Reconfigurable ball pair joint

Abstract

The invention discloses a reconfigurable ball pair joint. The reconfigurable ball pair joint comprises a U-shaped piece, an annular piece and a T-shaped piece, wherein an annular groove is formed in the annular piece, and two arc-shaped sliding blocks are arranged in the annular groove; two annular piece connecting rods are symmetrically and fixedly connected to the outer annular wall of the annular piece, the axes of the two annular piece connecting rods coincide, the connecting line of the axes passes through the circle center of the annular piece, the ends of the two annular piece connecting rods are rotationally connected with the two ends of the opening side of the U-shaped piece respectively, the two arc-shaped sliding blocks are symmetrically arranged in the radial direction of theannular piece, and the two arc-shaped sliding blocks can slide along the annular groove and are fixed to any position in the annular groove through connecting fixing pieces; and the two ends of a cross rod of the T-shaped piece are rotationally connected with the two arc-shaped sliding blocks, and a U-shaped piece connecting rod is connected to the middle of the bottom of the U-shaped piece. According to the reconfigurable ball pair joint, switching of four different configurations and degree-of-freedom conversion can be achieved, the overall flexibility of a mechanism composed of a kinematicpair can be improved, different working environment requirements can be met, and the requirements for multiple tasks, multiple working conditions and multiple functions are met.

Description

technical field [0001] The invention belongs to the field of mechanics and robots, in particular to a reconfigurable ball joint. Background technique [0002] Traditional mechanisms are composed of kinematic pairs (including rotating joints, moving joints, Hooke hinges and ball joints, etc.) and connecting rods, with definite configuration and mobility. With the innovation of engineering technology, in the fields of extreme operations, medical rehabilitation, aerospace and other fields, the mechanism is required to have the characteristics of variable topology, variable configuration, and variable degree of freedom, which can adapt to the diversity of operational tasks. Reconfigurable mechanisms have attracted scholars. It has become an important research direction in the field of international institutional studies. Among them, a kind of reconfigurable mechanism with distinctive characteristics is developed by using reconfigurable kinematic joints. In the prior art, resea...

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Problems solved by technology

[0003] In view of the above-mentioned prior art, the present invention provides a reconfigurable ball joint with ingenious conception, which has four different configurations and variable degrees of freedom characteristics, and can be applied to the design of reconfigurable mechanisms to solve the problem of traditional Problems in the case of assembled mechanisms with fixed configurations and degrees of freedom

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