Design method of single-degree-of-freedom six-rod mechanism with mixed pose constraints
A six-bar mechanism and design method technology, applied in geometric CAD and other directions, can solve problems such as not checking the single-degree-of-freedom six-bar mechanism, and not being able to obtain the target trajectory
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[0087] The present invention will be further described below in conjunction with accompanying drawing.
[0088] Such as figure 1 As shown, the overall design idea of the single-degree-of-freedom six-bar mechanism is as follows: firstly, a 3R open chain 1-2-3 is given; a bar 4 is added between the bar 2 and the frame, so that the degrees of freedom are reduced from 3 to 2; add rod 5 between rod 4 and rod 3, and finally obtain a single-degree-of-freedom six-bar mechanism, whose end effector can pass Z poses precisely and approximately K poses.
[0089] The motion synthesis method of a single-degree-of-freedom six-bar mechanism with mixed pose constraints, the specific steps are as follows:
[0090] Step 1: In the target trajectory to be achieved, select Z+K poses, and stipulate that Z (Z<5) poses pass accurately, and K poses pass approximately.
[0091] Step 2: Through simulation or experiment, a 3R open chain rod group is given; the 3R open chain rod group includes the head...
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