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Parallel mechanism with changeable freedom degree

A technology with variable degrees of freedom, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem that the mechanism configuration and degrees of freedom cannot be changed.

Inactive Publication Date: 2011-09-14
TIANJIN UNIV
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AI Technical Summary

Problems solved by technology

Although its structural form and driving mode are constantly changing, its mechanism configuration and degrees of freedom cannot be changed.

Method used

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  • Parallel mechanism with changeable freedom degree
  • Parallel mechanism with changeable freedom degree
  • Parallel mechanism with changeable freedom degree

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Embodiment Construction

[0023] Below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention will be further described:

[0024] The present invention is based on the principle of metamorphic mechanism.

[0025] figure 1 , figure 2 Respectively, a schematic diagram of the overall structure and a schematic diagram of each component of a variable-degree-of-freedom parallel mechanism of the present invention. The present invention is made up of fixed platform 1, kinematic chain I2, kinematic chain II3, kinematic chain III4, moving platform 5, etc.

[0026] A parallel mechanism with variable degrees of freedom, which includes a fixed platform 1 and a moving platform 5 arranged above the fixed platform, and three kinematic chains (including Kinematic chain I2, kinematic chain II3 and kinematic chain III4), each kinematic chain includes a cylindrical secondary connecting rod I1003, and one end of the cylindrical secondary connecting rod I1003 is connec...

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Abstract

The invention discloses a parallel mechanism with changeable freedom degree, comprising a fixed platform and a movable platform arranged above the fixed platform, three kinetic chains with the same structures are uniformly connected between the fixed platform and the movable platform; each kinetic chain comprises a cylindrical pair connecting rod I, one end of the cylindrical pair connecting rod I is connected with one end of a cylindrical pair connecting rod II through a cylindrical pair, the other end of the cylindrical pair connecting rod I and the other end of the cylindrical pair connecting rod II are respectively provided with Hooke's joints with changeable configuration, outer ring side surfaces of ring units of two Hooke's joints with changeable configuration are respectively and fixedly connected with the other end of the cylindrical pair connecting rod I and the other end of the cylindrical pair connecting rod II, and U-shaped piece connecting rods of the two Hooke's joints with changeable configuration are respectively and fixedly connected with the fixed platform and the movable platform. The kinetic branched chain in the invention has the freedom degrees 4, 5 and 6 and is capable of changing among the three freedom degrees. The parallel mechanism is capable of changing the freedom degree between two arbitrary figures from 1-6.

Description

technical field [0001] The invention relates to a Hooke hinge that can be used for medical robots based on serial and parallel mechanisms, bionic robots, humanoid robots, virtual axis machine tools, and other robots or mechanical equipment that require variable configurations, and belongs to the field of robot mechanism research, and specifically relates to a Parallel mechanism with variable degrees of freedom. Background technique [0002] The parallel mechanism is a closed-loop kinematic system composed of multiple parallel chains, that is, one end of multiple kinematic chains is connected to a terminal operator with multiple degrees of freedom at the same time. The parallel mechanism started from the Stewart-Gough parallel platform, and later, due to its unique advantages, Hunt further promoted it as a parallel robot mechanism. Since then, many mechanism researchers have advocated the use of this parallel mechanism. The parallel mechanism has the following advantages: h...

Claims

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Application Information

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IPC IPC(8): B25J9/08
Inventor 甘东明戴建生
Owner TIANJIN UNIV
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