Reconfigurable metamorphic polyhedron robot mechanism

Abstract

The invention relates to a reconfigurable metamorphic polyhedron robot mechanism which comprises a reconfigurable chassis mechanism, a polyhedron closed triangular mechanism, a connecting rod part and a polyhedron side rod system. The robot can realize the change between a mechanism plane and a space polyhedron topological structure. A guide rail on the reconfigurable chassis mechanism can randomly rotate around a rotating central shaft; six positioning slide blocks can randomly slide along the guide rail; the positions of six chassis hinges are randomly changed and are kept concyclic; and all the rods of the polyhedron closed triangular mechanism and the connecting rod part are all stretchable rods. When the reconfiguration is realized by the robot, the corresponding rods stretch for corresponding length according to change in different configurations, and the polyhedron structures in different size and shape are generated by the polyhedron robot mechanism, so that the purpose of changing the diversity of the polyhedron robot mechanism is achieved; the reconfiguration is realized; the reconfigurable metamorphic polyhedron robot mechanism is suitable for different tasks and different occasions in engineering application; and the reconfigurable metamorphic polyhedron robot mechanism is widely applied to the fields of industrial robots, manufacturing industry, aerospace, and the like.

Description

technical field [0001] The invention relates to the field of metamorphic mechanism design, in particular to a reconfigurable metamorphic polyhedron robot mechanism. Background technique [0002] Since the late 1980s, research on reconfigurable robots has developed rapidly and has become one of the hotspots in robotics research in recent years. A reconfigurable robot is a robot that can be reconfigured according to task requirements and environmental changes. It has a wide range of application environments in manufacturing, aerospace, extreme environment operations, and food and drug packaging. [0003] Metamorphic mechanism is also an important concept proposed by scholars in recent years. It is a new type of mechanism with variable degrees of freedom or variable number of components. The proposal of metamorphic mechanism has brought vigor and vigor to traditional mechanism science, and it has changed the traditional concept of mechanism science and mechanism design method....

AI Technical Summary

Problems solved by technology

[0005] However, there are still few innovative design inventions of reconfigurable metamorphic robot mechanisms for engineering applications, especially no invention patents related to innovative designs of reconfigurable metamorphic polyhedral robot mechanisms

Images