CN1462672A - Parallel decoupling mechanism with 5 degree of freedom - Google Patents

本发明涉及五自由度并联解耦机构，包括在机座支撑板上和动平台之间分别正交固连布置的五个驱动单元；其中在支撑板A、B、C的任一块上布置一种驱动单元，在其余的两块支撑板上各平行布置两个相同的另一种驱动单元，并分别并联对应正交布置，且处于平行于另一块支撑板的两个平面内，其特征在于所述驱动单元都包括固连在机座支撑板上的导轨座，安装在导轨座上的滑台，固连在导轨座上并与滑台一端相连的驱动器，以及在滑台另一端上依次固连的平面二自由度移动副和球铰链、或和虎克铰(区别点)，另一端同样都与动平台固连。本发明可做到五自由度无条件解耦，且具有结构简单，控制容易，运动精度高，成本低，工作空间不受限制等优点。

The invention relates to a five-degree-of-freedom parallel decoupling mechanism, which includes five drive units that are fixedly arranged orthogonally between the support plate of the machine base and the moving platform; A drive unit, two identical drive units of another type are arranged in parallel on the remaining two support plates, and they are respectively connected in parallel to correspond to the orthogonal arrangement, and are in two planes parallel to the other support plate, which is characterized in that The drive unit includes a guide rail seat fixed on the support plate of the machine base, a slide table installed on the guide rail seat, a driver fixed on the guide rail seat and connected to one end of the slide table, and sequentially on the other end of the slide table. The fixed plane two-degree-of-freedom moving pair is connected to the ball joint, or to the Hooke hinge (the difference point), and the other end is also fixedly connected to the moving platform. The invention can achieve unconditional decoupling of five degrees of freedom, and has the advantages of simple structure, easy control, high motion precision, low cost, unlimited working space and the like.

五自由度并联解耦机构Five degrees of freedom parallel decoupling mechanism

技术领域technical field

本发明涉及机械学领域，具体为一种五自由度并联解耦机构。所谓解耦机构是指并联机构在某个方向上的平动或转动仅仅依赖于该方向上驱动单元的动作，而其他方向上的驱动单元不作有效动作的并联机构。国际专利分类号拟为IPC.CL⁷.B25J 9/08。The invention relates to the field of mechanics, in particular to a five-degree-of-freedom parallel decoupling mechanism. The so-called decoupling mechanism refers to the parallel mechanism in which the translation or rotation of the parallel mechanism in a certain direction only depends on the action of the drive unit in this direction, while the drive units in other directions do not perform effective actions. The proposed International Patent Classification number is IPC.CL ⁷ .B25J 9/08.

背景技术Background technique

并联机构是指两个或两个以上的驱动单元并联安装并共同完成动作的机构，广泛应用于重载模拟设备、机器人、数控机床、传感器及微操作等技术领域。由于并联机构各驱动单元之间的运动是耦合的，即并联机构整体输出平台沿任一方向的运动都是所有驱动单元的运动合成，并且各驱动单元的运动与并联机构整体运动(即输入与输出)之间是非线性关系，因此导致并联机构控制十分复杂，标定困难，同时也制约了设备精度的提高和成本的下降。所以，如何实现并联机构解耦，以简化并联机构控制和标定，提高设备运动的精度并降低成本，一直是一个困难而富于挑战性的课题。Parallel mechanism refers to the mechanism in which two or more drive units are installed in parallel to complete the action together. It is widely used in heavy-duty simulation equipment, robots, CNC machine tools, sensors and micro-operations and other technical fields. Because the movement between the drive units of the parallel mechanism is coupled, that is, the movement of the overall output platform of the parallel mechanism along any direction is the synthesis of the movements of all drive units, and the movement of each drive unit is combined with the overall movement of the parallel mechanism (that is, the input and Output) is a non-linear relationship, which leads to very complicated control of the parallel mechanism and difficult calibration, which also restricts the improvement of equipment accuracy and the reduction of cost. Therefore, how to realize the decoupling of the parallel mechanism to simplify the control and calibration of the parallel mechanism, improve the accuracy of equipment movement and reduce the cost has always been a difficult and challenging subject.

