CN106346493B - A kind of space of granatohedron can open up coupling mechanism - Google Patents
A kind of space of granatohedron can open up coupling mechanism Download PDFInfo
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- CN106346493B CN106346493B CN201610985580.3A CN201610985580A CN106346493B CN 106346493 B CN106346493 B CN 106346493B CN 201610985580 A CN201610985580 A CN 201610985580A CN 106346493 B CN106346493 B CN 106346493B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
A kind of space of granatohedron can open up coupling mechanism, be related to applied mechanism technical field, more particularly to a kind of have the space robot field that can open up fold mechanism.The characteristics of the present invention is based on granatohedron structure composition frames, using a kind of technical solution of symmetrical coupled mechanism.The characteristics of according to composition polyhedron element, granatohedron include 24 ribs, 14 vertex, in 14 vertex, public vertex form for three obtuse angles by eight, there are six the public vertex that is made of four acute angles；In 24 ribs, the both ends of every rib are separately connected the variety classes vertex in 14 vertex, and dodecahedron is that 12 identical diamond shapes surround, and the ratio between the diagonal line of each diamond shape isThe mechanism have the characteristics that working space is big, structure is dexterous, deployable folding it is diversified, provide patent information and technical support for domestic enterprise and research institution.
Description
Technical field
The present invention, which is one kind that the symmetrical structure based on granatohedron obtains, has multivariant polycyclic coupling can
Mechanism is opened up, is related to applied mechanism technical field, more particularly to a kind of there is the space robot field that can open up fold mechanism.
Background technology
As mechanism is from simply to complicated, flat space-oriented, monocycle to polycyclic continuous development, mechanics innovation is machine always
The key and research hotspot of device equipment innovation.The advantages such as existing parallel institution has bearing capacity strong, and rigidity is big, and inertia is low,
But working space is limited；Serial mechanism working space is big, dexterity simple in structure, but cannot carry out a variety of transformation, gives people
Bring the joy of life.As people are for easy to carry and diversified pursuit of living, Space Coupling mechanism comes into being.It is this kind of
Mechanism has been compatible with the advantages of serial mechanism and parallel institution, compensates for Liang Zhong mechanisms respectively apparent defect, has it specifically to answer
With occasion, there is huge application value and theoretical research value.The coupling mechanism of structure composition complexity but novel appearance, determines
Connection branch between platform and moving platform intercouples, not independent each other, is usually connected with multiple identical ring structures
The form for being connected into netted coupling mechanism is presented so that such mechanism has the two-fold advantage of structure function and appearance, meets machine
The development trend of structure.
Invention content
Based on background above, the present invention provides a kind of one kind that the symmetrical structure based on granatohedron obtains to have
Multivariant polycyclic coupling mechanism.The mechanism have the characteristics that working space is big, structure is dexterous, deployable folding it is diversified,
Patent information and technical support are provided for domestic enterprise and research institution.
To achieve the above object, the characteristics of the present invention is based on granatohedron structure composition frames, using a kind of symmetrical
The technical solution of coupling mechanism.The characteristics of according to composition polyhedron element, a granatohedron includes 24
Rib, 14 vertex, in 14 vertex, public vertex form for three obtuse angles by eight, there are six for four angles compositions
Public vertex；In 24 ribs, the both ends of every rib are separately connected the variety classes vertex in 14 vertex, 12 faces
Body is that 12 identical diamond shapes surround, and the ratio between the diagonal line of each diamond shape is
By the public vertex being made of three obtuse angles and the public vertex being made of four acute angles, regard a kind of geometry as respectively
Element.The vertex being made of three obtuse angles is expressed as A1, A2, A3, A4, A5, A6, A7, A8, is made of four acute angles
Vertex is expressed as B1, B2, B3, B4, B5, B6.Eight vertex being made of three obtuse angles are using equilateral triangle component as section
Point component, six vertex being made of four acute angles are using diamond shape component as node component.With 24 two bars, three revolute pairs
Bar group replaces 24 seamed edges of granatohedron, two bars three rotation secondary bar group to be referred to as bar group；According to diamond shape twelve edge
The geometry feature of all seamed edges of shape and vertex connects 14 node components with 24 bar groups and obtains coupling mechanism.
