CN108860667B - Truss type foldable and unfoldable metamorphic catching mechanism - Google Patents

Truss type foldable and unfoldable metamorphic catching mechanism Download PDF

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CN108860667B
CN108860667B CN201810366062.2A CN201810366062A CN108860667B CN 108860667 B CN108860667 B CN 108860667B CN 201810366062 A CN201810366062 A CN 201810366062A CN 108860667 B CN108860667 B CN 108860667B
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revolute pair
metamorphic
rod
sliding
branch
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CN108860667A (en
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李兵
贾广鲁
黄海林
郭宏伟
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Shenzhen Graduate School Harbin Institute of Technology
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Shenzhen Graduate School Harbin Institute of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G4/00—Tools specially adapted for use in space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G4/00—Tools specially adapted for use in space
    • B64G2004/005—Robotic manipulator systems for use in space

Abstract

The invention provides a truss type foldable catching metamorphic mechanism, which comprises a plurality of metamorphic units, wherein the metamorphic units comprise: the catching mechanism comprises two scissor rods and two connecting rods, and the two scissor rods are mutually connected through a revolute pair R1 to form a scissor mechanism; the bottom ends of the two connecting rods are respectively connected to the top ends of the two scissor rods through a revolute pair R2 and a revolute pair R3; the sliding branch comprises a first sliding rod and a second sliding rod which are connected through a sliding pair Pa 1; the first sliding rod is connected with the top end of the connecting rod through a revolute pair R4; the rotating branch comprises a first rotating rod, a second rotating rod, a third rotating rod and a fourth rotating rod which are rotatably connected; the first rotating rod is connected to the bottom end of the scissor rod through a revolute pair R5, and the fourth rotating rod and the second sliding rod are connected through a revolute pair Ra 4; the two following branch units are connected to each other by a hinge mechanism. The invention adopts a truss structure, has light overall weight and is beneficial to reducing the carrying cost; and a metamorphic structure is adopted, so that the space occupied by the whole structure is reduced.

Description

Truss type foldable and unfoldable metamorphic catching mechanism
Technical Field
The invention relates to a truss type foldable metamorphic catching mechanism.
Background
The space manipulator has integrated space sensing, maneuvering and operating capabilities, completes the work of on-orbit assembly, pollution cleaning, observation and inspection, fault module replacement, on-orbit filling, consumed load replacement and supplement, orbit cleaning, orbit transfer and the like of the spacecraft in an on-orbit operation mode, ground teleoperation mode or autonomous operation mode, and is core equipment for on-orbit assembly and maintenance of the spacecraft.
Chinese patent document CN107685881A discloses a space flexible capturing device and a capturing method thereof, wherein the capturing device is composed of a tether for recovery, a throwing rope for winding a target object, two throwing rods and a frame. The target can be captured by only adopting two throwing ropes with adhesive parts. The device has the advantages of long operation distance, wide applicable objects and low requirement on a control system in the capturing process.
Chinese patent document CN106584507A discloses a fully flexible pneumatic mechanical arm structure, which is in the shape of a long conical. The mechanical arm mainly comprises a fully flexible mechanical arm main body, a mechanical arm central body and air passages which are uniformly distributed around the axis of the mechanical arm central body in a symmetrical mode. The air channel extends from one end with a large diameter to one end with a small diameter and is a certain distance away from the end face so as to keep the air in the air channel, and a layer of fiber reinforced composite material is arranged on the outer surface of the mechanical arm. The flexible mechanical arm main body is made of super-elastic materials and has strong deformation capacity. The device is suitable for capturing objects with complex shapes.
Chinese patent document CN106584507A discloses a grip type inflatable grasper having two symmetrical mechanical arms. The mechanical arm can complete inward clamping action and outward opening action. In order to complete the two movements, an arc-shaped inflatable stretching arm is arranged at the front end of the mechanical arm, a longitudinal coil spring is arranged on the outer side of the stretching arm, and the outer side surface of the longitudinal coil spring is bonded with the corresponding stretching arm. The capturing hand can capture large-size non-cooperative targets in space.
