Metamorphic parallel connection 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: 2019-05-31
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
[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...
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. The metamorphic parallel connection mechanism comprises a fixed platform and a movable platform, and the fixed platform and the movable platform are connected through one first branch chain and two second branch chains; when the fixed platform and the movable platform are parallel, the distances between the two second branch chains on the same horizontal plane and the first branch chain are equal; the first branch chain comprises a spherical face five rod mechanism, a first movable pair mechanism and a space parallelogram mechanism which are sequentially connected; the spherical face five rod mechanism is connected with the fixed platform, and the space parallelogram mechanism is connected with the movable platform; eachsecond branch chain comprises a first ball pair, a second movable pair mechanism and a second ball pair which are sequentially connected; each first ball pair is connected with the fixed platform; andeach second ball pair is 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, the metamorphic parallel connection mechanism can achieve switching of 3TR2 movement, 3T1RX movement, 3T1RY movement and 3T movement, and has the capacity of changing the topological structure and the freedom degree according to changing of an operating task.
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
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