CN110815185A - Six-degree-of-freedom high-speed parallel mechanism containing composite branched chain - Google Patents

Abstract

The invention discloses a six-degree-of-freedom high-speed parallel mechanism with composite branched chains, comprising a static platform, a moving platform, an end effector, and three main drive branched chains connected in parallel between the static platform and the moving platform; The drive branch chain, the second auxiliary drive branch chain and the third auxiliary drive branch chain; the second auxiliary drive branch chain and the third auxiliary drive branch chain are respectively arranged on the second main drive branch chain and the third main drive branch chain, forming Two double-driven composite branch chains; a vertically arranged rotating shaft is arranged in the middle of the moving platform, and a Hook hinge is arranged below the rotating shaft, and the rotating shaft is connected with the end effector through the Hook hinge; the first The auxiliary drive branch drives the vertically arranged rotating shaft to rotate through the motion mechanism, and then drives the end effector to rotate through the Hooke hinge; the invention can realize six-degree-of-freedom motion.

Description

A six-degree-of-freedom high-speed parallel mechanism with composite branches

technical field

The invention belongs to the field of industrial robots, in particular to a six-degree-of-freedom high-speed parallel mechanism with composite branched chains.

Background technique

With the continuous development of parallel robots, more and more complex industrial production tasks will be completed by parallel robots, such as the processing of complex curved surfaces and precision assembly. These complex operations cannot be realized by traditional parallel robots with few freedoms, so the research of parallel robots with six degrees of freedom has become a hotspot.

Both the parallel mechanisms disclosed in the existing patents CN101712151B and CN107433574A can realize three-dimensional translation and three-dimensional rotation. The patent CN101712151B realizes the movement of the moving platform with six degrees of freedom through five six-degree-of-freedom motion branches, wherein the four peripheral branches are arranged around the moving platform and are connected to the base, and the fifth central branch is arranged on the moving platform. The middle is connected with the base; only one joint of the peripheral branch is the driving branch, and the central branch has two driving joints. Due to the large number of branch chains in the patent CN101712151B, the movement of the moving platform requires coordinated motion of five branch chains to complete, which will lead to a small working space and strong coupling of movements in all directions. Patent CN107433574A proposes a six-degree-of-freedom series-parallel assembly robot with three branches. The three rotations of the end effector of the patent are realized by attaching three transmission branches to the three branch chains, so that the translational movement and rotation of the robot mechanism are realized. The motion has good decoupling characteristics, but the motor that controls the rotation of the end effector is installed on the main arm, which will increase the rotational inertia of the main arm; It will increase the inertia of the robot and affect its dynamic performance.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a six-degree-of-freedom high-speed parallel mechanism with a composite branch chain, so as to realize the six-degree-of-freedom motion of the linkage mechanism with three translations and three rotations.

The technical solution that realizes the object of the present invention is:

A six-degree-of-freedom high-speed parallel mechanism with a composite branch chain includes a static platform, a moving platform, an end effector 25, a first main drive branch, a second main drive branch and a parallel connection between the static platform and the moving platform. The third main drive branch; also includes the first auxiliary drive branch, the second auxiliary drive branch and the third auxiliary drive branch connected with the moving platform and the end effector; the second auxiliary drive branch and the third auxiliary drive branch The auxiliary drive branch chains are respectively arranged on the second main drive branch chain and the third main drive branch chain to form two double-drive composite branch chains; a vertical rotating shaft is arranged in the middle of the moving platform, and the rotating shaft can be The vertical axis rotates, a Hook hinge is arranged below the rotating shaft, and the rotating shaft is connected with the end effector through the Hook hinge; the first pair of driving branches drives the vertically arranged rotating shaft to rotate, and then passes through the Hook hinge. The Hook hinge drives the end effector to rotate;

