247results about How to "Large space for exercise" patented technology

The invention discloses a minimally invasive robot mechanical arm having a large movement space and a high structural rigidity, which comprises a telescopic seat provided with a surgical tool, wherein one end of a connecting rod IV is connected with the telescopic seat, a connecting rod V and a connecting rod VI are arranged at both sides below the connecting rod IV, one end of the connecting rod V and one end of the connecting rod VI are connected with the telescopic seat, the other end of the connecting rod IV is connected with the top end of a connecting rod I, the other end of the connecting rod V and the other end of the connecting rod VI are connected to outer walls at both sides of the top part of the connecting rod I, the bottom end of the connecting rod I is connected with the front end of a joint II seat, the bottom end of a connecting rod II and the bottom end of a connecting rod III are installed on outer walls at both sides of the back end of the joint II seat by rotating shafts, and the top end of the connecting rod II and the top end of the connecting rod III are respectively connected to the connecting rod V and the connecting rod VI; and the rotating shafts are connected with a second rotation driving device, and a connecting frame is connected with a first rotation driving device. By using the structure, the movement space of the mechanism is greatly enlarged, and the rigidity of the mechanism is increased, thereby lowering the requirements for the initial pose of the robot.

The invention aims to provide a robot-assisted multifunctional instrument arm for minimally invasive surgery. The robot-assisted multifunctional instrument arm for minimally invasive surgery is composed of a master control case, a tail end position adjusting mechanism and a tail end posture adjusting mechanism, wherein a case body, an industrial control computer, a host and other equipment are installed in the master control case and used for controlling a whole movement system; the tail end position adjusting mechanism is composed of an active lifting joint and three passive rotating joints and mainly used for adjusting the position of a tail end control point; the tail end posture adjusting mechanism is composed of two active rotating joints and used for adjusting the posture of the point after the position of the tail end control point is determined. The robot-assisted multifunctional instrument arm for minimally invasive surgery has the advantages of having active and passive freedom degree and being capable of positioning a tail end surgical instrument and adjusting the posture of the tail end surgical instrument, the mechanism is good in movement stability and flexibility, and accuracy of tail end movement is high; a mounting platform at the tail end of the mechanism can be provided with a laparoscope or other micro surgery instruments such as surgical manipulator, and therefore an image acquisition system or a surgery operation executing system is formed.

The invention discloses a Chinese massage robot, relating to the field of Chinese massage mechanical and automatic devices. The Chinese massage robot is characterized by comprising a bed body (16), a spatial six degrees of freedom main body mechanism and a massage hand (15) and can realize a palm-rubbing technique, a scrubbing method, a pushing manipulation, a wiping manipulation, a pressing manipulation, a pointing method, a finger-nail pressing method, a clapping method, a striking method, a rebounding method, a rolling method, a palm-kneading method, a finger-kneading method, a tremble manipulation, a shaking manipulation, a holding method, a kneading method, a plucking method, a pushing method, a twisting method, a pulling and turning method, a stretching method and other general single-hand and dual-hand massage methods. The invention has the advantages of simple structure, high rigidity, small size, light weight, low cost, large motion space, sensitive and quick action, favorable decoupling, real-time and dynamic response characteristics of system control, and the like.

The invention relates to the technical field of a bionic robot and particularly provides an elastically driven walking leg in hybrid connection for a walking robot. The elastically driven walking leg structurally comprises three spherical hinges fixed on a leg base, wherein one of the spherical hinges is connected to a thigh part; the other two spherical hinges are connected to two elastic drivers, then are connected to a Hooke hinge and are connected to the thigh part through a middle linkage base; a Hooke hinge connecting plate is arranged between the Hooke hinge and the middle linkage base; a leg part is coupled with the thigh part through leg and thigh part connecting shafts; the tail end of the leg part is fixed together with a toe base and then is connected to a spherical foot; another elastic driver is arranged between the leg part and the thigh part; the upper end of the elastic driver is coupled with the thigh part connecting shaft through a connecting plate; and the lower end of the elastic driver is coupled with the leg part connecting shaft through a circular base. The invention designs a walking leg for the walking robot, wherein the walking leg has the advantages that the load capacity is great, the walking capacity is strong, the damping buffering capacity is excellent, the research value is high and the application prospect is wide.

