CN102626919A - Symmetrical two-rotation one-moving parallel connection mechanism without concurrent axes - Google Patents
Symmetrical two-rotation one-moving parallel connection mechanism without concurrent axes Download PDFInfo
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Abstract
The invention relates to a symmetrical two-rotation one-moving parallel connection mechanism without concurrent axes, which comprises a fixed platform, a moving platform and three movable branches of the same structure connected between the fixed platform and the moving platform. The symmetrical two-rotation one-moving parallel connection mechanism is characterized in that each movable branch is formed by a three-degree-of-freedom planar subchain and two transmission pairs, axes of the transmission pairs in the three-degree-of-freedom planar subchain are parallel to each other, a moving central line of the moving pairs is perpendicular to the axis of the transmission pairs, the axis of the transmission pairs in the three-degree-of-freedom planar subchain is arranged to be parallel to the fixed platform or the moving platform. The symmetrical two-rotation one-moving parallel connection mechanism without concurrent axes has the advantages that the mechanism has two rotating degrees of freedom and one moving degree of freedom, no concurrent axes exists among the movable branches and the branches, the structure is simple, machining and manufacture are convenient, and the mechanism has wide application prospects.
Description
Technical field
The present invention relates to a kind of parallel institution of mechanical field, the symmetry two of the no junction axis of particularly a kind of space lower-mobility is rotated a mobile parallel connection mechanism.
Background technology
Parallel robot and serial machine physiognomy ratio have that rigidity is big, movement velocity is fast, the precision advantages of higher, have widely in the mechanical industry field and use.Hunt has proposed a kind of 3-RPS 3-freedom parallel mechanism in nineteen eighty-three; Have two rotational freedoms and (the K.H. Hunt of the one-movement-freedom-degree perpendicular to fixed platform; Structural Kinematics of In-Parallel-Actuated Robot-Arms; Journal of Mechanisms Transmissions and Automation in Design, 105 (1983) 705-705), this mechanism had obtained paying close attention to widely and using afterwards.The 3-PRS 3-freedom parallel mechanism that has similar kinetic property with 3-RPS has been successfully applied to machine tool chief axis.But perhaps contain spherical pair in traditional branched structure, perhaps contain a plurality of spaces and intersect at the revolute pair of a bit.Such branched structure is difficult to guarantee precision for actual processing and manufacturing brings very big difficulty.
Summary of the invention
The objective of the invention is provides a kind of processing and manufacturing more convenient in order to solve the deficiency that above-mentioned prior art exists, and guarantees symmetry two rotations one mobile parallel connection mechanism of the no junction axis of machining accuracy easily.
The present invention includes fixed platform, moving platform, and parallel three identical in structure active branch that are connected between fixed, moving two platforms, all active branch are made up of two revolute pairs and a three-freedom planar subchain respectively.
Said three-freedom planar subchain is meant by three kinematic pairs and interconnects and combine through connecting rod member that the kinematic chain of plane motion only takes place kinematic pair each other.For example: can constitute (being expressed as RRR) by three revolute pairs that are parallel to each other, also can constitute jointly by revolute pair and moving sets.
Three kinematic pairs of three-freedom planar subchain of the present invention; One of them kinematic pair is a revolute pair; Two other kinematic pair is respectively revolute pair or moving sets, and the axis of revolute pair is parallel to each other, and the Mobility Center line of moving sets is vertical each other with the axis of revolute pair.
The three-freedom planar subchain has following 7 kinds of combining form: RRR, RPR, RRP, PRR, RPP, PRP, PPR, and R represents revolute pair, and P represents moving sets.
