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Structure-state-variable mechanism and spinor adjacent matrix method for characteristic analysis of structure-state-variable mechanism

A technology of adjacency matrix and characteristic analysis, which is applied in the direction of manipulators and manufacturing tools, can solve problems such as the inability to express the geometric structure of robot mechanisms and the inability to analyze the degree of freedom of mechanisms, so as to enrich the theory of robot mechanisms and improve efficiency.

Active Publication Date: 2015-05-20
BEIJING AEROSPACE MEASUREMENT & CONTROL TECH
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Problems solved by technology

Although 0 and 1 can also be used as matrix elements to analyze the transformation of the number of components, it cannot represent the geometric structure of the robot mechanism, nor can it analyze the degree of freedom of the mechanism

Method used

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  • Structure-state-variable mechanism and spinor adjacent matrix method for characteristic analysis of structure-state-variable mechanism
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  • Structure-state-variable mechanism and spinor adjacent matrix method for characteristic analysis of structure-state-variable mechanism

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Embodiment Construction

[0027] In order to further illustrate the technical means and functions adopted by the present invention to achieve the intended purpose, the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0028] Such as figure 1 Shown is a 4-URU configuration variable parallel mechanism, this mechanism has 4 branches, the lower platform is the fixed platform 1, the upper platform is the moving platform 4, and the moving platform connected with the fixed platform 1 and the moving platform 4 The pairs are distributed on the midpoint of the side length of the square, and the centers of the U pairs 5 in the deformed state are respectively located in the planes of the fixed platform 1 and the moving platform 4 . In each branch, the kinematic pairs are sequentially composed of variable configuration U pair 5, variable configuration R pair 6, and variable configuration U pair 5. The two length members are member a2 and m...

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Abstract

The invention provides a structure-state-variable mechanism and a spinor adjacent matrix method for characteristic analysis of the structure-state-variable mechanism. A physical structure of a robot mechanism and transformation of the physical structure can be converted into mathematical expression and mathematical calculation. The structure-state-variable mechanism comprises a fixed platform, a movable platform and four supporting chains. The four supporting chains are the same in structure and are connected to the middle points of the edges of a square of the fixed platform or the movable platform through movement pairs respectively. Each supporting chain is sequentially composed of a structure-state-variable U pair, a part a, a structure-state-variable R pair, a part b and a structure-state-variable U pair, the centers of the structure-state-variable U pairs are located in a plane of the fixed platform and the plane of the movable platform, the structure-state-variable U pairs are structure-state-variable universal pairs, and the structure-state-variable R pairs are structure-state-variable rotary pairs. In the structure-state conversion process, two rotating shafts of the U pairs keep parallel or perpendicular to the fixed platform or the movable platform, rotating shafts of the R pairs keep parallel to the fixed platform all the time, the rotating shafts, perpendicular to the fixed platform, on the same supporting chain are parallel, and the rotating shafts, parallel to the fixed platform, on the same supporting chain are parallel.

Description

technical field [0001] The invention belongs to the field of robotics and mechanism, and in particular relates to the characteristic analysis of a configuration-variable mechanism different from conventional mechanisms, and converts the mechanism characteristic analysis into mathematical expression and calculation. Background technique [0002] Due to the complex analysis and synthesis of robot mechanisms, the analysis of the characteristics of configuration-variable mechanisms is more complicated than that of ordinary mechanisms. In-depth research on such mechanisms must rely on mathematical tools to achieve breakthrough results. However, how to transform the analysis of mechanism characteristics such as structure, structure transformation, number of components, geometric relationship, and degree of freedom into mathematical representation and calculation is a difficult problem. Existing related methods mainly focus on the topological structure, and generally use 0 and 1 as...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
Inventor 张忠海
Owner BEIJING AEROSPACE MEASUREMENT & CONTROL TECH
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