The invention relates to a coaxial drive and control structure for a coaxial contrarotation rotor helicopter. A spindle is a hollow fixed shaft, the fixed shaft is provided with an upper rotor hub and a lower rotor hub, the upper rotor hub and the lower rotor hub are connected by virtue of a gearing shaft, the middle section of the fixed shaft comprises multiple support pillars which are uniformly distributed, an upper inclinator support and a lower inclinator support are arranged in spaces among the support pillars, a total propeller pitch sliding sleeve is arranged inside the lower section of the fixed shaft, a primary variable-pitch control rod is arranged in the total propeller pitch sliding sleeve and is located and hinged by virtue of a ball shaft, the upper part of the primary variable-pitch control rod is connected with the upper inclinator support and the lower inclinator support, and the lower end of the primary variable-pitch control rod is respectively hinged with a variable-pitch rocker arms by virtue of two variable-pitch connecting rods; and an upper inclinator and a lower inclinator are arranged between the upper rotor hub and the lower rotor hub and are hinged with an upper rotor control arm and a lower rotor control arm by virtue of an upper rotor control rod and a lower rotor control rod. By adopting the coaxial drive and control structure for the coaxial contrarotation rotor helicopter disclosed by the invention, the defect that a rotation control assembly penetrates a rotating surface is eliminated, thus the coaxial contrarotation rotor helicopter can be provided with more upper rotors and more lower rotors, lifting power of the helicopter is improved, full differentiating control can be realized, and manufacturing and processing costs of the spindle also can be reduced.

The invention belongs to the technical field of aircraft engines, and discloses a method for the composite machining of a blisk flow passage. The method is a numerical control machining method of selecting the adaptive machining strategy based on regional characteristics. The method comprises the following steps of: (1) dividing a machining region; and (2) selecting the adaptive numerical control machining strategy based on the regional characteristics. In the method, a rough slotting numerical control machining method of combining milling, drilling milling and slotting milling of a cycloid is adopted, so that a medial cambered surface is approximate to a curved surface of a blade profile, and the boundary contour and the optimal cutter-axis vector of a rough machining region in a channel are determined. The method has the advantages that the machining method of region division and cutting-in changing enhances the rigidity and machining stability of blades; a process method of combining the milling and slotting milling of the cycloid improves the durability of cutters and the removal rate of materials; and the vibration phenomenon in the rough machining process is prevented effectively, the cutting force is reduced, the movement space of the cutters is expanded farthest, and the machining efficiency is improved.

The invention discloses an extensible-connection six-freedom-degree force feedback mechanical arm. The extensible-connection six-freedom-degree force feedback mechanical arm comprises a base mechanism, a parallel four-bar mechanism arranged on the base mechanism and an end executor mechanism connected to the tail end of the parallel four-bar mechanism. The extensible-connection six-freedom-degree force feedback mechanical arm can be used for capturing the movement of a wrist and can be connected with tools such as a force feedback data glove and a wrench in an extended mode. According to the extensible-connection six-freedom-degree force feedback mechanical arm, three freedom degrees used for determining the spatial positions of extension connecting positions have force sense feedback, force feedback is achieved in the mode that a direct-current servo motor is matched with a cable transmission speed reduction mechanism, and three freedom degrees used for determining the spatial postures of the extension connecting positions are detected through three high-accuracy photoelectric encoders; meanwhile, a good hardware platform is provided for obtaining the spatial positions and the spatial postures of extension devices and tools such as the data glove, the wrench and a screwdriver in virtual operation and obtaining the feedback force at the extension connecting positions, and the extensible-connection six-freedom-degree force feedback mechanical arm is compact in structure, large in movement space, high in rigidity, accurate in positioning and wide in application range.

A pneumatically artificial muscle driven flexible manipulator simulating human hand is composed of the bones of index finger, middle finger, ring finger and little finger and consisting of three units, the thumb bone consisting two units, thumb linking palm, middle palm, little finger linking palm, and artificial tendons. The hand bone system has 21 joints and 17 freedoms.