为了清楚描述并联机构解耦问题，首先对以下定义作出说明：In order to clearly describe the decoupling problem of parallel mechanism, the following definitions are explained first:

解耦：如果并联机构在某方向的平动或转动仅依赖于该方向上的驱动单元的动作，而其他方向上的驱动单元不作有效动作的运动组合，则称之为并联机构的解耦。解耦可以分为无条件解耦、有条件解耦和瞬时解耦三种。Decoupling: If the translation or rotation of the parallel mechanism in a certain direction only depends on the action of the drive unit in this direction, while the drive units in other directions do not make effective actions, it is called the decoupling of the parallel mechanism. Decoupling can be divided into three types: unconditional decoupling, conditional decoupling and instantaneous decoupling.

无条件解耦：如果并联机构在任意位置和姿态下都是解耦的，则称之为无条件解耦或完全解耦；Unconditional decoupling: If the parallel mechanism is decoupled in any position and attitude, it is called unconditional decoupling or complete decoupling;

有条件解耦：如果并联机构在任意位置和特定初始姿态下是解耦的，则称之为有条件解耦或限制解耦；Conditional decoupling: If the parallel mechanism is decoupled at any position and a specific initial attitude, it is called conditional decoupling or restricted decoupling;

瞬时解耦：如果并联机构仅在特定位置和特定初始姿态下是解耦的，则称之为瞬时解耦或点解耦。Instantaneous decoupling: If the parallel mechanism is decoupled only at a specific position and a specific initial attitude, it is called instantaneous decoupling or point decoupling.

迄今，发明人在并联机构解耦方面已有一些研究成果：例如，专利文献“六自由度虚拟轴机床”(参见中国发明专利，公开号为CN1261018A)报道了并联机构在空间一个位置(即初始位置)处的解耦，并因此降低了整机的耦合度，但除初始位置外，其它位置仍是耦合的，因此该项技术属于瞬时解耦或点解耦；又例如，专利文献“3、4、5、6自由度结构解耦并联微动机器人”(参见中国发明专利：ZL00100198.1、ZL00100197.3、ZL00100196.5和ZL99121020.4)和“可重组模块化3-6自由度结构解耦并联微动机器人”(参见中国发明专利，公开号为CN1377757A)报道了在并联解耦研究的进展情况，但这些并联机构仅适用于微动领域，原因是其解耦是近似的，且随着工作空间的加大，各驱动单元之间的耦合度会随之相应增加，这就意味着该并联解耦机构的实际工作空间仅为几微米；换言之，为了保持输入输出之间的近似解耦关系，必须限制该并联解耦机构用于一定范围的微动操作，否则就是非解耦的，因此该项技术仍具有瞬时解耦的特点，本质上也属于瞬时解耦。此外，关于有条件和无条件解耦的并联机构，无论是在宏动领域还是在微动领域，尚未见更相关的文献报道。So far, the inventors have had some research results on the decoupling of parallel mechanisms: for example, the patent document "Six-DOF Virtual Axis Machine Tool" (see Chinese Invention Patent, Publication No. CN1261018A) reports that a parallel mechanism operates at a position in space (i.e. initial position) and thus reduces the coupling degree of the whole machine, but other positions are still coupled except the initial position, so this technology belongs to instantaneous decoupling or point decoupling; another example, the patent document "3 , 4, 5, 6 degrees of freedom structure decoupling parallel micro-manipulator" (see Chinese invention patents: ZL00100198.1, ZL00100197.3, ZL00100196.5 and ZL99121020.4) and "reconfigurable modular 3-6 degrees of freedom structure Decoupling Parallel Micro-Motion Robot" (see Chinese Invention Patent, Publication No. CN1377757A) reports the progress of research on parallel decoupling, but these parallel mechanisms are only applicable to the field of micro-motion, because their decoupling is approximate, and As the working space increases, the coupling degree between the drive units will increase accordingly, which means that the actual working space of the parallel decoupling mechanism is only a few microns; in other words, in order to maintain the approximate The decoupling relationship must limit the parallel decoupling mechanism to a certain range of micro-motion operations, otherwise it is non-decoupling, so this technology still has the characteristics of instantaneous decoupling, and it is also instantaneous decoupling in essence. In addition, there is no more relevant literature report on the parallel mechanism with conditional and unconditional decoupling, whether in the field of macro motion or in the field of micro motion.