The first main drive branch chain, the second main drive branch chain and the third main drive branch chain have the same structure, including a drive motor, a reducer, a first driving arm and a driven arm assembly; one end of the first driving arm The rotating pair is connected to the static platform, and the other end is connected to the driven arm assembly; the driven arm assembly is connected to the moving platform; the drive motor and the reducer are fixed on the static platform, and the drive motor drives the first drive through the reducer. A main arm rotates and drives the moving platform connected to it to translate through the follower arm assembly;

The driven arm assembly includes an upper link, a lower link, and two connecting rods connected in parallel between the upper link and the lower link; the two connecting rods are respectively connected with the upper link and the lower link at both ends. The rods are hinged to form a quadrilateral mechanism; the lengths of the upper link and the lower link are equal; the lengths of the two connecting rods are equal; the first active arm is connected with the upper link in the middle, and the moving platform and the driven arm assembly The middle of the middle and lower links is connected; the axis of the upper link is parallel to the rotation axis of the first active arm;

The second auxiliary drive branch chain and the third auxiliary drive branch chain have the same structure, including a drive motor, a reducer, a second active arm, a pull rod, a first connecting piece, a driven rod, a second connecting piece, a connecting rod and a collar; the drive motor and the reducer in the second auxiliary drive branch chain and the third auxiliary drive branch chain are fixed on the static platform; one end of the second active arm is connected to the static platform through a rotating pair, and the drive motor Drive the second active arm through the reducer;

The other end of the second driving arm in the second auxiliary drive branch chain and the third auxiliary drive branch chain is connected with the pull rod through a rotating pair, the other end of the pull rod is connected with the first connecting piece through the rotating pair, and the first connecting piece is connected with the rotating pair through the rotating pair. The first driving arm is connected, and the rotation auxiliary axes on the second driving arm, the pull rod and the first connecting piece are parallel to the rotation auxiliary axis connecting the first driving arm and the static platform;

The other end of the first connecting piece in the second auxiliary driving branch chain and the third auxiliary driving branch chain is hinged with the driven rod, and the other end of the driven rod is hinged with the second connecting piece; the second connecting piece is with the moving platform Connected by a rotation pair, the axis of the rotation pair is parallel to the axis of the lower link 7 of the driven arm assembly;

The second connecting piece is connected with the connecting rod through a ball hinge, and the other end of the connecting rod is connected with the collar through a rotating pair; the collar is sleeved with the end effector and can be rotated relatively; the collar and the end effector The pivot axis of the socket connection is perpendicular to and intersects with the pivot axis of the connecting rod and the collar; The collar coincides with the axis of rotation of the end effector socket, and the two collars are arranged below the Hooke hinge.

Compared with the prior art, the present invention has the following significant advantages:

(1) The present invention forms a special constraint relationship between the moving platform and the end effector by using the composite branch chain, so that the parallel mechanism can realize part of the motion decoupling capability.

(2) The number of restraining branches of the mechanism of the present invention to the moving platform is small, and the working space of the moving platform is large; the driving motor can be installed on the base, and the inertia of the mechanism is small, which is conducive to its high-acceleration movement.

Description of drawings

FIG. 1( a ) is a schematic structural diagram of Embodiment 1 of the present invention.

FIG. 1(b) is a schematic structural diagram of a moving platform according to Embodiment 1 of the present invention.

Figure 2(a) is a schematic structural diagram of Embodiment 2 of the present invention.

FIG. 2(b) is a schematic structural diagram of a moving platform according to Embodiment 2 of the present invention.

FIG. 3( a ) is a schematic structural diagram of Embodiment 3 of the present invention.

FIG. 3(b) is a schematic structural diagram of a moving platform according to Embodiment 3 of the present invention.

FIG. 4( a ) is a schematic structural diagram of Embodiment 4 of the present invention.

Figure 4(b) is a schematic structural diagram of a moving platform according to Embodiment 4 of the present invention.

Figure 5(a) is a schematic structural diagram of Embodiment 5 of the present invention.

FIG. 5(b) is a schematic structural diagram of a moving platform according to Embodiment 5 of the present invention.

Figure 6(a) is a schematic structural diagram of Embodiment 6 of the present invention.