The invention discloses an endoscope-holding robot for a minimally invasive abdominal operation. The endoscope-holding robot comprises a horizontal moving mechanism, a vertical moving mechanism, an endoscope gesture adjusting mechanism and an endoscope holding rack, wherein the horizontal moving mechanism is a dual-guide-rail and single-screw lead screw sliding platform which is arranged in a horizontal direction; the vertical moving mechanism is a dual-guide-rail and single-screw lead screw sliding platform which is arranged in a vertical direction, and the vertical moving mechanism is integrally installed on a sliding block of the horizontal moving mechanism and is driven to move left and right by virtue of the sliding block; the endoscope gesture adjusting mechanism comprises a link mechanism and a cross rotary base; an endoscope is clamped by a clamp on the endoscope holding rack; the endoscope is distributed in a vertical direction; and an extension line of the axis of the endoscope passes through the central point of the cross rotary base. The robot disclosed by the invention is simple in integral structure, compact and reasonable in layout, large in motion space, good in action coordination among various moving parts and flexible to operate and control; and especially, the robot has the characteristics of being high in precision and good in sensitivity and coordination when various actions are implemented during running.

The invention discloses a robot component based on a parallel mechanism, an optimum design method and a robot; the robot component comprises at least two parallel mechanisms; adjacent parallel mechanisms are connected with each other by an output converter; each parallel mechanism is provided with a fixed platform and a movable platform which moves correspondingly to the fixed platform, wherein the fixed platform of one parallel mechanism is movably connected with a motor. The robot with the parallel mechanism adopts the robot component and conducts optimum analysis and forward kinematics analysis on the initially selected parallel mechanism by inverse kinematics analysis to validate and debug the analysis results in the above steps so as to determine the component structure finally. By adjusting the motion types of the parallel mechanism, the space motion track of the robot in the motion process is realized, a genetic arithmetic is used to conduct the computation of inverse kinematics and gait planning to the parallel mechanism, the trajectory planning and motion form of the humanoid robot is improved, and the stability of the robot is improved during the motion process.

The invention provides a surgical robot system which comprises a modular structure and a manipulator structure, wherein the modular structure comprises a base structure, a support structure connected with the base structure and a suspension structure connected with the support structure; the manipulator structure is connected with the suspension structure in the modular structure; and the modular structure comprises at least two degrees of freedom. The modular structure is simple in configuration and small in volume; and through the optimized modular structure and manipulator structure, the adjustment of the manipulator structure can be finished more conveniently, the motion space of the manipulator structure is expanded, and the collision probability in the moving process of the manipulator structure is reduced and / or inhibited, thereby improving the safety, convenience, comfort or functionality in the use of the minimally invasive surgical robot system.

The invention discloses a three-section machine body type hexapod robot with the transportation function and the operation function fused, and belongs to the technical field of robots. The problems that the rigid machine body structure of an existing hexapod robot is fixed and the function of the robot is single are solved. A front trunk is connected with a middle trunk in a rotating mode through front driving joints, the front trunk and linear drivers of the front driving joints are hinged, and the linear drivers of the front driving joints are hinged to the middle trunk. The middle trunk is connected with a rear trunk in a rotating mode through middle driving joints, the middle trunk and linear drivers of the middle driving joints are hinged, and the linear drivers of the middle driving joints are hinged to the rear trunk. A self-discharging tipping bucket is connected with the middle trunk in a rotating mode through rear driving joints, the self-discharging tipping bucket and linear drivers of the rear driving joints are hinged, and the linear drivers of the rear driving joints are hinged to the middle trunk. A front left leg and a front right leg are connected with the front trunk, a middle left leg and a middle right leg are hinged to the middle trunk, and a rear left leg and a rear right leg are hinged to the rear trunk. The hexapod robot is high in topographical change adaptive capacity and high in motion flexibility and stability.

The invention discloses a three-freedom mechanical vibration environment testing platform, which relates to the vibration environment testing field. A pedestal 1 is connected with a vibration platform 5 through movement branched chains 2, 3 and 4, wherein the movement branched chains 2 and 3 are composed of servo motors 6 and 15, guide rods 21 and 14, ball screw nut pairs 22 and 13, moving blocks 20 and 12, link rods 18 and 10, fixed length rods 19 and 11, moving link rods 17 and 16 respectively; the movement branched chain 4 is composed of a servo motor 9, a ball screw nut pairs 8 and a fixed length rod 7. the testing platform, driven by the servo motors 6, 15 and 9, is capable of realizing vibration of the vibration platform 5 in any direction of space. The invention has the advantages of application of parallel mechanism to perform vibration-resistant strength and vibration-resistant stability test or simulate other vibration environment to electromechanical components, better bearing capability, excellent machining and assembly technology, compact structure, high precision, large rigidity and relatively large movement space.