Each bar group is connected to obtain by two two secondary bars, and two secondary bar is the identical same class connecting rod of structure, each second mate
Two connection kinematic pairs that bar includes are revolute pair, and the two revolute pair axis are parallel, vertical with two secondary bars itself.
It selects equilateral triangle component for moving platform and fixed platform, represents fixed platform with D1, M1 represents moving platform, then the machine
Structure includes that fixed platform, moving platform and connection fixed platform couple branching units with three branches of moving platform and three, each
It includes four bar groups and an equilateral triangle node component to couple branching units, three branches include the first branch, second point
Branch, third branch, three coupling branching units include the first coupling branching units, the second coupling branching units, third coupling branch
Chain element.Each coupling branching units are connect with two of which contiguous branch, three branches and three coupling branching units intervals
Connection forms netted coupled structure.Six equilateral triangle components outside moving platform and fixed platform and six diamond shape components will be removed
It is defined as node component, the branch at respectively place corresponding with three node components that moving platform is directly connected to is respectively dynamic flat
The third node component L3 of the first node component L1 of platform, the second node component L2 of moving platform, moving platform, it is direct with fixed platform
Three node components of connection correspond to respectively where branch, the respectively first node component L4 of fixed platform, fixed platform the
The third node component L6 of two node component L5, fixed platform.
First branch include the first bar group G11 of moving platform, the first node component L1 of moving platform, the first branch
Two bar group G12, the 6th node component S6 of triangle, the third bar group G13 of the first branch, fixed platform first node component L4,
4th bar group G14 of the first branch；First bar group G11 of wherein the first branch and the second bar group G12 of the first branch passes through dynamic
The first node component L1 of platform is connected with revolute pair, the second bar group G12 of the first branch and the third bar group of the first branch
G13 is connected by the 6th node component S6 of triangle with revolute pair, the third bar group G13 of the first branch and the of the first branch
Four bar group G14 are connected by the first node component L4 of fixed platform with revolute pair, the 4th bar group G14 of the first branch with allocate
Platform is connected by revolute pair, and the first branching representation is simple serial kinematic chain-G11-L1-G12-S6-G13-L4-G14-.
Second branch include the second bar group G21 of moving platform, the second node component L2 of moving platform, the second branch
The second node component of two bar group G22, the second node component S2 of triangle, the third bar group G23 of the second branch, fixed platform
L5, the second branch the 4th bar group G24；Second bar group G21 of moving platform and the second bar group G22 of the second branch pass through moving platform
Second node component L2 connected with revolute pair, the second bar group G22 of the second branch passes through with the third bar group G23 of the second branch
The second node component S2 of triangle is connected with revolute pair, the third bar group G23 of the second branch and the 4th bar group of the second branch
G24 is connected by the second node component L5 of fixed platform with revolute pair, and the 4th bar group G24 and fixed platform of the second branch are by turning
Dynamic secondary connection, the second branching representation are simple serial kinematic chain-G21-L2-G22-S2-G23-L5-G24-.
Third branch include the third bar group G31 of moving platform, the third node component L3 of moving platform, third branch
The third node component of two bar group G32, the fourth node component S4 of triangle, the third bar group G33 of third branch, fixed platform
L6, third branch the 4th bar group G34；The third bar group G31 of moving platform and the second bar group G32 of third branch passes through fixed platform
Third node component L6 connected with revolute pair, the second bar group G32 of third branch passes through with the third bar group G33 of third branch
The fourth node component S4 of triangle is connected with revolute pair, the 4th bar group of the third bar group G33 and third branch of third branch
G34 is connected by the third node component L6 of fixed platform with revolute pair, and the 4th bar group G34 and fixed platform of third branch are by turning
Dynamic secondary connection, third branching representation are simple serial kinematic chain-G31-L3-G32-S4-G33-L6-G34-.