Following four kinds of connected modes are arranged between the three-freedom planar subchain in each active branch and two revolute pairs and fixed, moving two platforms:
First kind of connected mode: the three-freedom planar subchain in each active branch is connected with fixed platform, and the axis and the fixed platform of the revolute pair in this plane subchain are arranged in parallel.Two revolute pairs in the active branch, one of them is the moving platform revolute pair that is connected with moving platform, another is the middle revolute pair between three-freedom planar subchain and moving platform revolute pair.The axis of above-mentioned moving platform revolute pair can tilt with moving platform, perpendicular or parallel; The axis of middle revolute pair and the axis of moving platform revolute pair are not parallel to each other, and the axis of the revolute pair in the axis of this centre revolute pair and the three-freedom planar subchain also is not parallel to each other.
Second kind of connected mode: the three-freedom planar subchain in each active branch is connected with moving platform, and the axis and the moving platform of the revolute pair in this three-freedom planar subchain are arranged in parallel.Two revolute pairs in the active branch, one of them is the fixed platform revolute pair that links to each other with fixed platform, this fixed platform revolute pair can tilt with fixed platform, perpendicular or parallel; Another revolute pair is the middle revolute pair between fixed platform revolute pair and three-freedom planar subchain; The axis of the axis of this centre revolute pair and fixed platform revolute pair is not parallel to each other, and the axis of the revolute pair in the axis of this centre revolute pair and the three-freedom planar subchain also is not parallel to each other.
The third connected mode: two revolute pairs in each active branch, one of them is the moving platform revolute pair that is connected with moving platform, the axis of this moving platform revolute pair can be parallel with moving platform, tilt or vertical layout; Another is the fixed platform revolute pair that links to each other with fixed platform; The axis of this fixed platform revolute pair is vertical with fixed platform to be arranged; The three-freedom planar subchain is between above-mentioned two revolute pairs; The axis of the revolute pair in this three-freedom planar subchain is vertical each other with the axis of fixed platform revolute pair, is not parallel to each other with the axis of moving platform revolute pair;
The 4th kind of connected mode: two revolute pairs in each active branch, one of them is the moving platform revolute pair that is connected with moving platform, the axis of this moving platform revolute pair is vertical with moving platform to be arranged; Another is the fixed platform revolute pair that links to each other with fixed platform; The axis of this fixed platform revolute pair can be parallel with fixed platform, tilt or vertical layout; The three-freedom planar subchain is between above-mentioned two revolute pairs; The axis of the revolute pair in this three-freedom planar subchain is vertical each other with the axis of moving platform revolute pair, is not parallel to each other with the axis of fixed platform revolute pair.
In above-mentioned four kinds of connected modes; Can when being parallel to each other, the Mobility Center line of an adjacent moving sets and the axis of a revolute pair can be replaced by a universal coupling replacement when axis of two adjacent revolute pairs is vertical each other in the active branch by a cylindrical pair.
The present invention compared with prior art has outstanding advantage: the axis of no any junction in the mechanism, and the active branch structure is very simple, and processing and manufacturing is more convenient, and guarantees machining accuracy easily, has very wide application prospect.
Description of drawings:
Fig. 1 is the schematic perspective view of the embodiment of the invention 1;
Fig. 2 is the schematic perspective view of the embodiment of the invention 2;
Fig. 3 is the schematic perspective view of the embodiment of the invention 3;
Fig. 4 is the schematic perspective view of the embodiment of the invention 4;
Fig. 5 is the schematic perspective view of the embodiment of the invention 5;
Fig. 6 is the schematic perspective view of the embodiment of the invention 6;
Fig. 7 is the schematic perspective view of the embodiment of the invention 7;
Fig. 8 is the schematic perspective view of the embodiment of the invention 8;
Fig. 9 is the schematic perspective view of the embodiment of the invention 9;
Figure 10 is the schematic perspective view of the embodiment of the invention 10;
Figure 11 is the schematic perspective view of the embodiment of the invention 11;
Figure 12 is the schematic perspective view of the embodiment of the invention 12;
Figure 13 is the schematic perspective view of the embodiment of the invention 13.
