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Metamorphic parallel mechanism

A parallel, five-bar mechanism technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as less configuration, singularity of branch chains, singularity of constraints, etc.

Inactive Publication Date: 2017-12-15
NORTH CHINA INST OF AEROSPACE ENG
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Problems solved by technology

Scholars have invented some distinctive reconfigurable parallel mechanisms by using metamorphic kinematic pairs, lockable joints, constrained singular single-loop closed chains, metamorphic single-loop closed chains, and reconfigurable motion platforms. There are still relatively few configurations of reconfigured parallel mechanisms, and there are deficiencies such as fewer working modes, servo motors installed far away from the rack, branch chain singularity or constraint singularity during the reconfiguration process

Method used

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Embodiment Construction

[0016] Below in conjunction with accompanying drawing and embodiment the present invention will be described in further detail:

[0017] figure 1 Shown is a spherical five-bar mechanism with decoupling properties, which consists of five rods and five revolving pairs. The rods are connected by revolving pairs, the axes of all revolving pairs pass through the geometric center of the spherical five-bar mechanism, and the axes of adjacent revolving pairs are orthogonal. Select the revolving joint R connected to the frame 1 and R 2 for the input pair.

[0018] figure 2 Shown is the metamorphic branch chain in the initial configuration, which is composed of a spherical five-bar mechanism and a 4-degree-of-freedom TRP series branch chain. The series branch chain consists of a T pair, a revolving pair R 3 , mobile pair P and two rods form. In the series branch chain, adjacent to the spherical five-bar mechanism is the T pair, and the T auxiliary axes v and R 3 The axes are par...

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Abstract

The invention provides a metamorphic parallel mechanism. The metamorphic parallel mechanism is connected with a fixed platform and a movable platform through three identical metamorphic branches which are arranged symmetrically. Each metamorphic branch is formed by combining a two-degree-of-freedom spherical five-bar mechanism with the decoupling characteristic, with a four-degree-of-freedom TRP series branch, and has three different working modes. When the three metamorphic branches are switched among the three different working modes, the metamorphic parallel mechanism can have ten different working modes. The metamorphic parallel mechanism has the advantages of being good in dynamic property, large in number of working modes, free of singularity in the reconstruction process, and the like.

Description

Technical field: [0001] The invention belongs to the fields of mechanism and robotics, and in particular relates to a metamorphic parallel mechanism. Background technique: [0002] Due to the advantages of high rigidity, high load capacity, high precision, and high speed, the traditional fixed-degree-of-freedom parallel mechanism has played an important role in the fields of heavy-duty operations, industrial robots, motion simulators, micro-nano operations, and additive manufacturing. and widely used. [0003] However, with the development of modern science and technology, in extreme operations, advanced manufacturing, medical rehabilitation, space exploration and other fields, it is increasingly expected that the mechanism has higher flexibility, and can reconstruct its topology and change its degree of freedom according to the change of the task. and degrees of freedom, and reconstruct its working mode. In this context, reconfigurable parallel mechanisms have attracted e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 王冰
Owner NORTH CHINA INST OF AEROSPACE ENG
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