Metamorphic parallel mechanism
A parallel, five-bar mechanism technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as being unable to adapt to surface operations of different natures
Inactive Publication Date: 2019-05-10
NORTH CHINA INST OF AEROSPACE ENG
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Problems solved by technology
[0004] The purpose of the present invention is to provide a metamorphic parallel mechanism to solve the problem that the traditional parallel configuration equipment is generally a fixed degree of freedom equipment and cannot adapt to surface operations with different properties
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[0027] Such as Figure 7 As shown, a specific embodiment of a metamorphic parallel mechanism includes a fixed platform 1 and a moving platform 2, and the fixed platform 1 and the moving platform 2 are connected by a first branch chain 3 and three second branch chains 4, and the The first branch chain 3 is a central branch chain, and the three second branch chains 4 are arranged axisymmetrically with respect to the first branch chain 3 . The first branch chain 3 includes a spherical five-bar mechanism 301, a moving sub-mechanism 302 and a space parallelogram mechanism 303 connected in sequence, the spherical five-bar mechanism 301 is connected with the fixed platform 1, and the space parallelogram mechanism 303 Connect with the motion platform 2. The second branch chain 4 includes a sixth rotating pair 401, a first connecting rod 402, a first ball pair 403, a second connecting rod 404 and a second ball pair 405 connected in sequence, and the sixth rotating pair 403 is connecte...
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The invention discloses a metamorphic parallel mechanism which comprises a fixed platform and a movable platform, wherein the fixed platform and the movable platform are connected through a first branched chain and three second branched chains; the first branched chain is a central branched chain; the three second branched chains are in axial symmetry around the first branched chain; the first branched chain comprises a spherical surface five-rod mechanism, a moving pair mechanism and a spatial parallelogram mechanism sequentially connected; the spherical surface five-rod mechanism is connected with the fixed platform; the spatial parallelogram mechanism is connected with the movable platform; each of the second branched chains comprises a six revolute pair, a first connecting rod, a firstspherical pair, a second connecting rod and a second spherical pair sequentially connected; the six revolute pair is connected with the fixed platform; and the second spherical pair is connected withthe movable platform. Through locking or driving a first revolute pair and a second revolute pair, switching of 3T2R motion, 3T1RX motion, 3T1RY motion and 3T motion of the metamorphic parallel mechanism is realized; and the metamorphic parallel mechanism is adapted to operation on surfaces with different properties and changes according to the operation task to transform the topological structure and the degree of freedom.
Description
technical field [0001] The invention relates to the fields of mechanics and robotics, in particular to a metamorphic parallel mechanism. Background technique [0002] Because the parallel mechanism replaces the open-chain structure of traditional robots and machine tools with truss rods, it has the advantages of high rigidity, large load-bearing capacity, and good dynamic performance, making it widely used in industrial robots, walking robots, and transport machinery. Dynamic simulators, mechanical servo presses, parallel kinematic machine tools, 3D printing and other fields have been widely used. [0003] In the fields of robot spraying, friction stir welding, 3D printing, machining and manufacturing, etc., when working on surfaces with different properties, the degrees of freedom required by the robot end effector are different. For example, when the working surface is flat, the end effector should have 3T (when it means movement, the letter T stands for movement); when t...
Claims
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IPC IPC(8): B25J9/00
Inventor 王冰
Owner NORTH CHINA INST OF AEROSPACE ENG