First branch is connected to moving platform by the first revolute pair R11 of moving platform, the first branch pass through fixed platform
One revolute pair R12 is connected to fixed platform.Second branch is connected to moving platform by the second revolute pair R21 of moving platform, by fixed
Second revolute pair R22 of platform is connected to fixed platform.Third branch is connected to dynamic flat by the third revolute pair R31 of moving platform
Platform is connected to fixed platform by the third revolute pair R32 of fixed platform.In addition, the first branch and the second branch pass through the first coupling
Branching units are of coupled connections, and are of coupled connections by the second coupling branching units between the second branch and third branch, third branch
And first couple branching units by third between branch and be of coupled connections, the first coupling branching units include two coupling branches point
It Wei not-G64-L4-G63-S1-G61- and-G64-L4-G63-S1-G62-.
First bar group G61 of the first coupling branching units is used by the first node component L1 of moving platform and the first branch
Revolute pair connects, and first couples second node component L2s and second branch of the second bar group G62 of branching units by moving platform
The third bar group G63 of connection, the first coupling branching units is connected by the first node component L4 of fixed platform and the second branch, the
The coupling branching units of the second bar group G62 and first of first bar group G61 of one coupling branching units, the first coupling branching units
Third bar group G63 connected respectively with revolute pair by the first node component S1 of triangle.Second, which couples branching units, includes
Two coupling branches are respectively-G54-L5-G53-S3-G51- and-G54-L5-G53-S3-G52-, the second coupling branching units
Second bar group G52 is connected by the second node component L2 and the second branch of moving platform with revolute pair, the second coupling branching units
The first bar group G51 connected with third branch by the third node component L3 of moving platform, second coupling branching units the 4th
Bar group G54 is connected by the fourth node component S4 of triangle revolute pair third branches respectively, the second coupling branching units
The third bar group G53 that first bar group G51, the second the second bar group G52 and second for coupling branching units couple branching units passes through
The third node component S3 of triangle is connected with revolute pair respectively.Third coupling branching units include that two coupling branches are respectively
- G44-L4-G43-S5-G41- and-G44-L4-G43-S5-G42-.First bar group G41 of third coupling branching units passes through dynamic
The third node component L3 of platform is connected with third branch with revolute pair, and the second bar group G42 of third coupling branching units passes through
4th bar group G44 of the first node component L1 of moving platform and the connection of the first branch, third coupling branching units passes through triangle
The 6th node component S6 revolute pairs connected with the first branch, third couple branching units the first bar group G41, third coupling
The 5th node component that the third bar group G43 of the second bar group G42 and third the coupling branching units of branching units passes through triangle
S5 is connected with revolute pair respectively.
Compared with prior art, the present invention has the following advantages：
1, each branched structure composition of the mechanism is identical and symmetrical, and only there are two types of the node components of form and the assembly of bar group
It obtains, and entire mechanism is the symmetrical coupled mechanism obtained based on water chestnut dodecahedron space structure design；
2, compared with the mechanism for realizing same kinetic property, internal structure is in polycyclic reticular structure, has both connection in series-parallel machine
The features such as the advantages of structure, tool flexibility ratio is big and working space is big, it is suitable for making the making of the type toys such as magic square；
3, it under the specific drive condition of the mechanism, the node component that is directly connected to fixed platform and is directly connected to moving platform
The node component alternate stretching, extension for realizing directing mechanism geometric center and contractile motion respectively, coupling can be opened up by belonging to a kind of polyhedron
Mechanism is closed, is collapsed according to operating condition and environmental demand stretching, extension, is readily transported, can preferably adapt to special occasions, have good
Application prospect.
Description of the drawings
Fig. 1 is water chestnut dodecahedron space structure schematic diagram.
