Variable cell parallel mechanism
A technology of parallel and five-bar mechanism, which is applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems such as inability to adapt to different surface operations
Inactive Publication Date: 2019-05-28
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 two second branch chains 4; when When the fixed platform 1 was parallel to the moving platform 2, the distance between the two second branch chains 4 and the first branch chain 3 on the same horizontal plane was equal; that is, when the fixed platform 1 was parallel to the moving platform 2, If the central axis of the first branch chain is used as the axis to rotate, the rotation tracks of the two second branch chains can overlap. The first branch chain 3 includes a sequentially connected spherical five-bar mechanism 301, a first moving secondary mechanism 302 and a space parallelogram mechanism 303. The spherical five-bar mechanism 301 is connected to the fixed platform 1, and the space parallelogram The mechanism 303 is connected with th...
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The invention discloses a variable cell parallel mechanism. The variable cell parallel mechanism comprises a fixed platform and a movable platform. The fixed platform and the movable platform are connected through a first branched chain and two second branched chains. When the fixed platform is parallel to the movable platform, the distances between the two second branched chains and the first branched chain on the same horizontal plane are equal. The first branched chain comprises a spherical five-bar mechanism, a first moving pair mechanism and a space parallelogram mechanism which are sequentially connected. The spherical five-bar mechanism and the fixed platform are connected. The space parallelogram mechanism is connected with the movable platform. Each second branches chain comprisesa seventh hook hinge, a second moving pair mechanism and a ball pair which are sequentially connected. The seventh hook hinges are connected with the fixed platform. The ball pairs and the movable platform are connected. By locking or driving a first rotating pair and a second rotating pair, the variable cell parallel mechanism can be converted to 3T2R motion, 3T1RX motion, 3T1RY motion and 3T motion, and the variable cell parallel mechanism has capacities of changing the topological structure and the degree of freedom of the variable cell parallel mechanism according to changes of operationtasks.
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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Inventor 王冰
Owner NORTH CHINA INST OF AEROSPACE ENG