The prior art adopts the flexible part as the mechanism main body, so the whole rigidity of the mechanism is poor, and the mechanism is not suitable for capturing objects in motion in space. Furthermore, the use of flexible members limits the size of the capturing mechanism, thereby limiting the range of objects captured.
Therefore, the truss type foldable and unfoldable metamorphic capturing mechanism is needed to be provided, the weight of the whole structure is reduced on the premise of improving the integral rigidity of the foldable and unfoldable capturing mechanism, and the size of the mechanism can be changed by combining the metamorphic principle, so that the range of a capturing target is expanded.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a truss type foldable and unfoldable metamorphic catching mechanism which adopts a truss type structure, is light in overall weight and is beneficial to reducing the carrying cost; and a metamorphic structure is adopted, so that the space occupied by the whole structure is reduced.
In order to achieve the above object, the present invention provides a truss type foldable metamorphic catching mechanism, wherein the truss type foldable metamorphic catching mechanism comprises a plurality of identical metamorphic units, and the metamorphic units comprise:
the catching mechanism comprises two identical scissor rods and two identical connecting rods, and the two scissor rods are mutually connected through a revolute pair R1 to form a scissor mechanism; the bottom ends of the two connecting rods are respectively connected to the top ends of the two scissor rods through a revolute pair R2 and a revolute pair R3;
the follow-up branch mechanisms comprise a sliding branch and a rotating branch;
the sliding branch comprises a first sliding rod and a second sliding rod which are connected through a sliding pair Pa 1; the first sliding rod is connected with the top end of the connecting rod through a revolute pair R4;
the rotating branch comprises a first rotating rod, a second rotating rod, a third rotating rod and a fourth rotating rod; the first rotating rod and the second rotating rod are connected through a revolute pair Ra1, the second rotating rod and the third rotating rod are connected through a revolute pair Ra2, and the third rotating rod and the fourth rotating rod are connected through a revolute pair Ra 3; the first rotating rod is connected to the bottom end of the scissor rod through a revolute pair R5, and the fourth rotating rod and the second sliding rod are connected through a revolute pair Ra 4;
the two follow-up branch mechanisms are connected with each other through a hinge mechanism, the hinge mechanism comprises two same blades, and the two blades are connected with each other through a revolute pair RL1 connected and the blades pass through a revolute pair RL2 are connected to a third swivelling lever.
In the invention, the catching surface formed by two scissor rods and two connecting rods in the metamorphic unit forms three revolute pairs with special geometric positions, the revolute pair R1 with the axis vertical to the surface of the catching surface is used for providing folding and unfolding freedom to complete folding and unfolding movement, and the catching and unfolding movement cannot be carried out because the axes of the other two revolute pairs R2 and R3 are not collinear in the process. When the axes of the two revolute pairs R2 and R3 are collinear, the catching surface can start catching movement.
In the invention, the two follow-up branch mechanisms do not generate extra freedom degrees on the capture surface in the folding, unfolding and capturing processes of the metamorphic units, so that the capture surface always has only one freedom degree, namely, only the folding and unfolding freedom degrees are generated in the folding and unfolding state; in the catching state, only the catching freedom degree exists.
In the invention, the revolute pair R1 is arranged at the position of the two scissor rods close to the middle, and in the folding and unfolding process, the scissor rods and the connecting rod form a standard scissor mechanism, namely the revolute pair is arranged at the middle part of a new scissor rod formed by the connecting rod and the scissor rods.
According to another embodiment of the invention, the revolute pair RL2 and a revolute pair Ra3 form a composite hinge mechanism to realize the movable connection among the sliding branch, the rotary branch and the hinge mechanism.
According to another embodiment of the present invention, the first sliding bar is a bent bar; the third rotating rod and the fourth rotating rod are bending rods. Because the follow-up branch mechanism is of a three-dimensional space structure, positions of all parts are changed in the folding, unfolding and capturing processes, and on the premise that the relation among all kinematic pairs of the follow-up branch mechanism is not changed, partial parts are bent in a rod bending mode, so that interference among all parts can be avoided, and the influence of collision on the whole mechanism is prevented.