发明内容Contents of the invention

针对现有技术的不足，本发明主要解决的技术问题是提供一种五自由度并联解耦机构，它可做到五自由度有条件解耦，且具有结构简单，控制容易，运动精度高，成本低，工作空间不受限制等优点。Aiming at the deficiencies of the prior art, the technical problem mainly solved by the present invention is to provide a five-degree-of-freedom parallel decoupling mechanism, which can achieve five-degree-of-freedom conditional decoupling, and has the advantages of simple structure, easy control, high motion precision, Low cost, unrestricted working space and other advantages.

本发明解决所述技术问题的技术方案是：设计一种五自由度并联解耦机构，包括具有支撑板A、B、C的机座、动平台和在机座支撑板A、B、C上和动平台之间分别正交固连布置的五个驱动单元；其中，在所述支撑板A、B、C的任一块支撑板上布置一种驱动单元，在其余的两块支撑板上各平行布置两个相同的另一种驱动单元，所述两块支撑板上的两个另一种驱动单元分别并联对应正交布置，且处于平行于另一块支撑板的两个平面内，其特征在于所述的一种驱动单元包括固连在机座支撑板上的导轨座，安装在导轨座上的滑台，固连在导轨座上并与滑台一端相连的驱动器，以及在滑台另一端上依次固连的平面二自由度移动副和球铰链，球铰链的另一端与所述的动平台固连；所述的另一种驱动单元包括固连在机座支撑板上的导轨座，安装在导轨座上的滑台，固连在导轨座上并与滑台一端相连的驱动器，以及在滑台另一端上依次固连的平面二自由度移动副和虎克铰，虎克铰的另一端与所述的动平台固连。The technical solution of the present invention to solve the technical problem is to design a five-degree-of-freedom parallel decoupling mechanism, including a base with support plates A, B, C, a moving platform, and a support plate on the base support plates A, B, C Five drive units that are arranged orthogonally and fixedly respectively between the moving platform; wherein, one kind of drive unit is arranged on any one of the support plates A, B, and C, and each of the remaining two support plates Two identical other driving units are arranged in parallel, and the two other driving units on the two support plates are arranged in parallel and correspond to orthogonal arrangements, and are in two planes parallel to the other support plate. The above-mentioned drive unit includes a guide rail base fixed on the support plate of the machine base, a slide table installed on the guide rail base, a driver fixed on the guide rail base and connected to one end of the slide table, and another end of the slide table One end of the planar two-degree-of-freedom moving pair and a ball hinge are fixed in turn, and the other end of the ball hinge is fixed with the moving platform; the other drive unit includes a guide rail seat fixed on the support plate of the machine base , the sliding table installed on the guide rail seat, the driver fixed on the guide rail seat and connected to one end of the sliding table, and the plane two-degree-of-freedom moving pair and Hooke hinge fixed on the other end of the sliding table in sequence, Hooke hinge The other end is fixedly connected with the moving platform.