FIG. 6(b) is a schematic structural diagram of a moving platform according to Embodiment 6 of the present invention.

Detailed ways

The present invention will be further introduced below with reference to the accompanying drawings and specific embodiments.

Example 1

Referring to Figures 1(a) and 1(b), a six-degree-of-freedom high-speed parallel mechanism with composite branch chains in this embodiment includes a static platform 1, a moving platform 16, an end effector 25, and a static platform 1 in parallel. The first main drive branch chain, the second main drive branch chain and the third main drive branch chain between the moving platform 16; also include the static platform 1, the main drive branch chain, the moving platform 16 and the end effector 25. The first auxiliary drive branch chain, the second auxiliary drive branch chain and the third auxiliary drive branch chain; the second auxiliary drive branch chain and the third auxiliary drive branch chain are respectively arranged on the second main drive branch chain and the third main drive branch chain On the upper side, two double-driven composite branch chains are formed; the middle of the moving platform 16 is provided with a vertically arranged rotating shaft 15, the rotating shaft 15 can rotate around the vertical axis, and the lower part of the rotating shaft 15 is provided with a Hooke hinge 20, The rotating shaft 15 is connected to the end effector 25 through the Hooke hinge 20 ; the first auxiliary drive chain drives the vertically arranged rotating shaft 15 to rotate through the motion mechanism, and then drives the end effector 25 to rotate through the Hooke hinge 20 .

The above three main drive branch chains have the same structure, including a moving motor 3, a reducer 2, a first driving arm 4 and a driven arm assembly; one end of the first driving arm 4 is connected to the static platform 1 through a rotating pair, and the other end is connected to the driven arm The arm assembly is connected; the driven arm assembly is connected to the moving platform 16; the drive motor 3 and the reducer 2 are fixed on the static platform 1, and the drive motor 3 drives the first active arm 4 to rotate through the reducer 2 and drives the The connected moving platform 16 moves in translation.

The driven arm assembly adopts a space 4S quadrilateral mechanism, including an upper link 5, a lower link 7, and two connecting rods 6a and 6b connected in parallel between the upper link 5 and the lower link 7; the connecting rods 6a and 6b are connected with The upper link 5 and the lower link 7 are connected by ball joints to form a space quadrilateral mechanism; the lengths of the upper link 5 and the lower link 7 are equal; the lengths of the two connecting rods 6a and 6b are equal; the first active arm 4 It is fixedly connected with the upper link 5 , and the lower link 7 is fixedly connected with the moving platform 16 ; the axis of the upper link 5 is parallel to the rotation axis of the first active arm 4 .

Among the three branches in this embodiment, the second branch II and the third branch III are two composite branches with the same structure, including the second main driving branch, the second auxiliary driving branch and the third main driving branch respectively The branch chain and the third auxiliary drive branch chain; the second auxiliary drive branch chain and the third auxiliary drive branch chain have the same structure, including the drive motor 3, the reducer 2, the second driving arm 8, the pull rod 9, the first connecting piece 10 , the driven rod 12, the second connecting piece 14, the connecting rod 18 and the collar 19; the driving motor 3 and the reducer 2 are fixed on the static platform 1; The motor 3 drives the second active arm 8 through the reducer 2; the other end of the second active arm 8 is connected to the pull rod 9 through a rotating pair, and the other end of the pull rod 9 is connected to the first connecting piece 10 through a rotating pair, and the first connecting piece 10 is rotated by The auxiliary is connected with the first active arm 4, and the rotation auxiliary axes of the second active arm 8, the pull rod 9 and the first connecting piece 10 are parallel to the rotating auxiliary axis of the first active arm 4 and the static platform 1; the first connecting piece The other end of the 10 is hinged with the driven rod 12, and the other end of the driven rod 12 is hinged with the second connecting piece 14; the second connecting piece 14 is connected with the moving platform 16 through a rotating pair whose axis is parallel to the driven arm The axis of the lower connecting rod 7 of the assembly; the second connecting piece 14 is connected to the connecting rod 18 through a ball hinge, and the other end of the connecting rod 18 is connected to the collar 19 through a rotating pair; the collar 19 is sleeved with the end effector 25 and can be opposite to Rotation; the rotation axis of the sleeve ring 19 and the end effector 25 is perpendicular to and intersects with the rotation axis of the connecting rod 18 and the collar 19; two of the second auxiliary drive branch and the third auxiliary drive branch The connecting rods 18 are respectively connected with a collar 19 , the two collars 19 are coincident with the axis of rotation of the end effector 25 , and the two collars 19 are arranged below the Hooke hinge 20 .

