Six-degree-of-freedom parallel power head with constant power output characteristic

Abstract

The invention relates to a six-degree-of-freedom parallel power head with a constant power output characteristic. The power head is composed of a six-degree-of-freedom base and a terminal constant power output mechanism. The six-degree-of-freedom base is formed by connecting a mobile platform, a small universal hinge, a sliding pair, a large universal hinge and a fixed platform in sequence in a UPU (namely the universal hinge-sliding pair-universal hinge) branch mode. The terminal constant power output mechanism is composed of a constant power output body, a linking rod, an I-shaped sliding block, an I-shaped groove and a torsion spring. The I-shaped sliding block and the I-shaped groove are in clearance fit, and the I-shaped sliding block moves horizontally along the inner wall of the I-shaped groove. The six-degree-of-freedom base and the terminal constant power output mechanism are connected in a PRRP (namely sliding pair-rotating pair-rotating pair-sliding pair) structure mode. Bymeans of the combination mode, the degree of freedom of the power head can be increased, constant power output can be achieved, the posture of the power head can be adjusted in real time, constant power regulation can be achieved for different parameter configuration, and the structure symmetric motion characteristic is good.

Description

technical field [0001] The invention belongs to a constant force mechanism, in particular to a six-degree-of-freedom parallel power head with constant force output characteristics. Background technique [0002] The constant force mechanism can exert a constant force on the target object. It is different from the traditional cylindrical spring and other elastic bodies. The constant force mechanism does not satisfy Hooke's theorem. With the development of precision technology, in some workplaces, industrial robots or machine tools often require the end effector to maintain a constant value when it is in contact with the external environment when grasping, processing or polishing precision components. Some flexible mechanisms rely on the deformation of part or all of the elastic components in the mechanism to store or release energy, and in the process realize the force, displacement or movement required by the mechanism design. This kind of mechanism does not need to be assem...

AI Technical Summary

Problems solved by technology

Mechatronic control can achieve precise control of force through feedback, but in general, the structure is more complicated, the volume is larger, and the reliability is not high

The existing constant force mechanism is often complex in structure, the degree of freedom of the mechanism is not high, and it is difficult to adjust the posture of the mechanism in the face of different working environments

Images