The invention relates to a calibration system and method of a robot and belongs to the field of robot calibration. The calibration system comprises a calibration device, the robot, a computer, a robot cable and a calibration device cable. The calibration device is connected with the computer for communication through the calibration device cable. The robot is connected with the computer for communication through the robot cable. The computer is used for collecting data of the calibration device and joint rotation angles of the robot and calculating the distance of tail ends of the robot between two points in the space according to the two times of continuously collected data of the calibration device. The data of the calibration device comprises the length of a wire drawing sensor, the angle of an angle sensor I, and the angle of an angle sensor II. According to the calibration system and method of the robot, data support with higher robustness is provided for structure parameter calculation, and meanwhile, calibration operation is more flexible, easy and convenient; the reliability and precision of structure parameter calculation are improved; coordinate values of the tail end of the robot do not need to be measured, so that operation steps are simplified, and the calibration efficiency is improved.

The invention belongs to the field of motion control for industrial robots, and particularly discloses a control method and a system for a six-joint industrial robot passing through an attitude singularity. The control method and the system comprises the following steps that (1) a trajectory in the preset planned route by a robot that an attitude singularity located is intercepted, a position value of the trajectory starting point, a variable value of three rear joints, a position value of an ending point and the variable value of three rear joints; (2) the variable value of three rear joints in the attitude singularity position is obtained by the mean of interpolation; (3) the variable value of three front joints corresponding to the attitude singularity position is evaluated; and (4) the variable value of three rear joints and the variable value of three front joints corresponding to the attitude singularity position are used as a corresponding motion control parameter for the industrial robot in the attitude singularity position, the motion control of the industrial robot is achieved, therefore the six-joint industrial robot is enabled to pass through the attitude singularity smoothly. The control method and the system enable the robot to pass through the attitude singularity smoothly in the premise without changing the original planned route; the control method and the system is simple and practical, and high in calculation efficiency.

The invention discloses a pull wire type measuring system and method applied to spatial location accuracy and track measurement of an industrial robot. The system comprises the industrial robot. A measuring assembly comprises a measurement adapter, pull wire encoders, a data acquisition card and a computing terminal. The measurement adapter is mounted on an end effector of the industrial robot. The four pull wire encoders are connected with the measurement adapter through four testing cables. Base points of the four pull wire encoders are located in the same plane and are non-colinear. Extension lines of the four testing cables intersect at one point in space. The pull wire encoders are connected with the data acquisition card through wires. The data acquisition card is connected with the computing terminal. By means of the method, position information of the end effector of the industrial robot can be obtained, and the moving track of the industrial robot can be described in real time and the real-time speed and acceleration of the industrial robot can be computed when the industrial robot moves. The pull wire type measuring system is simple in structure, convenient to operate, large in movement space and high in accuracy.

The invention discloses a minimally invasive celiac surgery robot. The minimally invasive celiac surgery robot comprises a base, a surgery mechanical box and a driving system. The surgery mechanical box and the driving system are arranged above the base. The driving system comprises an X-direction translational driving device, a Y-direction translational driving device and a Z-direction elevatingdriving device. The X-direction translational driving device is used for driving the Z-direction elevating driving device, the Y-direction translational driving device and the surgery mechanical box to perform reciprocating linear motion along an X-axis direction. The Z-direction elevating driving device is used for driving the Y-direction translational driving device and the surgery mechanical box to perform reciprocating elevating motion along a Z-axis direction. The Y-direction translational driving device is used for driving the surgery mechanical box to perform reciprocating linear motionalong a Y-axis direction. With outstanding strengths in stability, safety and feasibility, the minimally invasive celiac surgery robot helps improve accuracy of surgery operation and surgery quality.

