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1. (WO2018195762) THREE-DEGREES-OF-FREEDOM PARALLEL MECHANISM HAVING AN ARC-SHAPED MOVEMENT PAIR

Pub. No.:    WO/2018/195762    International Application No.:    PCT/CN2017/081823
Publication Date: Fri Nov 02 00:59:59 CET 2018 International Filing Date: Wed Apr 26 01:59:59 CEST 2017
IPC: B25J 9/08
B25J 17/00
Applicants: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES
中国科学院深圳先进技术研究院
Inventors: ZHAO, Guoru
赵国如
WANG, Yongfeng
王永奉
Title: THREE-DEGREES-OF-FREEDOM PARALLEL MECHANISM HAVING AN ARC-SHAPED MOVEMENT PAIR
Abstract:
Provided is a three-degrees-of-freedom parallel mechanism having an arc-shaped movement pair, comprising a fixed platform (110), a movable platform (120) and three arc-shaped support linkages (130) provided between the fixed platform (110) and the movable platform (120). Each of the arc-shaped support linkages (130) comprises a first arc-shaped connecting rod (132) and a second arc-shaped connecting rod (134) sharing the same arc centre. One end of the first arc-shaped connecting rod (132) is connected to the fixed platform (110) using a revolute pair (136). One end of the second arc-shaped connecting rod (134) is provided in a cavity of the other end of the first arc-shaped connecting rod (132), and the second arc-shaped connecting rod (134) can perform a reciprocating motion in a tangential direction of a circular arc of the first arc-shaped connecting rod (132). The other end of the second arc-shaped connecting rod (134) is connected to the movable platform (120) using a ball joint (138). Axes of the three revolute pairs (136) of the three arc-shaped support linkages (130) coincide with each other, and are perpendicular to the fixed platform. The movable platform (120) of the parallel mechanism rotates around the X-axis, Y-axis and Z-axis of the coordinate system centred in the arc centre of the three arc-shaped support linkages (130), wherein the rotation of the movable platform (120) around the Z-axis has a decoupling property compared with when same rotates in the other two directions.