In figure：Water chestnut dodecahedron is the spatial entities surrounded by 12 identical diamond shapes, a water chestnut dodecahedron
Including 14 vertex and 24 seamed edges.Wherein 14 vertex be respectively A1, A2, A3, A4, A5, A6, A7, A8 and
B1、B2、B3、B4、 B5、B6。
Fig. 2 is the symmetrical schematic diagram for opening up coupling mechanism designed based on space water chestnut dodecahedron structure.
In figure：The second bar group of M1, moving platform D1, fixed platform G11, the first bar group G21 of moving platform, moving platform
G31, the third bar group G12 of moving platform, the second bar group G13 of the first branch, the third bar group G14 of the first branch,
4th bar group G22 of one branch, the second bar group G23 of the second branch, the third bar group G24 of the second branch, second point
4th bar group G32 of branch, branch the second bar group G33 of third point, the third bar group G34 of third branch, third branch
The third section of 4th bar group L1, the first node component L2 of moving platform, the second node component L3 of moving platform, moving platform
The second switching node of point component L4, the first switching node L5 of fixed platform, fixed platform
The second node of L4, the third switching node S1 of fixed platform, the first node component S2 of triangle, triangle
The 5th node structure of component S3, the third node component S4 of triangle, the fourth node component S5 of triangle, triangle
Part S6, the 6th node component G61 of triangle, the first bar group G62 of the first coupling branching units, the first coupling branch
The 4th bar of second bar group G63 of unit, the third bar group G64 of the first coupling branching units, the first coupling branching units
Group G51, the first bar group G52 of the second coupling branching units, the second bar group G53 of the second coupling branching units, second
It couples the third bar group G54 of branching units, the 4th bar group G41 of the second coupling branching units, third and couples branching units
The first bar group G42, third coupling branching units the second bar group G43, third coupling branching units third bar group
The second rotation of G44, third coupling the 4th bar group R11 of branching units, the first revolute pair R21 of moving platform, moving platform
The second revolute pair of secondary R31, the third revolute pair R12 of moving platform, the first revolute pair R22 of fixed platform, fixed platform
The third revolute pair of R32, fixed platform
Specific implementation mode
As shown in Figs. 1-2, the first branch includes the first bar group G11 of moving platform, the first node component L1 of moving platform,
Second bar group G12 of one branch, the 6th node component S6 of triangle, the first branch third bar group G13, fixed platform first segment
Point component L4, the first branch the 4th bar group G14；First bar group G11 of wherein the first branch and the second bar group of the first branch
G12 is connected by the first node component L1 of moving platform with revolute pair, the second bar group G12 of the first branch and the of the first branch
Three bar group G13 are connected by the 6th node component S6 of triangle with revolute pair, the third bar group G13 of the first branch and first point
Branch the 4th bar group G14 connected with revolute pair by the first node component L4 of fixed platform, the 4th bar group G14 of the first branch with
Fixed platform is connected by revolute pair, and the first branching representation is simple serial kinematic chain-G11-L1-G12-S6-G13-L4-G14-.
Second branch include the second bar group G21 of moving platform, the second node component L2 of moving platform, the second branch
The second node component of two bar group G22, the second node component S2 of triangle, the third bar group G23 of the second branch, fixed platform
L5, the second branch the 4th bar group G24；Second bar group G21 of moving platform and the second bar group G22 of the second branch pass through moving platform
Second node component L2 connected with revolute pair, the second bar group G22 of the second branch passes through with the third bar group G23 of the second branch
The second node component S2 of triangle is connected with revolute pair, the third bar group G23 of the second branch and the 4th bar group of the second branch
G24 is connected by the second node component L5 of fixed platform with revolute pair, and the 4th bar group G24 and fixed platform of the second branch are by turning
Dynamic secondary connection, the second branching representation are simple serial kinematic chain-G21-L2-G22-S2-G23-L5-G24-.
