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Single-drive reconstructible parallel mechanism branch chain device and reconstruction method thereof

A single-drive, parallel technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of increased cost, complex control methods, and inability to flexibly change the form of branch chain motion of parallel mechanisms, to improve performance and universal applicability. sexual effect

Active Publication Date: 2020-06-12
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The drive locking method is driven by multiple drive units, which increases additional costs, and the control method is complicated. The use of limit devices cannot flexibly change the movement form of the branch chain of the parallel mechanism

Method used

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  • Single-drive reconstructible parallel mechanism branch chain device and reconstruction method thereof
  • Single-drive reconstructible parallel mechanism branch chain device and reconstruction method thereof
  • Single-drive reconstructible parallel mechanism branch chain device and reconstruction method thereof

Examples

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Effect test

Embodiment example 1

[0061] The present invention can be applied to a 3-RPS parallel mechanism, wherein R-rotating pair, P-moving pair, S-ball pair, three branch chains of the mechanism are randomly combined under the two forms of RPS and RRS, so that the mechanism is in 3- Switching among the four configurations of RPS, 3-RRS, 2-RPS-RRS, and 2-RRS-RPS can randomly change the configuration of the 3-RPS mechanism so that it can be reconfigured in different configurations.

Embodiment example 2

[0063] The present invention can be applied to the 3-UPU parallel mechanism, in which the U-universal pair, the three branch chains of the mechanism are randomly combined in the two forms of UPU and URU, so that the mechanism can operate in 3-UPU, 3-URU, and 2-UPU Switching between the four configurations of -URU and 2-URU-UPU can randomly change the configuration of the 3-UPU mechanism so that it can be reconfigured in different configurations.

Embodiment example 3

[0065] The present invention can be applied to the 3-UPS parallel mechanism, and the three branch chains of the mechanism are randomly combined under the two forms of UPS and URS, so that the mechanism can operate in 3-UPS, 3-URS, 2-UPS-URS, 2-URS- Switching among the four UPS configurations can randomly change the configuration of the 3-UPS mechanism so that it can be reconfigured in different configurations.

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Abstract

The invention relates to a single-drive reconstructible parallel mechanism branch chain device and a reconstruction method thereof. A drive input unit of the device is connected to a first shaft in atransmission through a coupling, the first shaft is mounted at the first end of a first bracket, a second shaft is mounted in the middle of a second bracket, and the first end and the second end of the second bracket are connected with the first shaft and a third shaft respectively. A first linear motion output device is connected with the second shaft through a first electromagnetic clutch device, the third shaft is installed at the second end of the first bracket, a first electromagnetic brake device is connected with the second end of the third shaft, a second electromagnetic brake device is connected with the third shaft in series, a second linear motion output device is connected with a fourth shaft through a second electromagnetic clutch device, and the second shaft and the fourth shaft are connected through a universal coupling. According to the device, the driving joint type of a parallel mechanism branch chain can be changed through single-drive input, configuration reconstruction of a parallel mechanism is realized, and then the performance of the parallel mechanism is changed.

Description

technical field [0001] The invention belongs to the technical field of mechanical design and parallel mechanism, and in particular relates to a single-drive reconfigurable parallel mechanism branch chain device and a reconfiguration method thereof. Background technique [0002] The parallel mechanism has the advantages of compact structure, large carrying capacity, high precision, and small return error, and is widely used in aerospace, ships, automobiles and other fields. The parallel mechanism is mainly composed of a static platform, a dynamic platform and several series branch chains. The driving method of the parallel mechanism generally uses a rotating pair and a moving pair as the drive. At present, the drive mode of the branch chain of the parallel mechanism mostly adopts a single moving pair drive or a single rotating pair drive, so the parallel mechanism can only move according to a specific configuration under a fixed driving mode. However, due to the limitation o...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/12B25J19/00
CPCB25J9/003B25J9/102B25J9/109B25J9/126B25J19/0004
Inventor 李仕华宋敬伟魏元浩李铜付立飞韩雪艳
Owner YANSHAN UNIV
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