From the perspective of movement mode, parallel robots can be divided into plane organization and space organization; Subdivisions can be divided into planar moving organizations, planar moving rolling organizations, spatial pure moving organizations, spatial pure rolling organizations and spatial mixed motion organizations, and can also be classified according to the number of degrees of freedom of parallel organizations:
(1) 2 Degrees of Freedom Parallel Organization.
2 degrees of freedom parallel organization, such as 5-R, 3-R-2-P (R indicates rolling pair, P indicates moving pair) plane 5-bar organization is the most typical 2 degrees of freedom parallel organization, this kind of organization generally has 2 moving motions.
(2) 3 degrees of freedom parallel organization.
3 There are many types of parallel organizations with degrees of freedom, and the methods are more chaotic, and there are generally the following ways: plane 3 degrees of freedom parallel organizations, such as 3-RRR tissues and 3-RPR organizations, which have 2 movements and one roll; Spherical 3 degrees of freedom parallel organization, such as 3-RRR spherical organization, 3-UPS-1-S spherical organization, 3-RRR spherical organization of all motion pairs of the axis intersection space point, this point is called the center of the organization, and 3-UPS-1-S spherical organization takes the center point of S as the center of the organization, and the motion of all points on the organization is a rolling motion around the point;
Three-dimensional pure mobile tissues, such as Star Like parallel organization, Tsai parallel organization and DELTA organization, the kinematic positive and negative solutions of this type of organization are very simple, and it is a widely used three-dimensional mobile space organization. Spatial 3-degree-of-freedom parallel organization, such as a typical 3-RPS organization, is classified as a low-rank organization, and its most significant feature is that the movement mode is different at different points in the operating space, because this special motion characteristic hinders the widespread use of this type of organization in practice; There is also a type of spatial organization with auxiliary members and motion pairs, such as the 3-UPS-1-PU spherical coordinate formula 3 degrees of freedom parallel organization used in the parallel machine tool developed by the University of Hannover, Germany, because of the constraints of auxiliary members and motion pairs, so that the motion channel of the organization has 1 moving and 2 rolling movements (it can also be said to be 3 moving movements).
(3) 4 degrees of freedom parallel organization.
Most of the 4 degrees of freedom parallel organization is not a complete parallel organization, such as 2-UPS-1-RRRR organization, the motion channel is connected with the fixed channel through 3 branch chains, and there are 2 motion chains that are the same, each with 1 Hook hinge U, 1 moving pair P, between which P and 1 R are driving pairs, so this kind of organization is not a complete parallel organization.
(4) 5 degrees of freedom parallel organization.
The existing 5-DOF parallel organization structure is messy, such as Lee's 5-DOF parallel organization in Korea has a two-layer structure (the combination of 2 parallel organizations).
(5) 6 degrees of freedom parallel organization.
6 Degrees of Freedom Parallel Organization is a major category of parallel robot organization, which is the most discussed parallel organization by scholars at home and abroad, and is widely used in the fields of flight simulator, 6-dimensional force and torque sensor and parallel machine tool. However, there are many key skills of this type of organization that have not been fully addressed, such as the correct solution of their kinematics, the establishment of dynamic models, and the accuracy calibration of parallel machine tools. From the point of view of complete parallelism, such a tissue must have 6 chains of motion. However, in the existing parallel organization, there are also 6 degrees of freedom parallel organization with 3 motion chains, such as 3-PRPS and 3-URS and other organizations, and there is also a 6-degree-of-freedom parallel organization with a 5-bar organization attached to each branch of the 3 branches as the driving organization.
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