The specific embodiment:
Embodiment 1: the symmetry two at no junction axis shown in Figure 1 is rotated in the mobile parallel connection mechanism; This parallel institution is made up of fixed platform 1, moving platform 6 and three identical in structure active branch; Each active branch is made up of the plane subchain of two revolute pair R4, R5 and a Three Degree Of Freedom, and this three-freedom planar subchain is to be made up of revolute pair R1, revolute pair R2, revolute pair R3 that three axis are parallel to each other, and revolute pair R1 connects fixed platform 1 and connecting rod 2; And its axis and fixed platform are arranged in parallel; Revolute pair R2 connects connecting rod 2 and connecting rod 3, and revolute pair R3 connects connecting rod 3 and connecting rod 4, and revolute pair R4 connects connecting rod 4 and connecting rod 5; The axis of this revolute pair R4 and the axis of revolute pair R3 are not parallel to each other; Revolute pair R5 connects connecting rod 5 and moving platform 6, and the axis of revolute pair R5 is vertical with moving platform arranges that the axis of this revolute pair R5 and the axis of revolute pair R4 are not parallel to each other.
Embodiment 2: the symmetry two at no junction axis shown in Figure 2 is rotated in the mobile parallel connection mechanism; This parallel institution is made up of fixed platform 1, moving platform 6 and three identical in structure active branch; Each active branch is made up of the plane subchain of two revolute pair R4, R5 and a Three Degree Of Freedom, and this three-freedom planar subchain is to be made up of revolute pair R1, revolute pair R2, revolute pair R3 that three axis are parallel to each other, and revolute pair R1 connects fixed platform 1 and connecting rod 2; And its axis and fixed platform are arranged in parallel; Revolute pair R2 connects connecting rod 2 and connecting rod 3, and revolute pair R3 connects connecting rod 3 and connecting rod 4, and revolute pair R4 connects connecting rod 4 and connecting rod 5; The axis of this revolute pair R4 and the axis of revolute pair R3 are not parallel to each other; Revolute pair R5 connects connecting rod 5 and moving platform 6, and the axis of revolute pair R5 and moving platform be in tilted layout, and the axis of this revolute pair R5 and the axis of revolute pair R4 are not parallel to each other.
Embodiment 3: the symmetry two at no junction axis shown in Figure 3 is rotated in the mobile parallel connection mechanism; This parallel institution is made up of fixed platform 1, moving platform 6 and three identical in structure active branch; Each active branch is made up of the plane subchain of two revolute pair R4, R5 and a Three Degree Of Freedom, and this three-freedom planar subchain is to be made up of revolute pair R1, revolute pair R2, revolute pair R3 that three axis are parallel to each other, and revolute pair R1 connects fixed platform 1 and connecting rod 2; And its axis and fixed platform are arranged in parallel; Revolute pair R2 connects connecting rod 2 and connecting rod 3, and revolute pair R3 connects connecting rod 3 and connecting rod 4, and revolute pair R4 connects connecting rod 4 and connecting rod 5; The axis of this revolute pair R4 and the axis of revolute pair R3 are not parallel to each other; Revolute pair R5 connects connecting rod 5 and moving platform 6, and the axis of revolute pair R5 and moving platform be arranged in parallel, and the axis of this revolute pair R5 and the axis of revolute pair R4 are not parallel to each other.
Embodiment 4: the symmetry two at no junction axis shown in Figure 4 is rotated in the mobile parallel connection mechanism; This parallel institution is made up of fixed platform 1, moving platform 6 and three identical in structure active branch; Each active branch is made up of the plane subchain of two revolute pair R4, R5 and a Three Degree Of Freedom, and this three-freedom planar subchain is to be made up of moving sets P1, revolute pair R2, revolute pair R3, and the axis of revolute pair R2 is vertical each other with the Mobility Center line of moving sets P1; The axis of the axis of revolute pair R3 and revolute pair R2 is parallel to each other; Moving sets P1 connects fixed platform 1 and connecting rod 2, and revolute pair R2 connects connecting rod 2 and connecting rod 3, and axis and the fixed platform of this revolute pair R2 are arranged in parallel; Revolute pair R3 connects connecting rod 3 and connecting rod 4; Revolute pair R4 connects connecting rod 4 and connecting rod 5, and the axis of this revolute pair R4 and the axis of revolute pair R3 are not parallel to each other, and revolute pair R5 connects connecting rod 5 and moving platform 6; And the axis of revolute pair R5 is vertical with moving platform to be arranged, the axis of this revolute pair R5 and the axis of revolute pair R4 are not parallel to each other.