The first branch I in this embodiment is also a composite branch, but the structure is different from the second branch II and the third branch III, including the first main driving branch and the first auxiliary driving branch; The drive branch chain includes a drive motor 3, a reducer 2, a second driving arm 8, a pull rod 9, a first connecting piece 10, a driven rod 12, a third connecting piece 24, a rotating shaft 15 connected to the moving platform 16, and a first connecting piece 10. The transmission mechanism between the three connecting pieces 24; the first auxiliary drive branch chain is arranged on the first main drive branch chain to form a double-driven composite branch chain; the drive motor 3 and the reducer 2 are fixed on the static platform 1; the second One end of the active arm 8 is connected with the static platform 1 through a rotating pair, and the driving motor 3 drives the second active arm 8 through the reducer 2; the other end of the second active arm 8 is connected with the pull rod 9 through a rotating pair, and the other end of the pull rod 9 is connected with the rotating pair The first connecting member 10 is connected, and the first connecting member 10 is connected with the first driving arm 4 in the first main drive branch chain through the rotation pair, the second driving arm 8, the pull rod 9 and the rotation pair axis on the first connecting member 10 Parallel to the axis of rotation of the first main drive arm 4 connected to the static platform 1 in the first main drive branch; the other end of the first connecting piece 10 is hinged with the driven rod 12, and the other end of the driven rod 12 is connected with the third The connecting piece 24 is hinged; the third connecting piece 24 is connected with the moving platform 16 through a rotation pair, and the axis of the rotating pair is parallel to the axis of the lower link 7 of the driven arm assembly; the transmission mechanism connects the third connecting piece 24 to the moving platform 16 The rotation is transformed into the rotational motion of the rotating shaft 15 on the moving platform 16, thereby driving the end effector 25 to rotate.

The above-mentioned transmission mechanism includes a swing rod 23, a gear 21, a rack 22, and a guide block 31; the guide block 31 is fixed on the moving platform 16, and the rack 22 is installed on the guide block 31 and can slide horizontally relative to the moving platform 16; the swing rod 23 One end is connected to the third connecting piece 24 in the first auxiliary drive chain through the rotating pair, and the other end is connected to the rack 22 through the rotating pair; the rack 22 is meshed with the gear 21; The axes of the rotating shaft 15 on the top coincide, and the gear 21 is fixedly connected with the rotating shaft 15 .

In this embodiment, the rotating pairs connecting the first active arm 4 of the three main drive branch chains with the static platform 1 are arranged horizontally and evenly arranged at a distance of 120°. The three-dimensional translation of the moving platform 16 can be realized by driving the three first active arms 4 , and the three-dimensional rotation of the end effector 25 relative to the moving platform 16 can be realized by driving the three second active arms 8 , thereby realizing the six-freedom of the end effector 25 degree of movement.