Third branch include the third bar group G31 of moving platform, the third node component L3 of moving platform, third branch
The third node component of two bar group G32, the fourth node component S4 of triangle, the third bar group G33 of third branch, fixed platform
L6, third branch the 4th bar group G34；The third bar group G31 of moving platform and the second bar group G32 of third branch passes through fixed platform
Third node component L6 connected with revolute pair, the second bar group G32 of third branch passes through with the third bar group G33 of third branch
The fourth node component S4 of triangle is connected with revolute pair, the 4th bar group of the third bar group G33 and third branch of third branch
G34 is connected by the third node component L6 of fixed platform with revolute pair, and the 4th bar group G34 and fixed platform of third branch are by turning
Dynamic secondary connection, third branching representation are simple serial kinematic chain-G31-L3-G32-S4-G33-L6-G34-.
First branch is connected to moving platform by the first revolute pair R11 of moving platform, the first branch pass through fixed platform
One revolute pair R12 is connected to fixed platform.Second branch is connected to moving platform by the second revolute pair R21 of moving platform, by fixed
Second revolute pair R22 of platform is connected to fixed platform.Third branch is connected to dynamic flat by the third revolute pair R31 of moving platform
Platform is connected to fixed platform by the third revolute pair R32 of fixed platform.In addition, the first branch and the second branch pass through the first coupling
Branching units are of coupled connections, and are of coupled connections by the second coupling branching units between the second branch and third branch, third branch
And first couple branching units by third between branch and be of coupled connections, the first coupling branching units include two coupling branches point
It Wei not-G64-L4-G63-S1-G61- and-G64-L4-G63-S1-G62-.
First bar group G61 of the first coupling branching units is used by the first node component L1 of moving platform and the first branch
Revolute pair connects, and first couples second node component L2s and second branch of the second bar group G62 of branching units by moving platform
The third bar group G63 of connection, the first coupling branching units is connected by the first node component L4 of fixed platform and the second branch,
4th bar group G64 of the first coupling branching units is connected by first node component L4 by fixed platform and the second branch；The
First bar group G61 of one coupling branching units, the first the second bar group G62 and first for coupling branching units couple branching units
Third bar group G63 is connected with revolute pair respectively by the first node component S1 of triangle.Second coupling branching units include two
It is respectively-G54-L5-G53-S3-G51- and-G54-L5-G53-S3-G52- that item, which couples branch, and the of the second coupling branching units
Two bar group G52 are connected by the second node component L2 and the second branch of moving platform with revolute pair, the second coupling branching units
First bar group G51 is connected by the third node component L3 of moving platform with third branch, the 4th bar of the second coupling branching units
Group G54 is connected by the fourth node component S4 of triangle revolute pair third branches respectively, and the of the second coupling branching units
The third bar group G53 that one bar group G51, the second the second bar group G52 and second for coupling branching units couple branching units passes through three
Angular third node component S3 is connected with revolute pair respectively.Third couple branching units include two coupling branches be respectively-
G44-L4-G43-S5-G41- and-G44-L4-G43-S5-G42-.First bar group G41 of third coupling branching units passes through dynamic
The third node component L3 of platform is connected with third branch with revolute pair, and the second bar group G42 of third coupling branching units passes through
4th bar group G44 of the first node component L1 of moving platform and the connection of the first branch, third coupling branching units passes through triangle
The 6th node component S6 revolute pairs connected with the first branch, third couple branching units the first bar group G41, third coupling
The 5th node component that the third bar group G43 of the second bar group G42 and third the coupling branching units of branching units passes through triangle
S5 is connected with revolute pair respectively.