Embodiment 5: the symmetry two at no junction axis shown in Figure 5 is rotated in the mobile parallel connection mechanism, and this parallel institution is made up of fixed platform 1, moving platform 6 and three identical in structure active branch, and each active branch is made up of the plane subchain of two revolute pair R4, R5 and a Three Degree Of Freedom; This three-freedom planar subchain is to be made up of revolute pair R1, moving sets P2, revolute pair R3; Moving sets P2 is vertical each other with the axis of revolute pair R1, the parallel axes of the axis of revolute pair R3 and revolute pair R1, and revolute pair R1 connects fixed platform 1 and connecting rod 2; Axis and the fixed platform of this revolute pair R1 are arranged in parallel; Moving sets P2 connects connecting rod 2 and connecting rod 3, and revolute pair R3 connects connecting rod 3 and connecting rod 4, and revolute pair R4 connects connecting rod 4 and connecting rod 5; The axis of this revolute pair R4 and the axis of revolute pair R3 are not parallel to each other; Revolute pair R5 connects connecting rod 5 and moving platform 6, and the axis of revolute pair R5 is vertical with moving platform arranges that the axis of this revolute pair R5 and the axis of revolute pair R4 are not parallel to each other.
Embodiment 6: the symmetry two at no junction axis shown in Figure 6 is rotated in the mobile parallel connection mechanism, and this parallel institution is made up of fixed platform 1, moving platform 6 and three identical in structure active branch, and each active branch is made up of the plane subchain of two revolute pair R4, R5 and a Three Degree Of Freedom; This three-freedom planar subchain is to be made up of revolute pair R1, revolute pair R2, moving sets P3; The axis of the axis of revolute pair R2 and revolute pair R1 is parallel to each other, and moving sets P3 is vertical each other with the axis of revolute pair R2, and revolute pair R1 connects fixed platform 1 and connecting rod 2; Axis and the fixed platform of this revolute pair R1 are arranged in parallel; Revolute pair R2 connects connecting rod 2 and connecting rod 3, and moving sets P3 connects connecting rod 3 and connecting rod 4, and revolute pair R4 connects connecting rod 4 and connecting rod 5; The axis of this revolute pair R4 and the axis of revolute pair R2 are not parallel to each other; Revolute pair R5 connects connecting rod 5 and moving platform 6, and the axis of revolute pair R5 and moving platform 6 vertical layouts, and the axis of this revolute pair R5 and the axis of revolute pair R4 are not parallel to each other.
Embodiment 7: the symmetry two at no junction axis shown in Figure 7 is rotated in the mobile parallel connection mechanism, and this parallel institution is made up of fixed platform 1, moving platform 6 and three identical in structure active branch, and each active branch is made up of the plane subchain of two revolute pair R4, R5 and a Three Degree Of Freedom; This three-freedom planar subchain is to be made up of revolute pair R1, moving sets P2, moving sets P3; Moving sets P2 is vertical each other with the axis of revolute pair R1, and moving sets P3 is vertical each other with the axis of revolute pair R1, and revolute pair R1 connects fixed platform 1 and connecting rod 2; Axis and the fixed platform of this revolute pair R1 are arranged in parallel; Moving sets P2 connects connecting rod 2 and connecting rod 3, and moving sets P3 connects connecting rod 3 and connecting rod 4, and revolute pair R4 connects connecting rod 4 and connecting rod 5; The axis of this revolute pair R4 and the axis of revolute pair R1 are not parallel to each other; Revolute pair R5 connects connecting rod 5 and moving platform 6, and the axis of revolute pair R5 is vertical with moving platform arranges that the axis of this revolute pair R5 and the axis of revolute pair R4 are not parallel to each other.
