Two-rotation and two-movement four-degree-of-freedom parallel mechanism for restraining redundancy

• Main Authors: XU LINGMIN, CHAI XINXUE, LI QINCHUAN
• Format: Patent
• Language: Chinese; English
• Published: 08.01.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention relates to the field of industrial robots. According to the technical scheme, a two-rotation and two-movement four-degree-of-freedom parallel mechanism for restraining redundancy is characterized in that the parallel mechanism comprises a rack, a movable platform, two first branches and two second branches, and the two first branches and the two second branches are connected betweenthe rack and the movable platform in parallel; the first branches comprise first moving pairs, first spherical hinges, first connecting rods and second spherical hinges which are sequentially connected between the rack and the movable platform; the second branches comprise second moving pairs, first rotating pairs, second connecting rods and first hooke joints which are sequentially connected between the rack and the movable platform; and in the second branches, first rotating shafts of the first hooke joints are connected with the movable platform, and the axes of second rotating shafts of the first hooke joints conn