According to another embodiment of the invention, in the rotating branch, the rotating pair Ra1 and the rotating pair
Figure GDA0002902018950000041
The motion screw of Ra2 and revolute pair Ra3 is:
wherein li,mi,ni,ai,bi(i ═ 1,2,3) is an arbitrary constant;
the axes of the three revolute pairs Ra1, Ra2 and Ra3 are not collinear and are oblique to a plane, for example, the YOZ plane.
According to another embodiment of the present invention, in the rotating branch, the movement spiral of the revolute pair Ra4 is:
Figure GDA0002902018950000042
wherein, a4,b4Is an arbitrary constant;
the axis of the revolute pair Ra4 is always perpendicular to the plane where the axes of the three revolute pairs Ra1, Ra2 and Ra3 are oblique, for example, when the plane where the axes of the three revolute pairs Ra1, Ra2 and Ra3 are oblique is the YOZ plane, the axis of the revolute pair Ra4 is along the direction parallel to the X axis.
According to another embodiment of the invention, in the sliding branch, the movement spiral of the sliding pair Pa1 is:
Figure GDA0002902018950000043
wherein m is5,n5Is an arbitrary constant;
the axis of the sliding pair Pa1 is always parallel to the plane crossed by the axes of the three revolute pairs Ra1, Ra2 and Ra 3.
According to another embodiment of the present invention, the metamorphic unit further comprises a telescopic branch mechanism, the telescopic branch mechanism comprising:
the starting ends of the two supporting rods are connected with each other through a sliding pair P1, and the tail ends of the two supporting rods are respectively connected with the bottom ends of the two scissor rods through a revolute pair R5. In the telescopic branch mechanism of the scheme, two revolute pairs R5 and a sliding pair P1 form a planar kinematic pair, and according to the property of the planar kinematic pair, when the axes of the revolute pair R2 and the revolute pair R3 are collinear, the capture mechanism has the freedom of rotation around the axis of the revolute pair R2, namely the capture freedom, and due to the constraint influence of the planar motion formed by R4, R5 and P1, the revolute pair R1 can be disabled, namely the capture mechanism has only one freedom, namely the capture freedom provided by the revolute pair R2 and the revolute pair R3.
According to another embodiment of the invention, adjacent metamorphic units share a telescoping branch mechanism. Correspondingly, the structure of the connecting rod can be adaptively adjusted, for example, the connecting rod with the I-shaped section is adopted, so that the adjacent metamorphic units can be conveniently connected.
According to another embodiment of the invention, the metamorphic units are expanded along the extension direction of the scissor rod to form the foldable catching mechanical arm. For example, four metamorphic units are adopted, adjacent metamorphic units are connected in series, and after the folding and unfolding movement of each metamorphic unit, the mechanical arm is completely unfolded to a proper length to prepare for the capturing process.
According to another embodiment of the invention, the truss type foldable catching metamorphic mechanism further comprises a chassis, and a plurality of foldable catching mechanical arms are distributed on the chassis in a circumferential array. For example, four foldable catching mechanical arms are adopted, and the mechanical arms occupy small space in a folded state, so that the mechanical arms can be placed on a carrier rocket with smaller space, and after being completely unfolded, the whole structure is larger, and the mechanical arms can adapt to catching of larger target size.
According to another specific embodiment of the invention, when the axes of the revolute pair R2 and the revolute pair R3 are not collinear, the scissor rod and the connecting rod perform the folding and unfolding process; when the axes of the revolute pair R2 and the revolute pair R3 are collinear, the connecting rod is overturned relative to the plane of the scissor rod. In the whole process, the structure has only one degree of freedom in one direction, and when the axes of the revolute pair R2 and the revolute pair R3 are not collinear, the metamorphic unit has only one degree of freedom in folding and unfolding; when the axes of the revolute pair R2 and the revolute pair R3 are collinear, the metamorphic unit has one and only one catching freedom degree.
In the invention, the constraint screw of the follow-up branch mechanism can be obtained by the three kinematic screws of the revolute pair Ra1, the revolute pair Ra2 and the revolute pair Ra3, the kinematic screw of the revolute pair Ra4 and the kinematic screw of the sliding pair Pa 1:
Figure GDA0002902018950000061
that is, the follower branch will constrain the degree of freedom of movement in one axial direction (e.g., X-axis) and only generate a line vector of constraint force along the axis (X-axis), thereby ensuring that the follower branch does not generate additional constraint on the capture surface, i.e., while providing an integral structure, does not affect the overall degree of freedom.