The invention relates to a tool device under the nuclear radiation environment, in particular to a joint type mechanical arm rapid disassembling and assembling system under the nuclear radiation environment. The joint type mechanical arm rapid disassembling and assembling system mainly comprises a mechanical arm linkage system, a mechanical arm assembling piece, an assembling and disassembling mechanism and a control system. The mechanical arm linkage system is connected with the mechanical arm assembling piece in a linked mode. The assembling and disassembling mechanism is a disassembling and assembling tool of the mechanical arm assembling piece. The mechanical arm linkage system is mainly composed of a suspended wall type linkage movement frame, a hanging type linkage telescopic cylinder and a coupler. The mechanical arm assembling piece is composed of multiple joint mechanical arms and comprises a brake part and a drive part. The brake part mainly comprises a large arm, a middle arm and a small arm which are connected with one another from top to bottom. The drive part mainly comprises a servo drive motor, a speed reducer and a worm and worm wheel transmission mechanism. The assembling and disassembling mechanism mainly comprises an upper shell body assembling and disassembling structure, a lower shell body assembling and disassembling structure, a cylinder drive lifting table, an assembling and disassembling supporting frame and a movement base. The joint type mechanical arm rapid disassembling and assembling system is used for disassembling and assembling of joints of nuclear radiation internal joint type mechanical arms, and therefore components of the mechanical arms can be conveniently maintained and replaced.

The invention discloses a cable type measurement system and measurement method for industrial robot spatial pose precision and track measurement. The measurement system comprises an industrial robot, and a measurement assembly comprises a positioning disc, measurement adapters, cable encoders, data lines, a data acquisition card and a computing terminal. According to the measurement system, the cable encoders are used as main bodies for measurement, test cable lengths of the cable encoders are used for being converted into point location coordinate value changes on a robot end effector, the measurement system is applicable to the industrial field, the service life of test equipment is long, the motion space of the robot is large, and the measured data accuracy is high. By the aid of the measurement system and the measurement method, poses of the robot can be measured in real time conveniently, the structure is simple, the motion space is large, and the precision is high.

The invention provides a two-degree-of-freedom gliding solar underwater vehicle and a control method thereof. According to the underwater vehicle, single wings which are in bilateral symmetry are independently controlled and are coordinated with twin wings to move together, so that the underwater vehicle has the characteristics of high energy, high maneuverability, high stability, low noise and the like. Meanwhile, a photovoltaic panel is carried on the underwater vehicle with gliding capability, so that electric energy of the on-board storage battery is continuously supplemented. According to the carrier, the characteristics of a solar underwater robot SAUV and an underwater gliding robot AUG driven by buoyancy are combined. Compared with the abroad SAUV, the gliding solar underwater vehicle has greater energy advantages, has the capacity of widening the operating range and further enhancing the cruising ability, and can be applied to the fields such as ocean parameter measurement, investigation of sea and land information, fixed-point operation, military reconnaissance and the like.

The invention relates to a robot calibration system and method based on incomplete end coordinate information and belongs to the field of robot calibration. A magnetic gauge stand of the robot calibration system based on the incomplete end coordinate information is mounted on a fixed platform by means of magnetic force; the magnetic gauge stand is also connected with a tie wire sensor by means of a connecting rod; an end of a tie wire of the tie wire sensor is mounted on a universal joint; a tilt angle sensor is attached on and moves along with the universal joint that is mounted on a robot; the tie wire sensor and the tile angle sensor are in connection communication with a computer via a tie wire sensor cable and a tilt angle sensor cable, respectively, while the robot is in connection communication via a robot cable; and the computer is used for acquiring a tie wire length of the tie wire sensor, an angle of the tilt angle sensor and a joint turn angle of the robot. The robot calibration system and method based on the incomplete end coordinate information have the advantages of improving the reliability and accuracy of structural parameter calculation, and improving the calibration efficiency while simplifying operation steps.

