Metamorphic five-bar mechanism

Abstract

The invention discloses a metamorphic five-bar mechanism. The metamorphic five-bar mechanism comprises a frame, two spherical five-bar mechanisms, two connecting frame rods and two connecting rods, wherein the spherical five-bar mechanisms comprise the first spherical five-bar mechanism and the second spherical five-bar mechanism which are arranged on and connected with the frame in parallel; the first spherical five-bar mechanism and the second spherical five-bar mechanism are respectively connected with the first connecting frame rod and the second connecting frame rod; the first connecting frame rod is connected with the first connecting rod through a sixth rotating pair; the second connecting frame rod is connected with the second connecting rod through a seventh rotating pair; and the top end of the first connecting rod is connected with the top end of the second connecting rod through an eighth rotating pair. According to the metamorphic five-bar mechanism, the concept is ingenious, the structure is compact and reasonable, and the two spherical five-bar mechanisms are arranged on the frame side by side; and a rotary pair, connected with the frame, of each spherical five-bar mechanism is selected as an input pair, and by driving or locking the rotary pair, connected with the frame, of each spherical five-bar mechanism, the metamorphic five-bar mechanism is correspondingly switched into five different operation modes.

Description

Technical field [0001] The invention relates to the technical field of robots, in particular to a metamorphic five-bar mechanism. Background technique [0002] Traditional mechanical equipment is generally a fixed degree of freedom equipment with a single operation mode. However, with the development of science and technology, especially industrial production and high-risk, aerospace engineering and other special application environments, institutions need to have good adaptability and variable structural characteristics It is hoped that the organization can change its degree of freedom and operation mode according to changes in the operating environment or operating tasks. Summary of the invention [0003] The purpose of the present invention is to provide a metamorphic five-bar mechanism, which solves the problems that traditional machinery only has a fixed degree of freedom with a single operation mode, and has poor adaptability and deformability. [0004] To solve the above tec...

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Problems solved by technology

[0003] The purpose of the present invention is to provide a metamorphic five-bar mechanism, which solves the problem that traditional machinery only has a fixed degree of freedom in a single operation mode, poor adaptability and deformability

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