本发明的五自由度并联解耦机构，由于独特设计了在机座支撑板A、B、C上和动平台之间分别固连且彼此平行正交布置的一个一种驱动单元和四个相同的另一种驱动单元，当任意一个支撑板上的驱动单元接收控制指令执行驱动工作时，其它支撑板上的驱动单元都只产生相应牵连运动或者协调运动，而不会产生耦合运动，因此可以实现并联机构的三自由度平动无条件解耦和二自由度转动有条件解耦，解决本发明的主要技术问题。又由于本发明所述的驱动单元基本为常用的机械机构或零部件的组合，因此具有结构简单，工作可靠，控制容易(无耦合运动，因此仅需要对工作的驱动单元进行控制，不需要考虑各驱动单元同步控制问题)，运动精度高(因解耦彻底)，工作空间不受限制(既适用于微动领域，也适用于宏动领域)，同时成本降低的优点。The five-degree-of-freedom parallel decoupling mechanism of the present invention, due to the unique design of one driving unit and four identical Another type of drive unit, when the drive unit on any support plate receives the control command to perform the drive work, the drive units on the other support plates will only produce corresponding implicated motion or coordinated motion, and will not produce coupling motion, so it can Realize the unconditional decoupling of the three-degree-of-freedom translation and the conditional decoupling of the two-degree-of-freedom rotation of the parallel mechanism, and solve the main technical problem of the present invention. And because the drive unit of the present invention is the combination of common mechanical mechanisms or parts, it has simple structure, reliable operation, and easy control (no coupling motion, so it only needs to control the drive unit of work, and does not need to consider Synchronous control of each drive unit), high motion accuracy (due to complete decoupling), unlimited work space (applicable to both micro-motion and macro-motion fields), and cost reduction.

经检索，国内外尚没有发现与本发明五自由度并联解耦机构相同或者相似的文献报道。After searching, there is no literature report identical or similar to the five-degree-of-freedom parallel decoupling mechanism of the present invention at home and abroad.

附图说明Description of drawings

图1为本发明五自由度并联解耦机构的一种实施例示意图；Fig. 1 is a schematic diagram of an embodiment of a five-degree-of-freedom parallel decoupling mechanism of the present invention;

图2为本发明五自由度并联解耦机构图1实施例所用的一种驱动单元的Fig. 2 is a drive unit used in the embodiment of Fig. 1 of the five-degree-of-freedom parallel decoupling mechanism of the present invention

实施例示意图；Example schematic diagram;

图3为本发明五自由度并联解耦机构图1实施例所用的另一种驱动单元的实施例示意图。Fig. 3 is a schematic diagram of another driving unit used in the embodiment of Fig. 1 of the five-degree-of-freedom parallel decoupling mechanism of the present invention.

具体实施方式Detailed ways

下面结合实施例及其附图进一步叙述本发明：Further describe the present invention below in conjunction with embodiment and accompanying drawing thereof:

