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Two-degree-of-freedom metamorphic mechanism

A metamorphic mechanism and degrees of freedom technology, applied in the field of robotics, can solve the problem that the output degrees of freedom of the moving platform and the adjustment of motion characteristics cannot be realized, and achieve the effects of simple structure, reduced manufacturing cost, and reduced manufacturing accuracy requirements.

Inactive Publication Date: 2013-09-18
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this technology cannot realize the adjustment of the output degrees of freedom and motion characteristics of the moving platform. Under any non-singular condition, the moving platform has three degrees of freedom of two rotations and one movement, so three independent inputs are required.

Method used

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  • Two-degree-of-freedom metamorphic mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0047] Such as figure 1 As shown, the moving platform M is connected in parallel with the rack through three branches:

[0048] In the first branch A1, the first moving pair P1 connects the first frame F1 and the first upper link 11, the first rotating pair R1 connects the first upper link 11 and the first lower link 12, and the first universal The auxiliary U1 connects the first lower link 12 and the moving platform M;

[0049] In the second branch A2, the second moving pair P2 connects the second frame F2 and the second upper link 21, the second rotating pair R2 connects the second upper link 21 and the second lower link 22, and the second universal The auxiliary U2 connects the second lower link 22 with the moving platform M;

[0050] In the third branch A3, the first ball joint pair S1 connects the third frame F3 and the third upper link 31, the third moving pair P3 connects the third upper link 31 and the third lower link 32, and the second ball joint The hinge pair S2...

Embodiment 2

[0062] Such as figure 2 As shown, the moving platform M is connected in parallel with the rack through three branches:

[0063] In the first branch A1, the first moving pair P1 connects the first frame F1 and the first upper link 11, the first rotating pair R1 connects the first upper link 11 and the first lower link 12, and the first universal The auxiliary U1 connects the first lower link 12 and the moving platform M;

[0064] In the second branch A2, the second moving pair P2 connects the second frame F2 and the second upper link 21, the second rotating pair R2 connects the second upper link 21 and the second lower link 22, and the second universal The auxiliary U2 connects the second lower link 22 with the moving platform M;

[0065] In the third branch A3, the third moving pair P3 connects the third frame F3 and the third upper link 31, the third rotating pair R3 connects the third upper link 31 and the third lower link 32, and the third universal The auxiliary U3 con...

Embodiment 3

[0077] Such as image 3 As shown, the moving platform M is connected in parallel with the rack through three branches:

[0078] In the first branch A1, the first rotating pair R1 connects the first frame F1 and the first upper link 11, the first moving pair P1 connects the first upper link 11 and the first lower link 12, and the first universal The auxiliary U1 connects the first lower link 12 and the moving platform M;

[0079] In the second branch A2, the second rotating pair R2 connects the frame F2 and the second upper link 21, the second moving pair P2 connects the second upper link 21 and the second lower link 22, and the second universal pair U2 Connect the second lower link 22 with the moving platform M;

[0080] In the third branch A3, the first spherical joint pair S1 connects the frame F3 and the third upper link 31, the third moving pair P3 connects the third upper link 31 and the third lower link 32, and the second spherical joint pair S2 connects the third low...

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Abstract

A two-degree-of-freedom metamorphic mechanism in the technical field of robots comprises a mobile platform, three static platforms and three branches respectively connected with the mobile and static platforms, wherein the first branch and the second branch adopt the same structure, that is, the first branch as well as the second branch comprises a first single-degree-of-freedom kinematic pair, a second single-degree-of-freedom kinematic pair and universal pairs, which are connected in sequence through connecting rods; the first single-degree-of-freedom kinematic pairs are connected with the first static platform or the second static platform; the first universal pairs or the second universal pairs are connected with the mobile platform; the third branch is configured in two ways. The two-degree-of-freedom metamorphic mechanism can realize the change of the characteristic of one-dimensional rotation of a tail end, that is, the tail end can rotate around an axis in a certain direction under a certain condition and rotate around an axis in another direction under another condition.

Description

technical field [0001] The invention relates to a device in the technical field of robots, in particular to a two-degree-of-freedom metamorphic mechanism. Background technique [0002] The parallel mechanism is a closed-loop mechanism in which the moving platform and the static platform are connected through at least two independent kinematic chains, the mechanism has two or more degrees of freedom, and is driven in parallel. Compared with serial robots, parallel robots have the following advantages: (1) No cumulative error and high precision; (2) The driving device can be placed on or close to the fixed platform, so that the moving part is light in weight and high in speed. Good dynamic response; (3) Compact structure, high rigidity and large bearing capacity; [0003] According to these characteristics, parallel robots have been widely used in fields that require high stiffness, high precision or large loads without a large working space, and the parallel mechanism with l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 郭为忠郭令高峰
Owner SHANGHAI JIAO TONG UNIV
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