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A single-degree-of-freedom truncated tetrahedron/tetrahedron shape transformation mechanism

A technology for converting mechanisms and tetrahedrons, which can be applied to manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems that limit the development of polyhedral mechanisms and the application of polyhedral mechanisms.

Active Publication Date: 2021-03-16
BEIJING UNIV OF TECH
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Problems solved by technology

At present, the main types of polyhedral mechanisms are polyhedral expandable mechanisms and polyhedral scaling mechanisms in a single form mode. There are few studies on polyhedral shape transformation mechanisms, which limits the development of polyhedral mechanisms and the application of polyhedral mechanisms in multi-morphic modes.

Method used

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  • A single-degree-of-freedom truncated tetrahedron/tetrahedron shape transformation mechanism
  • A single-degree-of-freedom truncated tetrahedron/tetrahedron shape transformation mechanism
  • A single-degree-of-freedom truncated tetrahedron/tetrahedron shape transformation mechanism

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Embodiment Construction

[0017] A single-degree-of-freedom truncated tetrahedron / tetrahedron shape conversion mechanism, such as figure 1 , figure 2 , image 3 , Figure 4 (a), Figure 4 (b) and Figure 4 (c), including a three-branch kinematic chain 1, a plane scissor kinematic chain 2 and a three-axis rotating pair 3; the plane scissor kinematic chain 2 passes through The three-axis rotating auxiliary connecting member 3 is connected with the three-branch kinematic chain 1; the three-axis rotating auxiliary connecting member 3 is provided with an intermediate rotating auxiliary shaft I301 and two outer rotating auxiliary shafts II302, and the two outer rotating auxiliary shafts II302 are connected with each other. The mirror symmetry plane A of the transverse section of the middle rotation secondary axis I301 is symmetrical, and the angle between the axis of the outer rotation secondary axis II302 and the mirror symmetry plane A is [arccos(1 / 3)] / 2 degrees.

[0018] The three-branch kinematic chain 1...

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Abstract

The invention discloses a single-degree-of-freedom truncated tetrahedron / tetrahedron shape switching mechanism. The mechanism comprises three-branch kinematic chains, plane shear fork kinematic chainsand three-axis rotation auxiliary connecting pieces, each of the three-axis rotation auxiliary connecting pieces is provided with an intermediate rotating auxiliary shafts I and two outer-side rotating auxiliary shafts II, the two outer-side rotating auxiliary shafts II are symmetric with respect to mirror symmetry planes A passing transverse cross sections of the intermediate rotating auxiliaryshafts I correspondingly, each of the four three-branch kinematic chains comprises a central rod I and three branch rods II, the four plane shear fork kinematic chains are arranged, and the plane shear fork kinematic chains are in hinged connection with the outer-side rotating auxiliary shafts II of the three-axis rotation auxiliary connecting pieces through the outer ends of shear fork branch kinematic chains. According to the mechanism, center shear fork units of the plane shear fork kinematic chains are driven to realize switching of a truncated tetrahedron shape and a tetrahedron shape, and the mechanism is convenient to control in the shape switching process.

Description

technical field [0001] The invention belongs to the technical field of mechanism application, in particular to a single-degree-of-freedom truncated tetrahedron / tetrahedron shape conversion mechanism. Background technique [0002] Polyhedral mechanisms have a very wide range of applications in toys, handicrafts, expandable mechanisms, and modular robots. At present, the main types of polyhedral mechanisms are polyhedral expandable mechanisms and polyhedral scaling mechanisms with a single morphological mode. There are few studies on polyhedral shape conversion mechanisms, which limit the development of polyhedral mechanisms and the application of polyhedral mechanisms in polymorphic mode occasions. Therefore, there is an urgent need for a new technical solution in the prior art to solve this problem. SUMMARY OF THE INVENTION [0003] The technical problem to be solved by the present invention is to provide a single-degree-of-freedom truncated tetrahedron / tetrahedron shape ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/003
Inventor 孔凡臣刘婧芳丁华锋
Owner BEIJING UNIV OF TECH
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