本发明设计的一种五自由度并联解耦机构(参见图1)，包括具有支撑板A、B、C的机座1、动平台2和在机座1支撑板A、B、C上和动平台2之间分别平行正交固连布置的五个驱动单元；其中，在所述支撑板A、B、C的任一块支撑板上布置一个驱动单元4，在其余的两块支撑板上各平行布置两个相同的驱动单元3，所述两块支撑板上的两个驱动单元3分别并联对应正交布置，且处于平行于另一块支撑板的两个平面内，其特征在于所述的驱动单元3(参见图2)包括固连在机座1支撑板上的导轨座34，安装在导轨座34上的滑台33，固连在导轨座34上并与滑台33一端相连的驱动器35，以及在滑台33另一端上依次固连的平面二自由度移动副32和球铰链31，球铰链31的另一端与所述的动平台2固连；所述的驱动单元4(参见图3)包括固连在机座1支撑板上的导轨座34，安装在导轨座34上的滑台33，固连在导轨座34上并与滑台33一端相连的驱动器35，以及在滑台33另一端上依次固连的平面二自由度移动副32和虎克铰41，虎克铰41的另一端与所述的动平台2固连。A five-degree-of-freedom parallel decoupling mechanism (see Fig. 1 ) designed by the present invention includes a base 1 with support plates A, B, and C, a moving platform 2 and on the support plates A, B, and C of the base 1 and Five drive units arranged in parallel and orthogonal fixed connection between the moving platforms 2; wherein, one drive unit 4 is arranged on any one of the support plates A, B, and C, and one drive unit 4 is arranged on the remaining two support plates. Two identical driving units 3 are arranged in parallel, and the two driving units 3 on the two support plates are respectively arranged in parallel and correspond to orthogonally, and are located in two planes parallel to the other support plate, which is characterized in that The drive unit 3 (referring to Fig. 2) comprises the guide rail base 34 that is fixedly connected on the support plate of machine base 1, the slide table 33 that is installed on the guide rail base 34, is fixedly connected on the guide rail base 34 and links to each other with slide table 33 one end The driver 35, and the planar two-degree-of-freedom moving pair 32 and the ball hinge 31 that are connected successively on the other end of the slide table 33, the other end of the ball hinge 31 is fixedly connected with the moving platform 2; the drive unit 4 ( Referring to Fig. 3) comprise the guide rail seat 34 that is connected on the supporting plate of machine base 1, the slide table 33 that is installed on the guide rail seat 34, be connected on the guide rail seat 34 and the driver 35 that links to each other with slide table 33 one end, and in The plane two-degree-of-freedom moving pair 32 and the Hooke hinge 41 are fixedly connected in turn on the other end of the slide table 33 , and the other end of the Hooke hinge 41 is fixedly connected with the moving platform 2 .

虽然实施例图1所示的特征是在支撑板A上布置一个驱动单元4，在所述的支撑板B、C上各并联布置两个驱动单元3，但本发明并不受实施例图1的限制。本发明实施例还可以采用另外的方法布置驱动单元4和驱动单元3：例如，一种实施例的特征是在所述的支撑板B上布置一个驱动单元4，在所述的支撑板A、C上各并联正交布置两个驱动单元3(容易理解，未给出示意图)；另一种实施例的特征是在所述的支撑板C上布置一个驱动单元4，而在所述的支撑板A、B上各并联正交布置两个驱动单元3(容易理解，未给出示意图)。Although the feature shown in FIG. 1 of the embodiment is that a drive unit 4 is arranged on the support plate A, and two drive units 3 are arranged in parallel on the support plates B and C, the present invention is not limited by the embodiment shown in FIG. 1 . limits. The embodiment of the present invention can also adopt another method to arrange the drive unit 4 and the drive unit 3: for example, the feature of one embodiment is that a drive unit 4 is arranged on the support plate B, and the drive unit 4 is arranged on the support plate A, Two drive units 3 are arranged in parallel and orthogonally on C (easy to understand, no schematic diagram is provided); the feature of another embodiment is that a drive unit 4 is arranged on the support plate C, and on the support plate C Two drive units 3 are arranged in parallel and orthogonally on boards A and B (easy to understand, no schematic diagram is shown).

本发明五自由度并联解耦机构的进一步特征在于所述的平面二自由度移动副32上的两个方向移动副正交布置或者非正交布置，也就是说，既可正交布置(如图1、2、3所示)，也可非正交布置(也即成一定角度布置，容易理解，未给出示意图)。这可根据需要选择。但考虑到在动平台2工作空间一定时，双向移动副的正交布置可使每一向移动副的移动距离最小，因此实施例优选正交布置。A further feature of the five-degree-of-freedom parallel decoupling mechanism of the present invention is that the two-direction moving pairs on the plane two-degree-of-freedom moving pair 32 are arranged orthogonally or non-orthogonally, that is to say, they can be arranged orthogonally (such as As shown in Figures 1, 2, and 3), they can also be arranged non-orthogonally (that is, arranged at a certain angle, which is easy to understand, and no schematic diagram is given). This can be selected as desired. But considering that when the working space of the moving platform 2 is fixed, the orthogonal arrangement of the two-way moving pairs can minimize the moving distance of each moving pair, so the embodiment prefers the orthogonal arrangement.