Embodiment 8: the symmetry two at no junction axis shown in Figure 8 is rotated in the mobile parallel connection mechanism, and this parallel institution is made up of fixed platform 1, moving platform 6 and three identical in structure active branch, and each active branch is made up of the plane subchain of two revolute pair R4, R5 and a Three Degree Of Freedom; This three-freedom planar subchain is to be made up of moving sets P1, revolute pair R2, moving sets P3; The axis of revolute pair R2 is vertical each other with moving sets P1, and the Mobility Center line of moving sets P3 is vertical each other with the axis of revolute pair R2, and moving sets P1 connects fixed platform 1 and connecting rod 2; Revolute pair R2 connects connecting rod 2 and connecting rod 3; Axis and the fixed platform of this revolute pair R2 are arranged in parallel, and moving sets P3 connects connecting rod 3 and connecting rod 4, and revolute pair R4 connects connecting rod 4 and connecting rod 5; The axis of this revolute pair R4 and the axis of revolute pair R2 are not parallel to each other; Revolute pair R5 connects connecting rod 5 and moving platform 6, and the axis of revolute pair R5 and moving platform be arranged in parallel, and the axis of this revolute pair R5 and the axis of revolute pair R4 are not parallel to each other.
Embodiment 9: the symmetry two at no junction axis shown in Figure 9 is rotated in the mobile parallel connection mechanism; This parallel institution is made up of fixed platform 1, moving platform 6 and three identical in structure active branch; Each active branch is made up of the plane subchain of two revolute pair R4, R5 and a Three Degree Of Freedom, and this three-freedom planar subchain is to be made up of moving sets P1, moving sets P2, revolute pair R3, and the Mobility Center line of moving sets P1 is vertical each other with the axis of revolute pair R3; The Mobility Center line of moving sets P2 is vertical each other with the axis of revolute pair R3; Moving sets P1 connects fixed platform 1 and connecting rod 2, and moving sets P2 connects connecting rod 2 and connecting rod 3, and revolute pair R3 connects connecting rod 3 and connecting rod 4; Axis and the fixed platform of this revolute pair R3 are arranged in parallel; Revolute pair R4 connects connecting rod 4 and connecting rod 5, and the axis of this revolute pair R4 and the axis of revolute pair R3 are not parallel to each other, and revolute pair R5 connects connecting rod 5 and moving platform 6; And the axis of revolute pair R5 is vertical with moving platform to be arranged, the axis of this revolute pair R5 and the axis of revolute pair R4 are not parallel to each other.
Embodiment 10: the symmetry two at no junction axis shown in Figure 10 is rotated in the mobile parallel connection mechanism; This parallel institution is made up of fixed platform 1, moving platform 6 and three identical in structure active branch; Each active branch is made up of the plane subchain of two revolute pair R1, R2 and a Three Degree Of Freedom, and this three-freedom planar subchain is to be made up of revolute pair R3, revolute pair R4, revolute pair R5 that three axis are parallel to each other, and revolute pair R1 connects fixed platform 1 and connecting rod 2; And the axis of revolute pair R1 is vertical with fixed platform to be arranged; Revolute pair R2 connects connecting rod 2 and connecting rod 3, and the axis of this revolute pair R2 and the axis of revolute pair R1 are not parallel to each other, and revolute pair R3 connects connecting rod 3 and connecting rod 4; The axis of this revolute pair R3 and the axis of revolute pair R2 are not parallel to each other; Revolute pair R4 connects connecting rod 4 and connecting rod 5, and revolute pair R5 connects connecting rod 5 and moving platform 6, and the axis of revolute pair R5 and moving platform 6 are arranged in parallel.
