Design And Simmulation For A Pantograph Based On Special Unit

Pantograph is a kind of collapsible mechanism, which is constituted by parts. It has been widely used in many fields because of its large space zoom. Such as folding machine, portable travel frame and so on. It also has been used in aerospace field.In this paper, the structure principle and kinematics of three different special basic units is analyzed. The Structure change of pantograph is revealed. Applications based on these three special units are constructed by design software.Firstly, the structure principle and kinematics of double triangle mechanism are analyzed. And the combination's properties of pantograph based on this unit are summarized. Meanwhile, the application of the basic unit has extended to the space. On this basis, two application examples of pantograph are designed.Secondly, through the improvement of the traditional scissors mechanism, the structure principle and kinematics of spherical rod scissors mechanism are analyzed. The complex trajectory of pantograph based on this unit is explored. Three degrees of freedom large travel space welding robot is designed by this unit.Finally, unit based on gear pair is introduced in this research. The structure principle and kinematics of mechanism which constructed by this unit are analyzed. Space scaling basic unit is extended from this unit.With the study of these features, it provides a new kind of pantograph in this paper. After the analysis and synthesis of the new structure, it makes a further explanation by illustrating the different use of them.