Claims (2)
1. a kind of space of granatohedron can open up coupling mechanism, it is characterised in that：Mechanism is based on granatohedron knot
Structure forms the characteristics of frame, using a kind of technical solution of symmetrical coupled mechanism；The characteristics of according to composition polyhedron element,
One granatohedron includes 24 ribs, 14 vertex, in 14 vertex, is formed for three obtuse angles by eight
Public vertex, there are six the public vertex being made of four acute angles；In 24 ribs, the both ends of every rib are separately connected 14
Variety classes vertex in a vertex, dodecahedron are that 12 identical diamond shapes surround, the ratio between the diagonal line of each diamond shape
For
By the public vertex being made of three obtuse angles and the public vertex being made of four acute angles, regards a kind of geometry as respectively and want
Element；The vertex being made of three obtuse angles is expressed as A1, A2, A3, A4, A5, A6, A7, A8, the vertex being made of four acute angles
It is expressed as B1, B2, B3, B4, B5, B6；Eight vertex being made of three obtuse angles are using equilateral triangle component as node structure
Part, six vertex being made of four acute angles are using diamond shape component as node component；Secondary bar group is rotated with 24 two bars three
Instead of 24 seamed edges of granatohedron, two bars three rotation secondary bar group is referred to as bar group；According to diamond shape dodecagon institute
The geometry feature for having seamed edge and vertex connects 14 node components with 24 bar groups and obtains coupling mechanism；Each
Bar group is connected to obtain by two two secondary bars, and two secondary bar is the identical same class connecting rod of structure, each two secondary bars packet
The two connection kinematic pairs contained are revolute pair, and the two revolute pair axis are parallel, vertical with two secondary bars itself；
It selects equilateral triangle component for moving platform and fixed platform, represents fixed platform with D1, M1 represents moving platform, then the mechanism includes
Fixed platform, moving platform and connection fixed platform couple branching units with three branches of moving platform and three, each coupling branch
Chain element includes four bar groups and an equilateral triangle node component, and three branches include the first branch, the second branch, third
Branch, three coupling branching units include the first coupling branching units, the second coupling branching units, third coupling branching units；
Each coupling branching units are connect with two of which contiguous branch, and three branches connect to be formed with three coupling branching units intervals
Netted coupled structure；The six equilateral triangle components removed outside moving platform and fixed platform and six diamond shape components are defined as
Node component, the branch at respectively place corresponding with three node components that moving platform is directly connected to, respectively the first of moving platform
The third node component L3 of node component L1, the second node component L2 of moving platform, moving platform, three be directly connected to fixed platform
A node component corresponds to the branch at respectively place, respectively the second node structure of the first node component L4 of fixed platform, fixed platform
The third node component L6 of part L5, fixed platform；
First branch include the first bar group G11 of moving platform, the first node component L1 of moving platform, the first branch the second bar group
G12, the 6th node component S6 of triangle, the third bar group G13 of the first branch, fixed platform first node component L4, first point
4th bar group G14 of branch；Wherein the first bar group G11 of moving platform and the second bar group G12 of the first branch pass through moving platform
One node component L1 is connected with revolute pair, and the second bar group G12 of the first branch and the third bar group G13 of the first branch pass through triangle
6th node component S6 of shape is connected with revolute pair, and the third bar group G13 of the first branch and the 4th bar group G14 of the first branch are logical
The first node component L4 for crossing fixed platform is connected with revolute pair, and the 4th bar group G14 and the fixed platform of the first branch pass through revolute pair
Connection, the first branching representation are simple serial kinematic chain-G11-L1-G12-S6-G13-L4-G14-；
Second branch include the second bar group G21 of moving platform, the second node component L2 of moving platform, the second branch the second bar group
G22, the second node component S2 of triangle, the third bar group G23 of the second branch, the second node component L5 of fixed platform, second
4th bar group G24 of branch；Second bar group G21 of moving platform and the second bar group G22 of the second branch pass through moving platform second
Node component L2 is connected with revolute pair, and the second bar group G22 of the second branch and the third bar group G23 of the second branch pass through triangle
Second node component S2 connected with revolute pair, the third bar group G23 of the second branch passes through with the 4th bar group G24 of the second branch
The second node component L5 of fixed platform is connected with revolute pair, and the 4th bar group G24 of the second branch is connected with fixed platform by revolute pair
It connects, the second branching representation is simple serial kinematic chain-G21-L2-G22-S2-G23-L5-G24-；
Third branch include the third bar group G31 of moving platform, the third node component L3 of moving platform, third branch the second bar group
G32, the fourth node component S4 of triangle, the third bar group G33 of third branch, the third node component L6 of fixed platform, third
4th bar group G34 of branch；The third that the third bar group G31 of moving platform and the second bar group G32 of third branch pass through, moving platform
Node component L3 is connected with revolute pair, and the second bar group G32 of the third branch and third bar group G33 of third branch passes through triangle
Fourth node component S4 connected with revolute pair, the third bar group G33 of third branch passes through with the 4th bar group G34 of third branch
The third node component L6 of fixed platform is connected with revolute pair, and the 4th bar group G34 of third branch is connected with fixed platform by revolute pair
It connects, third branching representation is simple serial kinematic chain-G31-L3-G32-S4-G33-L6-G34-.
