Design And Research On Configuration Of Multi-stage Coupling Parallel Mechanism

The parallel mechanism has the advantages of high precision,large bearing capacity,and sensitive dynamic response.However,the new configuration of the parallel mechanism with a large working space is still lacking due to the interference of the rod piece and the singular space.The working space of the parallel mechanism and the series mechanism still cannot be mentioned in the same breath.In order to make the parallel mechanism reach the level of the series mechanism in the workspace,this paper proposes a new type of coupling parallel mechanism configuration.This configuration enables the force and the movement to be transferred step by step between the parallel mechanisms by using a mechanical transmission method.After being coupled by a plurality of parallel mechanisms,it can realize the movement characteristics that similar with the series mechanism's.And it achieved or even superior to the series mechanism in the important performance of the working space.According to the idea of motion coupling transfer and the coupling transmission conditions were studied in depth,it makes the multi-stage coupling of the basic configuration of the parallel mechanism in unit form was proposed and acquired new configuration and new motion characteristics.Paralleling 3-RSR and 3-RRR was proposed.As a structural unit,the mechanism has designed two multi-stage coupled parallel mechanism configurations to achieve the expected movement in a three-dimensional model,and finally mastered their movement characteristics in mathematics.Taking the 3-RSR parallel mechanism position analysis as the starting point,an inverse solution method based on the triple cosine theorem is proposed.This method avoids solving the trigonometric function equation.In the further analysis of the n(3-RSR)coupled parallel mechanism,the deflection isotonicity of the coupling of the two-rotation and one movement degree of freedom parallel mechanism is proposed and the relevant proofs are given.Then this geometric feature is used to simplify the mathematical model of n(3-RSR)coupled with parallel mechanism is given,and provided the simple forward and reverse position kinematics of the mechanism.The forward position solutions and associated angles of the 3-RSRSR//RRR parallel mechanism are obtained.Through deep research on the research status of humanoid robotic lumbar joints,an n(3-RRR)coupled parallel mechanism is proposed to apply to the lumbar joint.Through the analysis of the position and posture parameters of this mechanism,the movement characteristics of the mechanism are obtained.Its motion characteristics are fully consistent with the motion characteristics of the human body's multiple joints coupling.Based on this,a position analysis method was proposed and expressions were given.In addition,by analyzing the research status of bionic robots,bionic octopus robot brachiopods,and deep submersible robotic arms and combining the motion characteristics of a multi-stage coupled parallel mechanism,the prospective application configuration of multistage coupling parallel mechanism in these fields is proposed.And the flexible concept of rigid structure is also proposed.