Embodiment 11: the symmetry two at no junction axis shown in Figure 11 is rotated in the mobile parallel connection mechanism; This parallel institution is made up of fixed platform 1, moving platform 6 and three identical in structure active branch; Each active branch is made up of the plane subchain of two revolute pair R1, R5 and a Three Degree Of Freedom, and this three-freedom planar subchain is to be made up of revolute pair R2, revolute pair R3, revolute pair R4 that three axis are parallel to each other, and revolute pair R1 connects fixed platform 1 and connecting rod 2; Revolute pair R2 connects connecting rod 2 and connecting rod 3; The axis of revolute pair R1 is vertical with fixed platform to be arranged, it is vertical that the axis of revolute pair R2 and the axis of revolute pair R1 are parallel to each other, and revolute pair R3 connects connecting rod 3 and connecting rod 4; Revolute pair R4 connects connecting rod 4 and connecting rod 5; Revolute pair R5 connects connecting rod 5 and moving platform 6, and axis and the moving platform 6 of this revolute pair R5 are in tilted layout, and the axis of the axis of revolute pair R5 and revolute pair R4 is not parallel to each other.
Embodiment 12: the symmetry two at no junction axis shown in Figure 12 is rotated in the mobile parallel connection mechanism; This parallel institution is made up of fixed platform 1, moving platform 6 and three identical in structure active branch; Each active branch is made up of the plane subchain of two revolute pair R1, R5 and a Three Degree Of Freedom, and this three-freedom planar subchain is to be made up of revolute pair R2, revolute pair R3, revolute pair R4 that three axis are parallel to each other, and revolute pair R1 connects fixed platform 1 and connecting rod 2; Axis and the fixed platform 1 of this revolute pair R1 are in tilted layout; Revolute pair R2 connects connecting rod 2 and connecting rod 3, and the axis of this revolute pair R2 and the axis of revolute pair R1 are not parallel to each other, and revolute pair R3 connects connecting rod 3 and connecting rod 4; Revolute pair R4 connects connecting rod 4 and connecting rod 5; Revolute pair R5 connects connecting rod 5 and moving platform 6, and the axis of this revolute pair R5 and the axis normal of revolute pair R4 arrange that the axis of this revolute pair R5 is vertical with moving platform to be arranged.
Embodiment 13: the symmetry two at no junction axis shown in Figure 13 is rotated in the mobile parallel connection mechanism; This parallel institution is made up of fixed platform 1, moving platform 6 and three identical in structure active branch; Each active branch is made up of cylindrical pair C1, revolute pair R2 and universal coupling U3, and cylindrical pair C1 connects fixed platform and connecting rod 2, and the axis of this cylindrical pair C1 is vertical with fixed platform to be arranged; Revolute pair R2 connects connecting rod 2 and connecting rod 3, and this revolute pair axis is vertical each other with the axis of cylindrical pair C1.Universal coupling U3 connects connecting rod 3 and moving platform 6.Comprise two revolute pairs that intersect vertically among the universal coupling U3.Universal coupling U3 links to each other through its first revolute pair with connecting rod 3, and this revolute pair axis direction is parallel to revolute pair R2.Universal coupling U3 links to each other through its second revolute pair with moving platform 6, and this revolute pair axis direction and moving platform are in tilted layout.
