PARALLEL MECHANISM WITH THREE LINKS AND THREE DEGREES OF FREEDOM

摘要

A parallel mechanism with three links and three degrees of freedom, comprising a fixed platform (1), and a moving platform (2), and further comprising three arc-shaped links (3). Each axis of rotation of the three arc-shaped links (3) forms a paired intersection with the other axes. Each of the axes of rotation are parallel to the fixed platform (1). Each of the arc-shaped links (3) are provided with a sliding groove (31) along a lengthwise direction extending along the shape of the arc. The moving platform (2) is provided with three connecting shafts (21), with each of the shafts corresponding to the three arc-shaped links (3). One end of each of the connecting shafts (21) is fixedly connected to the moving platform (2), and another end thereof is hingedly connected to a connector (32). The connector (32) is slidingly provided within the sliding groove (31). The arc-shaped link forms a rotatable connection with the fixed platform (1) and forms a sliding connection by engaging the connecting shaft (21) with the connector (32). Actuating rotation of each of the arc-shaped links (3) can control mid-air flipping and rotation of the moving platform (2) in three directions. The moving platform (2) moves stably throughout the entire process and achieves a high precision of control. The invention has improved robustness and load bearing capability, can avoid the incidence of collateral movement, and has high flexibility.