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

CN111259502AInactive Publication Date: 2020-06-09ZHEJIANG SCI-TECH UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2020-06-09
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a design method of a single-degree-of-freedom six-rod mechanism with mixed pose constraints. Research of an existing single-degree-of-freedom six-rod mechanism motion comprehensive method basically aims at four or five precise poses, but for a slightly complex track, an ideal target track cannot be obtained only by means of constraint of the four or five precise poses. Themethod comprises the following steps: 1, selecting an accurate pose and an approximate pose in a target track; 2, giving a 3R chain opening rod group; 3, adding a first RR constraint rod piece; and 4,adding a second RR constraint rod piece to complete the target six-rod mechanism. According to the design method of the single-degree-of-freedom six-rod mechanism with mixed pose constraints, the single-degree-of-freedom six-rod mechanism end effector can perform more accurate complex track motion. The error range of the K approximate poses is given in advance, the mechanism solution domain synthesized by the method is wider, and the mechanism solution domain can be adjusted by controlling the errors of the approximate poses.
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Description

technical field

[0001] The invention belongs to the technical field of mechanism motion synthesis, and in particular relates to a design method of a single-degree-of-freedom six-bar mechanism with mixed pose constraints. Background technique

[0002] In mechanism science, as the research basis of mechanism science, planar linkage mechanism is widely studied, and has various structures and characteristics, so the research on planar linkage mechanism has never stopped.

[0003] The existing research on the motion synthesis method of the single-degree-of-freedom six-bar mechanism is basically aimed at four or five precise poses, but for slightly more complex trajectories, only the constraints of these four or five precise poses It is very likely that the ideal target trajectory cannot be obtained. At this time, it is necessary to introduce several approximate pose constraints to make the trajectory curve meet expectations. After searching and reading a large amount of literatu...

Examples

Embodiment Construction

[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...