Double-regular-tetrahedron superimposed symmetrical coupling mechanism with single-freedom-degree movement

Abstract

The invention discloses a double-regular-tetrahedron superimposed symmetrical coupling mechanism with single-freedom-degree movement. The technical scheme of a symmetrical coupling mechanism with single-freedom-degree movement is adopted on the basis of the characteristic that a frame is composed of regular polyhedron structures. According to the characteristics of geometric elements forming regular polyhedrons, two regular tetrahedrons which are of the completely-same structure size are selected, regular triangular faces included in the two regular tetrahedrons are selected to coincide with each other, and a new space polyhedron is obtained. The mechanism is simple and symmetrical in branch structure, the whole mechanism framework is obtained by coupling and connecting a base of a regular triangular component form and a movable platform of a regular triangular component form through regular quadrilateral joint components and two pairs of rod components on the basis of the space polyhedron structure obtained by combining the two regular polyhedrons, the straight line connecting the geometric centers of the base and the movable platform is used as the symmetry axis of the whole mechanism, earlier-stage assembling and later-period maintenance are easy and convenient, and good application prospects are achieved.

Description

technical field [0001] The invention develops a multi-ring coupling mechanism with single-degree-of-freedom movement based on the symmetrical structure of a polyhedron superimposed by two regular tetrahedrons, and relates to the technical field of mechanism application, especially a robot actuator with single-degree-of-freedom movement . 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 adv...

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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