Metamorphic parallel connection mechanism

Abstract

The invention discloses a metamorphic parallel connection mechanism. A fixed platform and a movable platform are included, and are connected through a first branch chain and three second branch chains; the first branch chain is a center branch chain; the three second branch chains are in axial symmetry arrangement about the first branch chain; the first branch chain comprises a spherical face five-rod mechanism, a first space parallelogram mechanism and a second space parallelogram mechanism which are sequentially connected; the spherical face five-rod mechanism is connected with the fixed platform, and the second space parallelogram mechanism is connected with the movable platform; each second branch chain comprises a first ball pair, a movable pair mechanism and a second ball pair whichare sequentially connected; the first ball pairs are connected with the fixed platform; and the second ball pairs are connected with the movable platform. According to the metamorphic parallel connection mechanism, by locking or driving a first rotating pair and a second rotating pair, switching of 3T2R movement, 3T1RX movement, 3T1RY movement and 3T movement of the metamorphic parallel connectionmechanism can be achieved, adaption to surface operation in different properties is achieved, and the capacity for changing the topological structure and the freedom degree of the metamorphic parallel connection mechanism according to the operation task changing is achieved.

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...

AI Technical Summary

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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