Mobile and symmetrical coupling mechanism with single-degree-of-freedom for pentagonal bipyramid

Abstract

The invention relates to a mobile and symmetrical coupling mechanism with single-degree-of-freedom for a pentagonal bipyramid. The pentagonal bipyramid is a spatial half regular polyhedron constituted by ten identical regular triangle surfaces and has five vertexes. The mechanism comprises a rack, a mobile platform, and five branches and five coupling rod sets which are used for connecting the rack with the mobile platform. The five coupling rod sets comprise a first coupling rod set, a second coupling rod set, a third coupling rod set, a fourth coupling rod set and a fifth coupling rod set. Each coupling rod set is connected to two of branches; the five branches and the five coupling rod sets are connected at intervals to form a net-shaped coupling structure; and five square components which are connected to the coupling rod sets in each branch are all defined as node components. The mechanism has the characteristic of being big in rigidity, high in bearing capacity, smooth in movement, simple in structure, and convenient to assemble and maintain, and provides patent information and technical support for domestic enterprises and research institutes.

Description

technical field [0001] The present invention is based on a semi-regular polyhedron structure composed entirely of regular triangular faces, which is a multi-ring coupling mechanism with single-degree-of-freedom movement. robot actuators. Background technique [0002] With the continuous development of mechanisms from simple to complex, from plane to space, and from single loop to multiple loops, mechanism innovation has always been the key and research hotspot of machine equipment innovation. In some high-intensity and heavy-duty occasions, it is very common to replace human labor with industrial mechanical arms. These occasions often require the actuator of the mechanical arm to have high strength, simple structure, low cost, convenient maintenance, and the characteristics of smooth movement and easy control of the end actuator. The existing parallel mechanism has the advantages of strong bearing capacity, high rigidity, and low inertia, but the working space is limited; ...

AI Technical Summary

Problems solved by technology

The existing parallel mechanism has the advantages of strong bearing capacity, high rigidity, and low inertia, but the working space is limited; the series mechanism has a large working space, simple and smart structure, but low strength, and is not suitable for heavy-duty occasions; the hybrid mechanism combines series and Parallel mechanisms perform effective compounding while breaking through the shortcomings of their respective structures. However, the connection between the frame of the hybrid mechanism and the end effector usually exists in the form of adding a series manipulator connected to the upper and lower platforms on the parallel mechanism, which makes While the whole mechanism obtains a large working space, its own volume is not flexible and light enough, which brings inconvenience to the assembly, transportation and execution of the mechanism

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