Example 2

The structure of this embodiment is shown in Figures 2(a) and 2(b). Different from Embodiment 1, the first branch I in this embodiment is a single drive branch, which only includes the first main drive branch. The structure of the first main drive branch is the same as that in Embodiment 1; the first auxiliary drive branch includes a rotary motor 32, a reducer 33, a first Hook hinge 26, a sliding rod 27, a sliding sleeve 28, and a second Hook hinge 29; The rotary motor 32 and the speed reducer 33 are fixed on the static platform 1; the rotary motor 32 is connected to the active end of the first Hook hinge 26 through the speed reducer 33, and the passive end of the first Hook hinge 26 is fixedly connected to one end of the sliding rod 27 The other end of the sliding rod 27 is connected with the sliding sleeve 28, and the two can slide relatively without relative rotation; the other end of the sliding sleeve 28 is fixedly connected with the active end of the second Hook hinge 29; the passive end of the second Hook hinge 29 The rotating pair is fixedly connected with the rotating shaft 15 of the moving platform 16 . The rotary motor 32 drives the first auxiliary drive chain to rotate through the reducer 33 , thereby driving the rotating shaft 15 to rotate, and then drives the end effector 25 to rotate through the Hooke hinge 20 .

Example 3

The structure of this embodiment is shown in Figures 3(a) and 3(b). The difference between this embodiment and Embodiment 2 is that the structure of the first auxiliary drive branch is different; the first auxiliary drive branch includes a rotating motor 30, The rotary motor 30 is fixed on the movable platform 16 , and the rotation axis of the output shaft of the rotary motor 30 coincides with the axis of the rotary shaft 15 vertically arranged on the movable platform 16 . The rotating motor 30 drives the rotating shaft 15 to rotate, and then drives the end effector 25 to rotate through the Hooke hinge 20 .

Example 4

The structure of this embodiment is shown in FIG. 4( a ). The difference between this embodiment and Embodiment 3 is that the two first active arms 4 in the first branch I and the third branch III are connected to the static platform 1 . The rotating pair is arranged horizontally, and the plane formed by the two first driving arms 4 is arranged orthogonally to the rotating pair connecting the first driving arm 4 and the static platform 1 in the second branch II. The driven link 12 in the double-drive compound branch chain II is arranged crosswise with the two connecting rods 6a and 6b in the space quadrilateral mechanism, and the driven link 12 in the double-drive compound branch chain III is arranged with the two connecting rods in the space quadrilateral mechanism 6a and 6b are arranged in parallel.

As shown in Figure 4(b), since the first and third branches I, III and the second branch II are arranged orthogonally, the lower links 7 in the first and third branches I, III are arranged in the horizontal plane , and the axes are parallel to each other; the lower link 7 in the second branch II is arranged in a vertical plane.

Example 5

The structure of this embodiment is shown in FIG. 5( a ). The difference between this embodiment and Embodiment 4 is that the two first active arms 4 in the second branch II and the third branch III are connected to the static platform 1 . The rotating pair is arranged vertically, and the plane formed by the two first driving arms 4 is arranged orthogonally to the rotating pair connecting the first driving arm 4 and the static platform 1 in the first branch chain 1 . The driven links 12 in the double-drive compound branch chains II and III are arranged in parallel with the two connecting rods 6a and 6b in the space quadrilateral mechanism.

As shown in Fig. 5(b), since the second and third branches II, III and the first branch I are arranged orthogonally, the lower links 7 in the second and third branches II and III are arranged vertically In the plane, and the axes are parallel to each other; the lower link 7 in the first branch chain I is arranged in the horizontal plane, and the remaining components and connection methods are the same as those in Embodiment 4.

Example 6

The structure of this embodiment is shown in Figure 6(a). The difference between this embodiment and Embodiment 1 is that the driven arm assembly adopts a plane 4R quadrilateral mechanism, that is, the connecting rods 6a and 6b are connected to the upper link 5 and the lower link. The connecting rods 7 are connected by a rotating pair; the first driving arm 4 and the upper link 5 are connected by a rotating pair, and the axis of the rotating pair is parallel to the axis of the rotating pair connecting the first driving arm 4 and the static platform 1; the The lower link 7 is connected with the moving platform 16 through a rotation pair, and the axis of the rotation pair coincides with the axis of the lower link 7 .

In the second branch II and the third branch III, the rotating pair of the two first driving arms 4 connected to the static platform 1 is arranged vertically, and the plane formed by the two first driving arms 4 is the same as the first driving arm 4 in the first branch I. A main arm 4 is arranged orthogonally to the rotating pair connected to the static platform 1 . The lower links 7 in the second and third branches II and III are arranged in the vertical plane, and the axes are parallel to each other; the lower links 7 in the first branch I are arranged in the horizontal plane.

