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: 2019-05-28
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 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 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 the motion platform 2 . The second branch chain 4 includes a second moving sub-mechanism 401, a first ball pair 402, a connecting rod 403 and a second ball pair 404 connected in sequence, the second moving sub-mechanism 402 is connected ...
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The invention discloses a metamorphic parallel mechanism comprising a fixing platform and a moving platform. The fixing platform is connected with the moving platform through a first branched chain and three second branched chains, and the first branched chain is a center branched chain; the three second branched chains are arranged symmetrically by taking the first branched chain as an axis; thefirst branched chain comprises a spherical five-bar mechanism, a first moving pair mechanism and a space parallelogram mechanism which are connected in sequence, and the spherical five-bar mechanism is fixedly connected with the fixing platform; the space parallelogram mechanism is connected with the moving platform; each second branched chain comprises a second moving pair mechanism, a first ballpair, a connecting bar and a second ball pair which are connected in sequence, and the second moving pair mechanism is connected with the fixing platform; and the second ball pair is connected with the moving platform. According to the metamorphic parallel mechanism, through locking or driving of a first revolute pair and a second revolute pair, the metamorphic parallel mechanism has the capability of switching 3T2R, 3T1RX, 3T1RY and 3T, is suitable for operation on surface of different natures, and has the ability of changing the topological structure and the freedom degree according to thechange of operating tasks.
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