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Single-drive reconfigurable parallel mechanism branch chain device and its reconfiguration method

A single-drive, parallel technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as increased costs, complicated control methods, inability to flexibly change the movement form of parallel mechanism branch chains, etc., to achieve improved performance and universal application sexual effect

Active Publication Date: 2021-04-09
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 reconfigurable parallel mechanism branch chain device and its reconfiguration method
  • Single-drive reconfigurable parallel mechanism branch chain device and its reconfiguration method
  • Single-drive reconfigurable parallel mechanism branch chain device and its reconfiguration method

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 branch chain device of a single-drive reconfigurable parallel mechanism and its reconfiguration method. The drive input unit is connected with the first shaft system in the transmission device through a coupling, and the first shaft system is installed on the first bracket of the first bracket. One end, the second shaft system is installed in the middle position of the second bracket, and the first end and the second end of the second bracket are respectively connected with the first shaft system and the third shaft system, and the first linear motion output device passes through the second An electromagnetic clutch device is connected to the second shaft system, the third shaft system is installed on the second end of the first bracket, the first electromagnetic brake device is connected to the second end of the third shaft system, and the second electromagnetic brake device is connected to the third shaft The second linear motion output device is connected to the fourth shaft system through the second electromagnetic clutch device, and the second shaft system and the fourth shaft system are connected through a universal joint. The invention can change the driving joint type of the branch chain of the parallel mechanism through a single driving input, realize the configuration reconfiguration of the parallel mechanism, and then change the performance of the parallel mechanism.

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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Patent Type & Authority Patents(China)
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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