The hinge mechanism in the present invention is a hinge-like connection, and it should be noted that the blade herein can adopt various forms of structures, such as an L-shaped rod, a V-shaped rod, etc.
The invention has the advantages that:
1. the invention adopts a truss structure, reduces the integral mass and lightens the load of the carrier rocket on the premise of ensuring the rigidity of the integral mechanism;
2. the metamorphic mechanism is adopted, so that the size of the whole mechanism can be freely controlled, metamorphic from a small mechanism to a large mechanism is realized through extension, the range of objects capable of being caught can be expanded, and the applicability is strong.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of the overall structure of a metamorphic unit according to example 1;
FIG. 2 is a schematic view of the catch mechanism of FIG. 1;
FIG. 3 is a schematic diagram of the structure of a single follower branch of FIG. 1;
FIG. 4 is a schematic view of the hinge mechanism of FIG. 1;
FIG. 5 is a schematic view showing the structure of a single foldable catching robot arm according to example 2
FIG. 6 is a schematic view of the expanded state of FIG. 5;
fig. 7 is a schematic view of the capture state of fig. 6;
FIG. 8 is a schematic view of the overall structure of a plurality of foldable capture robots of embodiment 3;
FIG. 9 is a schematic illustration of a plurality of the collapsible capture arms of FIG. 8 in an expanded state;
FIG. 10 is a schematic view of the capture state of the plurality of collapsible capture robotic arms of FIG. 9.
Detailed Description
Example 1
The present embodiment provides a metamorphic unit, as shown in fig. 1-4, comprising: catching mechanism 11, sliding branch 12, rotating branch 13, telescopic branch 14 and hinge mechanism 16.
The catching mechanism 11 comprises two identical scissor rods 101 and two identical connecting rods 102, and the two scissor rods 101 are connected with each other through a revolute pair R1 to form a scissor mechanism; the bottom ends of the two connecting rods 102 are respectively connected to the top ends of the two scissor rods 101 through a revolute pair R2 and a revolute pair R3; the catching mechanism forms a catching surface for catching. The revolute pair R2 and the revolute pair R3 provide the freedom of the catching surface to perform catching movement.
Two identical follow-up branch mechanisms 15, wherein each follow-up branch mechanism 15 comprises a sliding branch 12 and a rotating branch 13; the sliding branch 12 includes a first sliding rod 103 and a second sliding rod 104, the first sliding rod 103 and the second sliding rod 104 are connected by a sliding pair Pa1, and the first sliding rod 103 and the top end of the connecting rod 102 are connected by a revolute pair R4.
The rotation branch 13 includes a first rotation lever 105, a second rotation lever 106, a third rotation lever 107, and a fourth rotation lever 108; the first rotating lever 105 and the second rotating lever 106 are connected by a revolute pair Ra 1; the second rotating lever 106 and the third rotating lever 107 are connected by a revolute pair Ra 2; the third rotating lever 107 and the fourth rotating lever 108 are connected by a revolute pair Ra 3; the fourth rotating rod is connected with the second sliding rod through a revolute pair Ra 4; the first turning rod is connected to the bottom end of the scissor lever 101 through a revolute pair R5.
The hinge mechanism 16 connects the two follow-up branch mechanisms 15, the hinge mechanism 16 comprises two identical blades 109, and the two blades 109 are connected through a revolute pair RL1 connected, two blades 109 passing through revolute pair RL2 are connected to the third rotating levers 107 in the two rotating branches, respectively.
The two ends of the catching mechanism 11 are provided with telescopic branch mechanisms 14 for connecting adjacent metamorphic units, each telescopic branch mechanism 14 comprises two support rods 110, the starting ends of the two support rods 110 are connected with each other through a sliding pair P1, the bottom end of the shearing fork rod 101 of one metamorphic unit is connected with the two support rods 110 through a revolute pair R5, and the top end of the connecting rod 102 of the other adjacent metamorphic unit is connected with the two support rods 110 through a revolute pair R4.