The invention discloses a seed melon crushing seed-taking machine, wherein a feed hopper, a motor, a crushing device, a skin and pulp separation device, a spiral crushing delivery device and a seed and pulp separation device are arranged on a rack of the seed-taking machine; the motor drives the crushing device, the skin and pulp separation device, the spiral crushing delivery device and the seed and pulp separation device; the feed hopper is arranged above an inlet of the crushing device, and an outlet of the crushing device is communicated with an inlet of the skin and pulp separation device; the bottom end of the skin and pulp separation device adopts a screen structure and communicated with the spiral crushing delivery device; an outlet of the spiral crushing delivery device is communicated with the seed and pulp separation device. According to the invention, the effective and sanitary separation of the seed melon skin, pulp and seeds is realized, and the indicators of all separated items meet various indicator requirements for the follow-up processing. The novel seed melon crushing seed-taking machine disclosed by the invention has the following characteristics: the machine is designed according to the production line for full utilization of seed melons, the structure is novel, simple and practical, the entire crushing and separation process is completed through automation, the processing efficiency is high, and the productivity reaches 10 tons per hour.

A series-parallel connection ball joint device comprises a ball joint base, a static platform, an X-axis branched chain, a movable platform, a supporting chain, a Y-axis branched chain and a swinging unit. The ball joint base and the static platform are installed at the output end of the swinging unit and an installing flange respectively. When the swinging unit moves, the static platform and the ball joint base generate relative rotation, the movable platform is formed to rotate around the Z-axis of the movable platform, the X-axis branched chain is connected between the static platform and the movable platform and drives the movable platform to rotate around the Y-axis of the movable platform, the Y-axis branched chain is connected between the static platform and the movable platform and drives the movable platform to rotate around the X-axis of the movable platform, and the series-parallel connection ball joint device generates three-freedom-degree rotation around the rotation center. A series-parallel connection structure is utilized to improve rigidity, bearing capacity, working space and movement accuracy of a ball joint, the size of the ball joint is reduced; and simultaneously the series-parallel connection ball joint device serving as a module can achieve flexible operation in simulating the human arm by different combinations.

The invention relates to a calibration system and method for an industrial robot. A computer contains data collection software. An industrial robot is in connection and communication with the computer through an industrial robot cable. A joint arm type measuring machine is in connection and communication with the computer through a joint arm type measuring machine cable. The data collection software is controlled by the computer to collect the tail end position of the industrial robot and the joint rotation angle of the joint arm type measuring machine. A connection plate is connected with a flange plate at the tail end of the sixth joint of the to-be-calibrated industrial robot through a bolt I. A conical hole is connected with the connection plate through a bolt II. The joint arm type measuring machine is adopted for measurement, and the characteristics of flexible movement and large space of the joint arm type measuring machine are brought into play, so that when data are collected, the movement space at the tail end of the robot is large, movement of the joints of the robot are more sufficient, and a data support with higher robustness is provided for structural parameter calculation.

The invention relates to a parallel controllable drilling robot mechanism, comprising a revolving platform, a rack, a movable platform, a central branch chain provided with a closed-loop subchain and a controllable adjusting branch chain, The rack is arranged on the revolving platform, the revolving platform can be arranged on various travelling devices or fixing devices, and the rack is provided with five servo motors. The back of the movable platform is provided with five ball pairs, and a flange plate on the movable platform is used for mounting different devices such as a drilling gun, a spraying device, a welding gun and the like. All the servo motors of the mechanism are arranged on the rack, the motion inertia of the mechanism is small, the dynamic performances are good, and the mechanism is convenient to dismount, has strong expansion capability and can meet the operation requirements of high-precision large-load drilling and the like.

The invention relates to a self-calibration system and a method for articulated arm type coordinate measuring machine and belongs to the self-calibration field. The self-calibration system comprises a self-calibration device, an articulated arm type coordinate measuring machine, a computer, a self-calibration device cable and an articulated arm type coordinate measuring machine cable, the computer comprises a data collecting card; the self-calibration device is connected to the computer through the self-calibration device cable, the articulated arm type coordinate measuring machine is connected to the computer through the articulated arm type coordinate measuring machine cable; the data collecting card is controlled by the computer for collecting the effective length of the self-calibration device and the corner of the articulated arm type coordinate measuring machine; the effective length of the self-calibration device is the distance between the centre of sphere of the standard ball and the centre of sphere of the ball head of the steel ball. The self-calibration system and the method for articulated arm type coordinate measuring machine can offer data support with stronger robustness for resolving the structure parameter, the resolving reliability and the precision of the structure parameter are improved; the calibration operation is more flexible and light.