As shown in Figure 6(b), the structure of the transmission mechanism is different from that of Embodiment 1. The transmission mechanism includes a sector gear 33 and a bevel gear 34; the sector gear 33 is fixedly connected with the third connecting piece 24 in the first auxiliary drive chain , the rotational axis of the sector gear 33 coincides with the rotational axis of the third connecting piece 24 connected to the moving platform 16; the sector gear 33 meshes with the bevel gear 34; the rotational axis of the bevel gear 34 is vertically arranged on the moving platform The axes of the rotating shaft 15 on 16 coincide, and the bevel gear 34 is fixedly connected with the rotating shaft 15 .

Claims (10)

1. A six-degree-of-freedom high-speed parallel mechanism containing a composite branched chain comprises a static platform (1), a movable platform (16), an end effector (25), a first main driving branched chain, a second main driving branched chain and a third main driving branched chain, wherein the first main driving branched chain, the second main driving branched chain and the third main driving branched chain are connected between the static platform (1) and the movable platform (16) in parallel; the device is characterized by further comprising a first auxiliary driving branched chain, a second auxiliary driving branched chain and a third auxiliary driving branched chain which are connected with the movable platform (16) and the end effector (25); the second auxiliary driving branched chain and the third auxiliary driving branched chain are respectively arranged on the second main driving branched chain and the third main driving branched chain to form two double-driving composite branched chains; a rotating shaft (15) which is vertically arranged is arranged in the middle of the movable platform (16), the rotating shaft (15) can rotate around a vertical axis, a Hooke hinge (20) is arranged below the rotating shaft (15), and the rotating shaft (15) is connected with an end effector (25) through the Hooke hinge (20); the first auxiliary driving branched chain drives the rotating shaft (15) which is vertically arranged to rotate, and the end effector (25) is driven to rotate by the Hooke joint (20);

the first main driving branched chain, the second main driving branched chain and the third main driving branched chain have the same structure and comprise a driving motor (3), a speed reducer (2), a first driving arm (4) and a driven arm assembly; one end of the first driving arm (4) is connected with the static platform (1) through a revolute pair, and the other end of the first driving arm is connected with the driven arm component; the driven arm assembly is connected with the movable platform (16); the driving motor (3) and the speed reducer (2) are fixed on the static platform 1, the driving motor (3) drives the first driving arm (4) to rotate through the speed reducer (2) and drives the movable platform (16) connected with the driving arm to move in a translation mode through the driven arm component;

the driven arm assembly comprises an upper connecting rod (5), a lower connecting rod (7) and two connecting rods connected in parallel between the upper connecting rod (5) and the lower connecting rod (7); two ends of the two connecting rods are respectively hinged with the upper connecting rod (5) and the lower connecting rod (7) to form a quadrilateral mechanism; the lengths of the upper connecting rod (5) and the lower connecting rod (7) are equal; the two connecting rods have equal length; the first driving arm (4) is connected with the middle of the upper connecting rod (5), and the movable platform (16) is connected with the middle of the lower connecting rod (7) in the driven arm component; the axis of the upper connecting rod (5) is parallel to the axis of the rotating pair of the first driving arm (4);

the second auxiliary driving branched chain and the third auxiliary driving branched chain have the same structure and comprise a driving motor (3), a speed reducer (2), a second driving arm (8), a pull rod (9), a first connecting piece (10), a driven rod (12), a second connecting piece (14), a connecting rod (18) and a sleeve ring (19); the driving motors (3) and the speed reducers (2) in the second auxiliary driving branched chain and the third auxiliary driving branched chain are fixed on the static platform (1); one end of the second driving arm (8) is connected with the static platform 1 through a revolute pair, and the driving motor (3) drives the second driving arm (8) through the speed reducer (2);