现以图1所示的实施例对本发明五自由度并联解耦机构的工作原理作一说明：当支撑板A上的驱动单元4接受控制指令驱动动平台2工作时，或者支撑板B上的两个驱动单元3接受控制指令同步驱动动平台2工作时，或者支撑板C上的两个驱动单元3接受控制指令同步驱动动平台2工作时，动平台2将沿驱动方向(分别对应为Y向、X向或Z向)作平动，并带动其它两个支撑板上的驱动单元的平面二自由度移动副32产生平面牵连运动，进而产生动平台2与这些驱动单元之间的相对移动或者协调运动，从而使得接受控制指令驱动单元的驱动工作与这些相对移动或者协调运动驱动单元的运动无关，也即避免了不同支撑板上驱动单元之间的运动耦合，实现动平台2在X、Y、Z三个方向上的平动解耦，并且是无条件解耦。The working principle of the five-degree-of-freedom parallel decoupling mechanism of the present invention will now be described with the embodiment shown in Figure 1: when the drive unit 4 on the support plate A receives the control command to drive the moving platform 2 to work, or the drive unit 4 on the support plate B When the two drive units 3 receive the control instruction to synchronously drive the movable platform 2 to work, or when the two drive units 3 on the support plate C receive the control instruction to synchronously drive the movable platform 2 to work, the movable platform 2 will move along the driving direction (respectively corresponding to Y direction, X direction or Z direction), and drive the planar two-degree-of-freedom moving pair 32 of the driving unit on the other two support plates to generate a planar implicated motion, thereby generating relative movement between the moving platform 2 and these driving units Or coordinated movement, so that the driving work of the driving unit receiving the control command has nothing to do with the relative movement or the movement of the coordinated movement driving unit, that is, avoiding the kinematic coupling between the driving units on different support plates, and realizing the moving platform 2 in X, The translational decoupling in the Y and Z directions is unconditional.

在实施例图1所示姿态下(即动平台2仅作平动，无转动时)，所述的虎克铰41的两个转动轴分别与X、Z轴平行，因此标记为X_R、Z_R。当支撑板B上的两个驱动单元3接受控制指令按比例联动时，动平台2可产生绕Z_R轴的转动；当支撑板C上的两个驱动单元3接受控制指令按比例联动时，动平台2则可产生绕X_R轴的转动。同样道理，不论是绕Z_R轴的转动还是绕X_R轴的转动都仅仅与一个接受控制指令支撑板(支撑板B或支撑板C)上的驱动单元有关，而与其余两个支撑板(支撑板A、C或支撑板A、B)上的驱动单元无关，也即避免了不同支撑板上驱动单元之间的运动耦合，实现动平台2在X_R、Z_R两个方向上的有条件转动解耦。In the posture shown in Fig. 1 of the embodiment (that is, when the moving platform 2 only moves in translation and does not rotate), the two rotation axes of the Hooke hinge 41 are respectively parallel to the X and Z axes, so they are marked as X _R , Z _R . When the two drive units 3 on the support plate B receive the control command and are linked in proportion, the moving platform 2 can rotate around the Z _R axis; when the two drive units 3 on the support plate C receive the control command and are linked in proportion, The moving platform 2 can generate rotation around the X _R axis. In the same way, no matter the rotation around the Z _R axis or the rotation around the X _R axis, it is only related to a drive unit that accepts a control instruction support plate (support plate B or support plate C), and is related to the remaining two support plates (support plate B or support plate C). The drive units on the support plates A, C or support plates A, B) are irrelevant, that is, the kinematic coupling between the drive units on different support plates is avoided, and the effective movement of the moving platform 2 in the X _R and Z _R directions is realized. Conditional rotation decoupling.

