platform and the rack; characterized in that, of the three branches:
the first branch comprises a first hook joint (U1) and a first connecting rod (L1) which are sequentially connected between the movable platform and the rack;
the second branch comprises a second hook joint (U2), a second connecting rod (L2), a first rotating pair (R1), a third connecting rod (L3) and a first moving pair (P1) which are sequentially connected between the moving platform and the rack, and the first moving pair comprises a sliding hole formed in the rack and the third connecting rod in sliding fit with the sliding hole;
the third branch comprises a first spherical hinge (S1), a fourth connecting rod (L4), a second spherical hinge (S2), a fifth connecting rod (L5) and a second sliding pair (P2) which are sequentially connected between the movable platform and the rack; the second sliding pair comprises a sliding hole formed in the frame and a fifth connecting rod in sliding fit with the sliding hole; or,
the third branch comprises a first spherical hinge (S1), a fourth connecting rod (L4), a third hooke hinge (U3), a fifth connecting rod (L5) and a second sliding pair (P2), wherein the first spherical hinge (S1), the fourth connecting rod (L4), the third hooke hinge (U3), the fifth connecting rod (L5) and the second sliding pair (P2) are sequentially connected between the movable platform and the; the second sliding pair comprises a sliding hole formed in the frame and a fifth connecting rod in sliding fit with the sliding hole.
5. A two-rotational-freedom parallel robot comprises a movable platform (4), a rack (5) and three branches connected in parallel between the movable platform and the rack; the method is characterized in that: of the three branches:
the first branch comprises a first hook joint (U1) and a first connecting rod (L1) which are sequentially connected between the movable platform and the rack;
the second branch comprises a first spherical hinge (S1), a second connecting rod (L2), a second hooke hinge (U2), a third connecting rod (L3) and a first sliding pair (P1), wherein the first spherical hinge, the second connecting rod (L2), the second hooke hinge, the third connecting rod (L3) and the first sliding pair are sequentially connected between the movable platform and the rack;
the third branch comprises a second spherical hinge (S2), a fourth connecting rod (L4), a third hooke hinge (U3), a fifth connecting rod (L5) and a second sliding pair (P2) which are sequentially connected between the movable platform and the rack; the second sliding pair comprises a sliding hole formed in the frame and a fifth connecting rod in sliding fit with the sliding hole.
6. A two-rotational-freedom parallel robot comprises a movable platform (4), a rack (5) and three branches connected in parallel between the movable platform and the rack; characterized in that, of the three branches:
the first branch comprises a first hook joint (U1) and a first connecting rod (L1) which are sequentially connected between the movable platform and the rack; the second branch comprises a first spherical hinge (S1), a second connecting rod (L2), a second spherical hinge (S2), a third connecting rod (L3) and a first sliding pair (P1), wherein the first spherical hinge (S1), the second connecting rod (L2), the second spherical hinge (S2), the third connecting rod (L3) and the first sliding pair (P1) are sequentially connected between the movable platform and the rack;
the third branch comprises a third spherical hinge (S3), a fourth connecting rod (L4), a first rotating pair (R1), a fifth connecting rod (L5) and a second moving pair (P2) which are sequentially connected between the movable platform and the rack; or,
the third branch comprises a second hook joint (U2), a fourth connecting rod (L4), a third hook joint (U3), a fifth connecting rod (L5) and a second sliding pair (P2), wherein the second hook joint, the fourth connecting rod (L4), the third hook joint (U3), the fifth connecting rod (L5) and the second sliding pair are sequentially connected between the movable platform and the rack;
the second sliding pair comprises a sliding hole formed in the frame and a fifth connecting rod in sliding fit with the sliding hole.
7. A two rotational degree of freedom parallel robot according to claim 1 or 2 or 3 or 4 or 5 or 6, wherein: the axes of the first connecting rod, the second connecting rod and the third connecting rod are arranged in parallel.
8. The two rotational degree of freedom parallel robot of claim 7, wherein: the first secondary axis of movement is parallel to the second secondary axis of movement.
9. The two rotational degree of freedom parallel robot of claim 8, wherein: the first moving pair and the second moving pair are both active driving pairs; the driving pair is driven by a ball screw mechanism driven by a servo motor.
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