As can be seen from the geometrical position relationship between the revolute pair R2 and the revolute pair R3, when the axes of the revolute pair R2 and the revolute pair R3 are not collinear, the catching mechanism has one and only one degree of freedom, namely, the folding and unfolding degree of freedom provided by the revolute pair R1; when the axes of the revolute pair R2 and the revolute pair R3 are collinear, the capture mechanism will have the freedom to rotate about the revolute pair R2 (i.e., revolute pair R3) axis, i.e., the capture freedom. The R1 revolute pair will then fail, subject to the constraint of planar motion made up by revolute pair R4, revolute pair R5 and P1, i.e. the mechanism has and only has one degree of freedom, i.e. the capturing freedom provided by R2 and R3.
The single follow-up branch mechanism of the embodiment has four revolute pairs (Ra1, Ra2, Ra3 and Ra4) and one sliding pair (Pa1), and the coordinate system is shown in fig. 3, wherein the kinematic spirals of the revolute pairs Ra1, Ra2 and Ra3 are:
Figure GDA0002902018950000081
wherein li、mi、ni、ai、bi(i ═ 1,2,3) is an arbitrary constant;
the axes of the three revolute pairs Ra1, Ra2 and Ra3 are not collinear and are oblique to the YOZ plane.
The kinematic helix of revolute pair Ra4 is:
Figure GDA0002902018950000082
wherein a4 and b4 are arbitrary constants;
the axis of revolute pair Ra4 is always perpendicular to the YOZ plane, i.e. the axis of revolute pair Ra4 is along a direction parallel to the X axis.
In the sliding branch, the motion spiral of the sliding pair Pa1 is as follows:
Figure GDA0002902018950000091
wherein m5 and n5 are arbitrary constants;
the axis of the sliding pair Pa1 is always parallel to the YOZ plane.
Combining the moving screws of four revolute pairs (Ra1, Ra2, Ra3 and Ra4) and a sliding pair (Pa1), the constraint screw of the following branch mechanism can be obtained as follows:
Figure GDA0002902018950000092
namely, the constraint screw can constrain the freedom degree of movement along the X axis and can generate a constraint force line vector along the X axis, so that the follow-up branch mechanism is ensured not to generate additional constraint on the capture mechanism, and the freedom degree of the whole mechanism is not influenced.
As shown in fig. 3, in order to avoid interference and the like during rotation of the follower branch mechanism, the first sliding lever 103 is a bending lever, and the third rotating lever 107 and the fourth rotating lever 108 are also bending levers to prevent collision during operation.
Example 2
The embodiment provides a truss-type foldable catching mechanical arm, as shown in fig. 5-7, which includes four identical metamorphic units 201 (the metamorphic units 201 in this embodiment have the same structure as that in embodiment 1, and are not described here again), and adjacent metamorphic units 201 are connected by a telescopic branch mechanism 202; the telescopic branch 202 is a hybrid mechanism composed of four revolute pairs and two sliding pairs, and is connected in series. After the two scissors 203 of each metamorphic unit 201 are folded and unfolded, the mechanical arm is completely unfolded, and at the moment, the scissors 203 and the connecting rod 204 in the metamorphic unit 201 perform overturning motion, that is, the whole mechanical arm performs capturing motion.
Example 3
The embodiment provides a truss-type foldable catching mechanism, as shown in fig. 8-10, which includes a chassis 301, and four foldable catching robots 303 formed by using metamorphic units 302 (the metamorphic units 302 in this embodiment have the same structure as the metamorphic units in embodiment 1, and are not described here again), where the four robots 303 are arranged on the chassis 301 in a circumferential array.
The rigid foldable catching mechanism has three states of folding, extending and catching, and different states are used under different conditions to complete the catching task in space. The rigid foldable catching mechanism is put into a carrier rocket in a folded state, and then is unfolded in space, so that a catching task of a specified target object can be performed.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.

