Three-degree-of-freedom one-translation and two-rotation parallel mechanism only containing rotating joints

Abstract

The utility model discloses a three-degree-of-freedom one-translation and two-rotation parallel mechanism only containing rotating joints. The three-degree-of-freedom one-translation and two-rotation parallel mechanism only containing the rotating joints comprises a base, a movable platform arranged opposite to the base, a first branch chain, a second branch chain and a third branch chain, wherein the first branch chain, the second branch chain and the third branch chain are connected with the base and the movable platform. The third branch chain is arranged between the first branch chain and the second branch chain; each of the first branch chain and the second branch chain comprises a plurality of kinematic pairs, and each kinematic pair comprises a universal pair, a first revolute pair and a second revolute pair; the third branch chain comprises a third rotating pair, a ball pair and a fourth rotating pair. Due to the fact that the rotating joint is only included, driving through a moving pair is not needed, and the problem that the movement/force transmission efficiency is low due to sliding friction can be effectively avoided. 本实用新型公开了一种仅含转动关节的三自由度一平两转并联机构，所述仅含转动关节的三自由度一平两转并联机构包括：基座，与所述基座相对设置的动平台，连接所述基座与所述动平台的第一支链、第二支链以及第三支链；所述第三支链设置于所述第一支链、所述第二支链之间；所述第一支链与所述第二支链均包括多个运动副，所述运动副包括万向副、第一转动副以及第二转动副；所述第三支链包括第三转动副、球副以及第四转动副。由于本实用新型仅含转动关节，不用通过移动副进行驱动，从而可以有效避免因滑动摩擦导致的运动/力传递效率低的问题。