由实施例图1所示，本发明的五自由度并联解耦机构可以顺利实现动平台2在X、Y、Z三个方向上的无条件平动解耦和在X_R、Z_R两个方向上的有条件转动解耦，解决了五自由度并联机构的解耦技术问题。As shown in Figure 1 of the embodiment, the five-degree-of-freedom parallel decoupling mechanism of the present invention can smoothly realize the unconditional translational decoupling of the moving platform 2 in the three directions of X, Y, and Z and the two directions of X _R and Z _R The conditional rotation decoupling on the above solves the decoupling technical problem of the five-degree-of-freedom parallel mechanism.

本领域普通技术人员可以理解，当在所述的支撑板B上布置一个驱动单元4，在所述的支撑板A、C上各并联正交布置两个驱动单元3时，虎克铰41的两个转动轴分别于Y、Z轴平行，因此标记为Y_R、Z_R。本发明实施例的五自由度并联解耦机构可以顺利实现动平台2在X、Y、Z三个方向上的无条件平动解耦和在Y_R、Z_R两个方向上的有条件转动解耦；当在所述的支撑板C上布置一个驱动单元4，而在所述的支撑板A、B上各并联正交布置两个驱动单元3时，虎克铰41的两个转动轴分别于X、Y轴平行，因此标记为X_R、Y_R。本发明实施例的五自由度并联解耦机构可以顺利实现动平台2在X、Y、Z三个方向上的无条件平动解耦和在X_R、Y_R两个方向上的有条件转动解耦，也即这两种实施例设计同样都可以顺利实现五自由度并联机构的解耦，尽管没有给出相应的示意图。Those of ordinary skill in the art can understand that when one drive unit 4 is arranged on the support plate B, and two drive units 3 are respectively arranged in parallel and orthogonally on the support plates A and C, the Hooke hinge 41 The two rotation axes are parallel to the Y and Z axes respectively, so they are marked as Y _R , Z _R . The five-degree-of-freedom parallel decoupling mechanism of the embodiment of the present invention can smoothly realize the unconditional translational decoupling of the moving platform 2 in the three directions of X, Y, and Z and the conditional rotational decoupling in the two directions of Y _R and Z _R coupling; when one drive unit 4 is arranged on the support plate C, and two drive units 3 are respectively arranged in parallel and orthogonally on the support plates A and B, the two rotation axes of the Hooke hinge 41 are respectively It is parallel to the X and Y axes, so it is marked as X _R , Y _R . The five-degree-of-freedom parallel decoupling mechanism of the embodiment of the present invention can smoothly realize the unconditional translational decoupling of the moving platform 2 in the three directions of X, Y, and Z and the conditional rotational decoupling in the two directions of X _R and Y _R Coupling, that is, the designs of the two embodiments can also successfully realize the decoupling of the five-degree-of-freedom parallel mechanism, although no corresponding schematic diagram is given.

还需要补充说明的是，对于图1所示的实施例，如果动平台2绕X_R轴(或Z_R轴)转动后，再绕Z_R轴(或X_R轴)转动时，则需要支撑板B、C上的驱动单元3相应联动，换言之，支撑板B、C上的驱动单元3需要同时接受驱动控制指令，但它们都与支撑板A上的驱动单元4无关。这种情况下，也即连续二维转动不再解耦，固也属于有条件解耦。It should also be added that, for the embodiment shown in Figure 1, if the moving platform 2 rotates around the X _R axis (or Z _R axis) and then rotates around the Z _R axis (or X _R axis), support is required. The drive units 3 on boards B and C are linked accordingly. In other words, the drive units 3 on support boards B and C need to receive drive control commands at the same time, but they have nothing to do with the drive unit 4 on support board A. In this case, that is, the continuous two-dimensional rotation is no longer decoupled, and it is also a conditional decoupling.