Single-freedom-degree moving dodecahedron foldable symmetric coupling mechanism

A technology of coupling mechanism and dodecahedron, which is applied in the field of symmetrical expandable coupling mechanism, can solve problems such as limiting the coupling mechanism, and achieve the effects of large working space, easy transportation, and high rigidity

Inactive Publication Date: 2017-02-15
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The difference in structure from the parallel mechanism determines that the existing configuration synthesis theory is not applicable to th

Method used

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  • Single-freedom-degree moving dodecahedron foldable symmetric coupling mechanism
  • Single-freedom-degree moving dodecahedron foldable symmetric coupling mechanism

Examples

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Embodiment Construction

[0022] Such as figure 2 As shown, the first branch includes the first connecting rod (L1), the frame node member one (N1), the second connecting rod (L2), the moving platform node member one (T1), and the third connecting rod (L3); The first connecting rod (L1) is connected with the frame (D1) through the first rotating pair (R1) of the frame, and the first connecting rod (L1) and the frame node component one (N1) pass through the first frame node component one (N1). The rotating pair (R11) is connected, the second connecting rod (L2) is connected with the frame node component one (N1) through the second rotating pair (R12) of the frame node component one, and the second connecting rod (L2) is connected with the moving platform node Component 1 (T1) is connected through the first revolving pair (R14) of the node component 1 of the moving platform, and the third connecting rod (L3) and the node component 1 (T1) of the moving platform pass through the third revolving pair (R16)...

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Abstract

The invention discloses a single-freedom-degree moving dodecahedron foldable symmetric coupling mechanism. A regular pentagon face A1A2A3A4A5 and a regular pentagon face B1B2B3B4B5 are taken as a geometric element and each replaced with a regular pentagon component, the other ten vertexes are C, C', D, D', E, E', F, F', G and G' and are replaced with ten isosceles triangle components, and the other twenty edges A1C, A2D, A3E, A4F, A5G, B1C', B2D', B3E', B4F' and B5G' are replaced with twenty connecting rods which each comprise two rotary pairs. Five rotary pair axes on each pentagon component are located in a pentagon plane. The five rotary pair axes on each regular pentagon component are marked as a1, a2, a3, a4 and a5 in the clockwise direction, the middle point of the axis of a1, the middle point of the axis of a3 and the middle point of the axis of a4 of each regular pentagon component are connected to form an isosceles triangle component, and three rotary pairs on each isosceles triangle component are located in a triangle plane. Each connecting rod is a connecting rod piece which comprises the two connecting rotary pairs and is of the same kind, and the axes of the two rotary pairs of each connecting rod are parallel to each other.

Description

technical field [0001] The invention is a symmetrical expandable coupling mechanism based on a regular dodecahedron structure, relates to the technical field of mechanism application, and in particular relates to a robot actuator with single-degree-of-freedom movement. Background technique [0002] Configuration synthesis has always been a research hotspot in mechanism science, and is the root of mechanical innovation. The development of institutions has gone through a process from simple to complex. In some high-strength, heavy-duty workplaces that require industrial manipulators to replace human labor, it is often required that the actuators of the manipulators have high strength, simple structure, low cost, and easy maintenance. control needs. 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 s...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0009
Inventor 刘婧芳高慧芳
Owner BEIJING UNIV OF TECH
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