Robot component based on parallel mechanism, optimum design method and robot

A technology of robots and computing methods, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of limited motion space, complex control, and poor stability of robots, so as to improve trajectory planning and motion forms, expand motion space, and improve The effect of stability

Inactive Publication Date: 2009-10-28
SHANGHAI XPARTNER ROBOTICS
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  • Abstract
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a robot component based on a parallel mechanism, an optimal design method and its robot in order to overcome the defects of limited robot movement space, complex control and poor stability in the prior art.

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  • Robot component based on parallel mechanism, optimum design method and robot
  • Robot component based on parallel mechanism, optimum design method and robot
  • Robot component based on parallel mechanism, optimum design method and robot

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Embodiment Construction

[0042] The preferred embodiments of the present invention are given below in conjunction with the accompanying drawings to describe the technical solution of the present invention in detail.

[0043] Figure 1-4 There are four common parallel mechanisms, and those skilled in the art can also use similar parallel mechanisms instead as robot components. In this embodiment, a humanoid robot is taken as an example to illustrate the robot component of the present invention. The humanoid robot includes a parallel mechanism as an executive component, and the executive component includes a head, a chest, an upper arm, a forearm, a thigh, a calf, a hand and a foot. part; a number of motors arranged on the parallel mechanism for driving the parallel mechanism; and spherical pairs used to connect each parallel mechanism. It also includes a control circuit for controlling the movement of the humanoid robot, and the control circuit includes a motor drive board, a signal acquisition board ...

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Abstract

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.

Description

technical field [0001] The invention relates to a robot component, a method for optimal design and a robot containing the robot component, in particular to a robot component based on a parallel mechanism, an optimal design method for the robot component and a parallel mechanism robot using the component. Background technique [0002] With the continuous development of science and technology, robots have gradually become the focus, difficulty and hot spot in the field of robot research. The types of scientific research carried out on the robot platform also tend to be diverse, among which the most basic and important ones are robot gait planning and motion control. Since the series mechanism is a mature theory in mechanism and practical application, its forward and reverse kinematics operation, dynamic analysis method, due to the small coupling between different components in the movement process of the series mechanism, the singularity analysis is easy , the calculation of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/08B25J13/00
Inventor 郭兴辉
Owner SHANGHAI XPARTNER ROBOTICS
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