2. a kind of space of granatohedron according to claim 1 can open up coupling mechanism, it is characterised in that：First point
Branch is connected to moving platform, the first revolute pair R12 connections that the first branch passes through fixed platform by the first revolute pair R11 of moving platform
To fixed platform；Second branch is connected to moving platform by the second revolute pair R21 of moving platform, passes through the second revolute pair of fixed platform
R22 is connected to fixed platform；Third branch is connected to moving platform by the third revolute pair R31 of moving platform, passes through the of fixed platform
Three revolute pair R32 are connected to fixed platform；In addition, the first branch and the second branch are of coupled connections by the first coupling branching units,
It is of coupled connections by the second coupling branching units between second branch and third branch, is passed through between third branch and the first branch
Third coupling branching units are of coupled connections, and the first coupling branching units include that two coupling branches are respectively-G64-L4-G63-
S1-G61- and-G64-L4-G63-S1-G62-；
The first node component L1 and first branch's revolute pair that first bar group G61 of the first coupling branching units passes through moving platform
Second bar group G62 of connection, the first coupling branching units is connected by the second node component L2 of moving platform and the second branch, the
The third bar group G63 of one coupling branching units is connected by the first node component L4 of fixed platform and the second branch, the first coupling
4th bar group G64 of branching units is connected by first node component L4 by fixed platform and the second branch；First coupling branch
First bar group G61 of chain element, the first the second bar group G62 and first for coupling branching units couple the third bar group of branching units
G63 is connected with revolute pair respectively by the first node component S1 of triangle；Second coupling branching units include two coupling branch
Chain is respectively-G54-L5-G53-S3-G51- and-G54-L5-G53-S3-G52-, the second bar group of the second coupling branching units
G52 is connected by the second node component L2 and the second branch of moving platform with revolute pair, the first bar of the second coupling branching units
Group G51 is connected by the third node component L3 of moving platform with third branch, G54 points of the 4th bar group of the second coupling branching units
It is not connected by the fourth node component S4 of triangle revolute pair third branches, the first bar group of the second coupling branching units
The third bar group G53 that G51, the second the second bar group G52 and second for coupling branching units couple branching units passes through triangle
Third node component S3 is connected with revolute pair respectively；It includes two coupling branches respectively-G44-L4- that third, which couples branching units,
G43-S5-G41- and-G44-L4-G43-S5-G42-；Third couples that the first bar group G41 of branching units passes through moving platform
Three node component L3 are connected with third branch with revolute pair, and the second bar group G42 of third coupling branching units passes through moving platform
First node component L1 and the connection of the first branch, the 4th bar group G44 pass through triangle Section six of third coupling branching units
Point component S6 revolute pairs are connected with the first branch, and third couples the first bar group G41 of branching units, third couples branching units
The second bar group G42 and third coupling branching units third bar group G43 used respectively by the 5th node component S5 of triangle
Revolute pair connects.
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| CN201610985580.3A CN106346493B (en) | 2016-11-09 | 2016-11-09 | A kind of space of granatohedron can open up coupling mechanism |
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