the other end of a second driving arm (8) in the second auxiliary driving branched chain and the third auxiliary driving branched chain is connected with a pull rod (9) through a revolute pair, the other end of the pull rod (9) is connected with a first connecting piece (10) through a revolute pair, the first connecting piece (10) is connected with a first driving arm (4) through a revolute pair, and the axes of the revolute pairs on the second driving arm (8), the pull rod (9) and the first connecting piece (10) are parallel to the axis of the revolute pair connected with the static platform (1) of the first driving arm (4);

the other end of the first connecting piece (10) in the second auxiliary driving branched chain and the third auxiliary driving branched chain is hinged with a driven rod (12), and the other end of the driven rod (12) is hinged with a second connecting piece (14); the second connecting piece (14) is connected with the movable platform (16) through a revolute pair, and the axis of the revolute pair is parallel to the axis of the lower connecting rod (7) of the driven arm assembly;

the second connecting piece (14) is connected with the connecting rod (18) through a spherical hinge, and the other end of the connecting rod (18) is connected with the lantern ring (19) through a revolute pair; the lantern ring (19) is sleeved with the end effector (25) and can rotate relatively; the axis of a rotation pair sleeved by the lantern ring (19) and the end effector (25) is vertical to and intersected with the axis of a rotation pair connected by the connecting rod (18) and the lantern ring (19); two connecting rods (18) in the second auxiliary driving branched chain and the third auxiliary driving branched chain are respectively connected with a lantern ring (19), the axes of the two lantern rings (19) and the rotating pair sleeved by the end effector (25) are overlapped, and the two lantern rings (19) are both arranged below the Hooke's hinge (20).

2. The six-degree-of-freedom parallel mechanism with the composite branched chain as claimed in claim 1 is characterized in that the driven arm assembly adopts a space 4S quadrilateral mechanism, namely, the two connecting rods are connected with the upper connecting rod (5) and the lower connecting rod (7) through spherical hinges; the first driving arm (4) is fixedly connected with the upper connecting rod (5), and the lower connecting rod (7) is fixedly connected with the movable platform (16).

3. The six-degree-of-freedom parallel mechanism containing the composite branched chain according to claim 1 is characterized in that the driven arm assembly adopts a plane 4R quadrilateral mechanism, namely the two connecting rods are connected with the upper connecting rod (5) and the lower connecting rod (7) through revolute pairs; the first driving arm (4) is connected with the upper connecting rod (5) through a revolute pair, and the axis of the revolute pair is parallel to the axis of a revolute pair connected with the static platform (1) and the first driving arm (4); the lower connecting rod (7) is connected with the movable platform (16) through a rotating pair, and the axis of the rotating pair is superposed with the axis of the lower connecting rod (7).

4. The six-degree-of-freedom high-speed parallel mechanism with the composite branched chain as recited in claim 1, wherein the first auxiliary driving branched chain comprises a driving motor (3), a speed reducer (2), a second driving arm (8), a pull rod (9), a first connecting piece (10), a driven rod (12), a third connecting piece (24), a transmission mechanism connected between a rotating shaft (15) on a movable platform (16) and the third connecting piece (24); the first auxiliary driving branched chain is arranged on the first main driving branched chain to form a dual-driving composite branched chain; the driving motor (3) and the speed reducer (2) of the first auxiliary driving branched chain are fixed on the static platform (1); one end of the second driving arm (8) is connected with the static platform (1) through a revolute pair, and the driving motor (3) drives the second driving arm (8) through the speed reducer (2);

the other end of a second driving arm (8) in the first auxiliary driving branched chain is connected with a pull rod (9) through a revolute pair, the other end of the pull rod (9) is connected with a first connecting piece (10) through a revolute pair, the first connecting piece (10) is connected with a first driving arm (4) in the first main driving branched chain through a revolute pair, and the axes of the revolute pairs on the second driving arm (8), the pull rod (9) and the first connecting piece (10) are parallel to the axis of the revolute pair, connected with the static platform (1), of the first driving arm (4) in the first main driving branched chain;

the other end of a first connecting piece (10) in the first auxiliary driving branched chain is hinged with a driven rod (12), and the other end of the driven rod (12) is hinged with a third connecting piece (24); the third connecting piece (24) is connected with the movable platform (16) through a revolute pair, and the axis of the revolute pair is parallel to the axis of the lower connecting rod (7) of the driven arm assembly; the transmission mechanism converts the rotation of the third connecting piece (24) relative to the movable platform (16) into the rotation motion of the rotating shaft (15) of the movable platform (16), thereby driving the end effector (25) to rotate.

