Unidirectional-movement expandable symmetric coupling mechanism of icosahedron

A technology of icosahedron and coupling mechanism, which is used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as limiting coupling mechanisms, and achieve the effects of high flexibility, easy transportation, and large working space.

Inactive Publication Date: 2017-03-15
BEIJING UNIV OF TECH
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  • Abstract
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  • 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 the multi-ring coupling mechanism, which greatly limits the coupling mechanism, especially the proposal of a new polyhedral coupling mechanism

Method used

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  • Unidirectional-movement expandable symmetric coupling mechanism of icosahedron

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Embodiment Construction

[0020] Such as figure 1 As shown, the first branch unit includes the first connecting rod G11 of the moving platform, the first quadrangular unit ring, and the first connecting rod G16 of the fixed platform. The first quadrilateral unit ring includes the second link G12 of the first branch unit, the first node member L1 of the moving platform, the third link G13 of the first branch unit, the third link G13 of the first branch unit, The second node component S2 of the triangle, the fourth link G14 of the first branch unit, the first node component L6 of the fixed platform, the fifth link G15 of the first branch unit, and the first node component S1 of the triangle. The second link G12 of the first branch unit and the third link G13 of the first branch unit are connected by two adjacent rotation pairs of the first node member L1 of the moving platform, the third link G13 of the first branch unit and the The fourth connecting rod G14 of the first branch unit is connected through...

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Abstract

The invention discloses a unidirectional-movement expandable symmetric coupling mechanism of an icosahedron. The mechanism comprises twenty-two joints, forty connecting rods and twenty faces. The twenty-two joints comprise two regular pentagons, ten rhombuses and ten regular triangles. The included angles between the adjacent axes of five rotary pairs on each regular pentagon are 108 degrees, the included angles between the adjacent axes of four rotary pairs of each rhombus are 90 degrees, and the included angles between the adjacent axes of three rotary pairs of each regular triangle are 60 degrees. Branch structures of the mechanism are the same in composition and are distributed symmetrically, joint components are composed of triangles, quadrangles and regular pentagons, and the diversity of the coupling mechanism is enriched. The mechanism can achieve unidirectional movement and movement of contraction and expansion towards the geometric center and belongs to a polyhedron expandable coupling mechanism. If the mechanism is improved, a framework of an umbrella or a tent can be utilized, expanding and closing are achieved according to work conditions and environment requirements, transportation is facilitated, and the mechanism can better adapt to special occasions and has good application prospects.

Description

technical field [0001] The invention is a single-moving multi-ring expandable symmetric coupling mechanism, which relates to the technical field of mechanism application, in particular to the field of aerospace robots with an expandable folding mechanism. 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. 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. In such a development trend, the hybrid organization came into being. This kind of mechanism effectively combines the advantages of series mechanism and parallel mechanism, while breaking...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0048
Inventor 曹亚柯刘靖芳丁华锋
Owner BEIJING UNIV OF TECH
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