Claims (10)

1. A truss-like foldable metamorphic mechanism that catches of can expanding, its characterized in that includes a plurality of the same metamorphic unit, metamorphic unit includes:
the catching mechanism comprises two identical scissor rods and two identical connecting rods, and the two scissor rods are mutually connected through a revolute pair R1 to form a scissor mechanism; the bottom ends of the two connecting rods are respectively connected to the top ends of the two scissor rods through a revolute pair R2 and a revolute pair R3;
the follow-up branch mechanisms comprise a sliding branch and a rotating branch;
the sliding branch comprises a first sliding rod and a second sliding rod which are connected through a sliding pair Pa 1; the first sliding rod is connected with the top end of the connecting rod through a revolute pair R4;
the rotating branch comprises a first rotating rod, a second rotating rod, a third rotating rod and a fourth rotating rod; the first rotating rod and the second rotating rod are connected through a revolute pair Ra1, the second rotating rod and the third rotating rod are connected through a revolute pair Ra2, and the third rotating rod and the fourth rotating rod are connected through a revolute pair Ra 3; the first rotating rod is connected to the bottom end of the scissor rod through a revolute pair R5, and the fourth rotating rod and the second sliding rod are connected through a revolute pair Ra 4;
the two follow-up branch mechanisms are connected with each other through a hinge mechanism, the hinge mechanism comprises two same blades, and the two blades are connected with each other through a revolute pair RL1 connection, the blades pass through a revolute pair RL2 are connected to the third swivelling levers.
2. The truss-like deployable cellular arrest mechanism of claim 1, wherein the first slide bar is a bent bar; the third dwang with the fourth dwang is the pole of bending.
3. The truss-like foldable metamorphic catching mechanism as claimed in claim 1, wherein in the rotating branch, the motion spirals of the revolute pair Ra1, the revolute pair Ra2 and the revolute pair Ra3 are:
Figure FDA0002902018940000021
wherein li,mi,ni,ai,bi(i ═ 1,2,3) is an arbitrary constant;
the axes of the three revolute pairs Ra1, Ra2 and Ra3 are not collinear and are oblique to a plane.
4. A truss-like collapsible cell-catching mechanism as claimed in claim 3 wherein, in said swivel branch, the kinematic helix of the revolute pair Ra4 is:
$a4＝(1 0 0；0 a4 b4)
wherein, a4、b4Is an arbitrary constant;
the axis of the revolute pair Ra4 is always perpendicular to the plane where the axes of the revolute pair Ra1, the revolute pair Ra2 and the revolute pair Ra3 are oblique.
5. A truss-like foldable metamorphic mechanism as described in claim 4 wherein, in said sliding branch, the motion spiral of sliding pair Pa1 is:
$a5＝(0 0 0；0 m5 n5)
wherein m is5,n5Is an arbitrary constant;
the axis of the sliding pair Pa1 is always parallel to the plane crossed by the axes of the three revolute pairs Ra1, Ra2 and Ra 3.
6. The truss-like deployable cellular arrest mechanism of claim 1, wherein the cellular unit further comprises a telescoping branch mechanism comprising:
the starting ends of the two supporting rods are connected with each other through a sliding pair P1, and the tail ends of the two supporting rods are connected to the bottom ends of the two scissor rods through a revolute pair R5.
7. The truss-like collapsible arrest metamorphic mechanism of claim 6 wherein adjacent metamorphic units share a common one of the telescoping branches.
8. The truss-like foldable catching metamorphic mechanism as claimed in claim 1, wherein a plurality of metamorphic units expand along the extension direction of the scissor rods to form a foldable catching mechanical arm.
9. The truss-like deployable cellular arrest mechanism according to claim 8, further comprising a chassis onto which a plurality of the deployable cell arrest robots are arranged in a circumferential array.
10. The truss-like foldable metamorphic catching mechanism as claimed in claim 1, wherein when the axes of the revolute pair R2 and the revolute pair R3 are not collinear, the scissor bar and the connecting rod perform the folding and unfolding process; when the axes of the revolute pair R2 and the revolute pair R3 are collinear, the connecting rod is overturned relative to the plane of the scissor rod.
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少自由度变胞并联机构综合设计方法;于红英，曾重元，郭震;《哈尔滨工业大学学报》;20180131;第50卷(第1期);第42-49页 *

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