Claims (2)
1. a symmetry two of not having the junction axis is rotated a mobile parallel connection mechanism; Comprise fixed platform, moving platform; And parallel three identical in structure active branch that are connected between fixed, moving two platforms, it is characterized in that: all active branch are made up of two revolute pairs and a three-freedom planar subchain respectively; Three kinematic pairs of three-freedom planar subchain; One of them kinematic pair is a revolute pair; Two other kinematic pair is respectively revolute pair or moving sets; And the axis of revolute pair is parallel to each other in the three-freedom planar subchain; The Mobility Center line of moving sets is vertical each other with the axis of revolute pair, and the axis of the revolute pair in the three-freedom planar subchain is arranged in parallel with fixed platform or moving platform respectively, and the connected mode between three free plane subchains in each active branch and two revolute pairs and fixed, moving two platforms is one of following four kinds:
First kind of connected mode: the three-freedom planar subchain in each active branch is connected with fixed platform; The axis and the fixed platform of the revolute pair in this three-freedom planar subchain are arranged in parallel; Two revolute pairs in the active branch; One of them is the moving platform revolute pair that is connected with moving platform; Another is the middle revolute pair between three-freedom planar subchain and moving platform revolute pair, and the axis of the axis of this centre revolute pair and moving platform revolute pair is not parallel to each other, and the axis of the revolute pair in the axis of this centre revolute pair and the three-freedom planar subchain also is not parallel to each other;
Second kind of connected mode: the three-freedom planar subchain in each active branch is connected with moving platform; The axis and the moving platform of the revolute pair in this three-freedom planar subchain are arranged in parallel; Two revolute pairs in the active branch; One of them is the fixed platform revolute pair that is connected with fixed platform; Another is the middle revolute pair between fixed platform revolute pair and three-freedom planar subchain, and the axis of the axis of this centre revolute pair and fixed platform revolute pair is not parallel to each other, and the axis of the revolute pair in the axis of this centre revolute pair and the three-freedom planar subchain also is not parallel to each other;
The third connected mode: two revolute pairs in each active branch; One of them is the moving platform revolute pair that is connected with moving platform; Another is the fixed platform revolute pair that links to each other with fixed platform, and the axis of this fixed platform revolute pair is vertical with fixed platform to be arranged, the three-freedom planar subchain is between above-mentioned two revolute pairs; The axis of the revolute pair in this three-freedom planar subchain is vertical each other with the axis of fixed platform revolute pair, is not parallel to each other with the axis of moving platform revolute pair;
The 4th kind of connected mode: two revolute pairs in each active branch, one of them is the moving platform revolute pair that is connected with moving platform, the axis of this moving platform revolute pair is vertical with moving platform to be arranged; Another is the fixed platform revolute pair that links to each other with fixed platform; The three-freedom planar subchain is between above-mentioned two revolute pairs; The axis of the revolute pair in this three-freedom planar subchain is vertical each other with the axis of moving platform revolute pair, is not parallel to each other with the axis of fixed platform revolute pair.
2. the symmetry two of no junction axis according to claim 1 is rotated a mobile parallel connection mechanism, it is characterized in that: in the said active branch, when the axis of two adjacent revolute pairs was vertical each other, these two revolute pairs can be by a universal coupling replacement; When the axis of the Mobility Center line of an adjacent moving sets and a revolute pair was parallel to each other, this moving sets and revolute pair can be by cylindrical pair replacements.
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| CN102825595A (en) * | 2012-08-24 | 2012-12-19 | 燕山大学 | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism |
| CN102962840A (en) * | 2012-11-09 | 2013-03-13 | 燕山大学 | Parallel mechanism with symmetric structure and without associated movement |
| CN103042522A (en) * | 2012-12-26 | 2013-04-17 | 燕山大学 | 3-5R (revolute) and SS (sphere-sphere) two-degree-of-freedom parallel mechanism with function of posture adjustment and positioning |
| CN103286777A (en) * | 2013-05-23 | 2013-09-11 | 天津大学 | Novel spatial three-freedom-degree parallel connection mechanism |
| CN103495970A (en) * | 2013-10-12 | 2014-01-08 | 浙江理工大学 | Three-freedom-degree parallel mechanism |
| CN105818133A (en) * | 2016-04-20 | 2016-08-03 | 燕山大学 | One-rotation single-freedom-degree parallel mechanism |
| CN113543942A (en) * | 2019-03-06 | 2021-10-22 | 拉瓦尔大学 | Parallel mechanism with kinematic redundant drive |
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