Inner and outer ring nesting dynamic connection redundantly constrained hybrid mechanism
A technology of dynamic connection and hybrid mechanism, applied in the field of robotics, can solve problems such as high energy consumption, poor structural stability, and large volume, and achieve the effect of reducing energy consumption and high stability
Inactive Publication Date: 2014-04-16
YANSHAN UNIV
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Problems solved by technology
[0003] The hybrid mechanism with the traditional static fixed connection design has problems such as large volume, high energy consumption, and poor structural stability.
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[0011] figure 1 and figure 2 In the over-constrained hybrid mechanism in which the inner and outer rings are nested and dynamically connected, the ball joint bearing 2 is sleeved on the central shaft 1, the upper platform inner ring 4 is set outside the ball joint bearing, and the upper platform outer ring 3 is set inside Outside the ring, the inner ring and the outer ring are connected by a thin-walled bearing 11. The lower platform 7 has a boss, and the boss is provided with a rotating ring 10. The four identical SPS branches 5 are double connecting rods. Both ends are connected by a moving pair, and the two ends of the double connecting rod are respectively connected to the inner ring of the upper platform and the rotating ring on the lower platform through a ball pair. The above-mentioned four SPS branches are arranged on the circumference by an equal division every 90°. The two connecting rods of the RRS branch 8 are connected by a rotating pair. The upper end of the b...
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The invention relates to an inner and outer ring nesting dynamic connection redundantly constrained hybrid mechanism. An upper platform of the inner and outer ring nesting dynamic connection redundantly constrained hybrid mechanism is divided into an inner ring and an outer ring; a ball socket bearing is sheathed outside a centre shaft; the inner ring is sheathed outside the ball socket bearing; the outer ring is sheathed outside the inner ring; and the inner ring and the outer ring are connected by adopting a thin-wall bearing to form dynamic connection. The inner ring and a swivelling ring on a lower platform are connected by four (spherical-prismatic-spherical) SPS branched chains arranged in the manner of one halving circular ring at every 90 degrees and a (revolute pair-revolute pair-sliding pair) RRS branched chain for keeping an upper swivelling ring and a lower swivelling ring to synchronously rotate. The outer ring and the swivelling ring on the lower platform are connected by four SPS branched chains arranged in the manner of one halving circular ring at every 90 degrees and an RRS branched chain for constraining the rotary motion of the outer ring. The inner and outer ring nesting dynamic connection redundantly constrained hybrid mechanism has a small size, low energy consumption and high stability when rotating at high speed.
Description
technical field [0001] The invention relates to the field of robots, in particular to a hybrid mechanism. Background technique [0002] The existing hybrid mechanisms are all aimed at static fixed connections. Among them, a typical hybrid mechanism composed of two mechanisms with static fixed connection is: one mechanism is generally a parallel mechanism with few degrees of freedom; the other mechanism is a series or parallel mechanism, and the two mechanisms are connected in a fixed way. According to whether the hybrid mechanism is composed of a parallel mechanism and a series mechanism, or a parallel mechanism and a parallel mechanism, the hybrid mechanism is divided into two types: series-parallel and parallel-parallel. [0003] The hybrid mechanism adopting the traditional static fixed connection design has problems such as large volume, high energy consumption, and poor structural stability. Contents of the invention [0004] The object of the present invention is ...
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IPC IPC(8): B25J9/08
Inventor 郭希娟
Owner YANSHAN UNIV