5. The six-degree-of-freedom high-speed parallel mechanism containing the composite branched chain is characterized by comprising a swinging rod (23), a gear (21), a rack (22) and a guide block (31); the guide block (31) is fixed on the movable platform (16), and the rack (22) is arranged on the guide block (31) and can horizontally slide relative to the movable platform (16); one end of the swinging rod (23) is connected with a third connecting piece (24) in the first auxiliary driving branched chain through a revolute pair, and the other end of the swinging rod is connected with the rack (22) through a revolute pair; the rack (22) is meshed with the gear (21); the rotating axis of the gear (21) is superposed with the axis of the rotating shaft (15) vertically arranged on the movable platform (16), and the gear (21) is fixedly connected with the rotating shaft (15).

6. The six-degree-of-freedom high-speed parallel mechanism containing the compound branch chain as claimed in claim 1, wherein the transmission mechanism comprises a sector gear (33) and a conical gear (34); the sector gear (33) is fixedly connected with a third connecting piece (24) in the first auxiliary driving branched chain, and the rotating axis of the sector gear (33) is superposed with the rotating axis of the third connecting piece (24) connected to the movable platform (16); the sector gear (33) is meshed with a conical gear (34); the rotating axis of the conical gear (34) is superposed with the axis of the rotating shaft (15) vertically arranged on the movable platform (16), and the conical gear (34) is fixedly connected with the rotating shaft (15).

7. The six-degree-of-freedom high-speed parallel mechanism comprising the composite branched chain as recited in claim 1, wherein the first auxiliary driving branched chain comprises a rotating motor (32), a reducer (33), a first hook joint (26), a sliding rod (27), a sliding sleeve (28) and a second hook joint (29); the rotating motor (32) and the speed reducer (33) are fixed on the static platform 1; the rotating motor (32) is connected with the driving end of the first hook joint (26) through a speed reducer (33), and the driven end of the first hook joint (26) is fixedly connected with one end of the sliding rod (27); the other end of the sliding rod (27) is connected with the sliding sleeve (28), and the sliding rod and the sliding sleeve can slide relatively without relative rotation; the other end of the sliding sleeve (28) is fixedly connected with the driving end of a second hook hinge (29); the driven end of the second hook joint (29) is fixedly connected with the rotating shaft (15) of the movable platform (16) through a rotating pair.

8. The six-degree-of-freedom high-speed parallel mechanism comprising the composite branched chain as claimed in claim 1, wherein the first auxiliary driving branched chain comprises a rotating motor (30), the rotating motor (30) is fixed on the movable platform (16), the rotating axis of the output shaft of the rotating motor (30) is overlapped with the axis of a rotating shaft (15) vertically arranged on the movable platform (16), and the output shaft of the rotating motor (30) is fixedly connected with the rotating shaft (15).

9. The six-degree-of-freedom high-speed parallel mechanism with the composite branched chain as recited in claim 1, wherein the revolute pairs of the first driving arm (4) of the first main driving branched chain, the second main driving branched chain and the third main driving branched chain, which are connected with the static platform (1), are horizontally arranged and uniformly arranged with a distance of 120 ° in pairs.

10. The six-degree-of-freedom high-speed parallel mechanism with the composite branched chain as recited in claim 1, wherein the secondary axis of rotation of two of the first driving arms (4) connected with the static platform in the first main driving branched chain, the second main driving branched chain and the third main driving branched chain is perpendicular to the secondary axis of rotation of the other first driving arm (4).

Images