Metamorphic parallel connection mechanism
A parallel, straight rod technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inability to adapt to surface operations of different natures
Inactive Publication Date: 2019-05-28
NORTH CHINA INST OF AEROSPACE ENG
View PDF0 Cites 3 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 chain 4 includes a sixth rotating pair 401, a first connecting rod 402, a thirteenth Hooke hinge 403, a second connecting rod 404, and a ball pair 405 that are connected in sequence. The fixed platform 1 is c...
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 connection mechanism, which comprises a fixed platform and a moving platform, wherein the fixed platform and the moving platform are connected through afirst branch chain and three second branch chains; the first branch chain is a center branch chain; the three second branch chains are in symmetrical arrangement by using the first branch chain as anaxis; the first branch chain comprises a spherical surface five-rod mechanism, a first space parallelogram mechanism, a second space parallelogram mechanism in sequential connection; the spherical surface five-rod mechanism is connected with the fixed platform; the second space parallelogram mechanism is connected with the moving platform; each second branch chain comprises a sixth rotating pair,a first connecting rod, a thirteenth hooke joint, a second connecting rod and a ball pair in sequential connection; the sixth rotating pair is connected with the fixed platform; and the ball pair is connected with the moving platform. By locking or driving the first rotating pair and the second rotating pair, the metamorphic parallel connection mechanism has a switching function of 3T2R movement,3T1RXmovement, 3T1RYmovement and 3T movement, and has the capability of changing the topological structures and the freedom according to the operation task change.
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 (for movement, the letter T stands for movement); when the working surface is a ruled surface, the end ...
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 李东阳王冰
Owner NORTH CHINA INST OF AEROSPACE ENG