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
View PDF0 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
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
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0028] Such as Figure 7 As shown, a specific embodiment of a metamorphic parallel mechanism includes a fixed platform 1 and a moving platform 2. The fixed platform 1 and the moving platform 2 are connected by a first branch chain 3 and three second branch chains 4. The first branch 3 is a central branch, and the three second branches 4 are arranged axisymmetrically with respect to the first branch 3. The first branch chain 3 includes a spherical five-bar mechanism 301, a first spatial parallelogram mechanism 302, and a second spatial parallelogram mechanism 303 that are connected in sequence. The spherical five-bar mechanism 301 is connected to the fixed platform 1. The second spatial parallelogram mechanism 303 is connected to the movement platform 2. The second branch 4 includes a moving sub-mechanism 401, a thirteenth Hooke hinge 402, a connecting rod 403 and a ball pair 404 connected in sequence. The moving sub-mechanism 401 is connected to the fixed platform 1, and the b...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a metamorphic parallel mechanism. The metamorphic parallel mechanism comprises a fixed platform and a moving platform; the fixed platform and the moving platform are connectedwith each other through one first branch chain and three second branch chains; the first branch chain is a center branch chain; the three second branch chains are arranged in an axial symmetry mannerwith respect to the first branch chain; the first branch chain comprises a spherical five-lever mechanism, a first spatial parallelogram mechanism and a second spatial parallelogram mechanism which are connected in sequence; the spherical five-lever mechanism is connected with the fixed platform; the second spatial parallelogram mechanism is connected with the moving platform; each second branch chain comprises a moving pair mechanism, a thirteenth hook hinge, a connecting rod and a ball pair; each moving pair mechanism is connected with the fixed platform; and the ball pair is connected withthe moving platform. By locking or driving a first revolute pair and a second revolute pair, the metamorphic parallel mechanism disclosed by the invention realizes switching of 3T2R motion, 3T1RX motion, 3T1RY motion and 3T motion, and has the capability of transforming the topological structure and the degree of freedom according to changes of operation tasks.
Description
Technical field [0001] The invention relates to the field of mechanism 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 a truss rod system, it has the advantages of high rigidity, large carrying capacity, and good dynamic performance, making it suitable for industrial robots, walking robots, and transportation machinery. Dynamic simulators, mechanical servo presses, parallel motion 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, the degree of freedom required by the robot end effector is different when working on different surfaces. For example, when the working surface is flat, the end effector has 3T (indicating movement, the letter T represents movement); when the working surface is a ruled surface, t...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 王冰
Owner NORTH CHINA INST OF AEROSPACE ENG