The invention discloses a parallel four-degree-of-freedom leg mechanism of a walking robot. The leg mechanism comprises a frame, a thigh rod, a shank rod, a thigh rotating mechanism and a shank rotating mechanism, wherein the frame is connected with the walking robot; the thigh rod and the shank rod are sequentially arranged under the frame from top to bottom; one end of the thigh rod is hinged to the frame; one end of the shank rod is hinged to the other end of the thigh rod; one end of the thigh rotating mechanism is mounted on the frame in a sliding manner; the other end of the thigh rotating mechanism is hinged to the middle of the thigh rod; one end of the shank rotating mechanism is mounted on the frame in a sliding manner; the other end of the shank rotating mechanism is hinged to the end part, close to the thigh rod, of the shank rod. The leg mechanism disclosed by the invention has good dynamic performance, and solves the problems that an existing serial joint is poor in stiffness, high in energy consumption, and poor in dynamic performance; besides, the problem that the torque of rotary direct driving force is not enough at present is solved.

The invention discloses a partial pendulum and steering mechanism for partial pendulum form vehicle, the main vehicle skeleton includes a front support, a main beam, the upper part of the main beam has a top end extended segment, the top end extended segment and the main beam are integrated into one form, a front steering upright column sleeve canister is provided on the top end extended segment, the shaft thread of the front steering upright column sleeve canister and the shaft thread of a shaft bearing groove on the main beam are collinear, a half open form front steering upright column runs through the front steering upright column sleeve canister and the bottom of the half open form front steering upright column and connects with a shaft bearing provided inside the shaft bearing groove, the top end of the half open form front steering upright column is provided with a vehicle handle, the vehicle handle at the side wall of the half open form front steering upright column stretches out a connection rod, the connection rod is connected with a pin shaft in the middle of a universal steering mechanism. The partial pendulum and steering mechanism for partial pendulum form vehicle, with the structure of half open form front steering upright column, makes the main beam have an upward extending space, thereby increases the functional load bearing ability of the main beam, makes the overall structure of the partial pendulum and steering mechanism compact, and lowers production cost.

The invention discloses a system and a method for pull-on-the-cable measurement of spatial pose precision and tracks of a moving component. Based on a parallel mechanism principle, the system and the method are used for measurement of the spatial pose precision and the tracks of the moving component of large equipment like an industrial robot or vertical milling machine. The system comprises a positioning disk, eight ball joints or universal joints, eight pull-on-the-cable displacement sensors, a data line, a data acquisition card and a computer. Eight test cables pulled out of the eight pull-on-the-cable displacement sensors are connected with the eight ball joints or universal joints mounted on the positioning disk on the moving component, the eight pull-on-the-cable displacement sensors are connected to the data acquisition card, and the computer is used for acquiring data and performing analytical calculation, so that poses of the moving component is obtained. When the moving component moves, the moving tracks can be described in real time, and real-time speed and real-time accelerated speed are calculated. The system has the advantages that the poses and the moving tracks of the moving component of the large equipment such as the robot or vertical milling machine can be measured simply and conveniently in real time, and accordingly, the system is low in cost, simple in structure, large in moving space and high in precision.

The invention discloses a minimally invasive robot mechanical arm having a large movement space and a high structural rigidity, which comprises a telescopic seat provided with a surgical tool, wherein one end of a connecting rod IV is connected with the telescopic seat, a connecting rod V and a connecting rod VI are arranged at both sides below the connecting rod IV, one end of the connecting rodV and one end of the connecting rod VI are connected with the telescopic seat, the other end of the connecting rod IV is connected with the top end of a connecting rod I, the other end of the connecting rod V and the other end of the connecting rod VI are connected to outer walls at both sides of the top part of the connecting rod I, the bottom end of the connecting rod I is connected with the front end of a joint II seat, the bottom end of a connecting rod II and the bottom end of a connecting rod III are installed on outer walls at both sides of the back end of the joint II seat by rotatingshafts, and the top end of the connecting rod II and the top end of the connecting rod III are respectively connected to the connecting rod V and the connecting rod VI; and the rotating shafts are connected with a second rotation driving device, and a connecting frame is connected with a first rotation driving device. By using the structure, the movement space of the mechanism is greatly enlarged, and the rigidity of the mechanism is increased, thereby lowering the requirements for the initial pose of the robot.