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Planar multi-degree-of-freedom robot

A robot, degree of freedom technology, applied in the field of robotics

Inactive Publication Date: 2011-12-07
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] At present, the research on planar robots is mainly two-degree-of-freedom joint robots, and the research on three-degree-of-freedom and higher degrees of freedom is rarely involved. At the same time, the research on underactuated robots is generally concentrated on two-joint robots. Experimental Study

Method used

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Experimental program
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Embodiment Construction

[0032] Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0033] see figure 1 As shown, the mechanical part of the robot mainly includes the first arm 1, the second arm 6, the third mechanical arm 9, the fourth mechanical arm 11, an encoder, a motor and a base, between each mechanical arm and between the fourth mechanical arm 11 and the The bases 15 are all connected in the form of rotating pairs, and the driving device of the joints adopts a DC brushless servo motor, which has good torque characteristics, high power and a relatively wide speed regulation range. The brake is an electromagnetic brake with power-off braking. The motion controller of the robot adopts the GT-400-SV series servo motion controller developed by Googol Technology Co., Ltd. Figure 9 It is a typical connection diagram of a motion control system composed of GT series controllers. The test bench PC is connected with the motion control ...

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Abstract

A planar multi-degree-of-freedom robot, including a mechanical arm, a motor, an encoder, and a machine base. The four mechanical arms of the robot and the mechanical arms and the frame are connected in the form of rotating pairs. Several joints of the robot have similar structures ; The joint adopts a motor and / or a brake; the encoder shaft of the mechanical arm is connected, the light shield is fixedly connected with the first mechanical arm, the bearing inner cover is fixedly connected with the first mechanical arm; the bearing outer cover is fixedly connected with the second mechanical arm; The motor of the joint is fixedly connected with the second central shaft; the motor base is fixedly connected with the bearing outer cover and is fixedly connected with the motor; the second joint is equipped with a brake and / or a motor is installed; the motor base is fixedly connected with the bearing outer cover and fixed with the motor connect. The man-machine interaction interface of the robot can set the relevant parameters of the movement of the mechanical arm, and can monitor the movement state of each joint at the same time. The invention can carry out research in the related fields of the underactuated robot and the full-actuated robot.

Description

technical field [0001] The invention relates to the field of robots, in particular to a plane multi-degree-of-freedom robot. Background technique [0002] With the development of modern science and technology, there are serious challenges to the design of mechanical products. High speed, high precision, high flexibility, light weight and low energy consumption have become the development trend of modern mechanical equipment. The planar multi-degree-of-freedom robot has a compact structure. , precise positioning, high efficiency, and high flexibility are of great research significance. The system generally uses a DC servo motor and a high-precision harmonic reducer. The encoder at the motor has two types: incremental and absolute. In terms of machine control, it is usually a PC-based motion control system, and a PLC control system is used for occasions where the site environment is harsh and the interference is large. An underactuated robot means that one or some joints of t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/06B25J9/12B25J17/00
Inventor 任志全余跃庆夏齐霄
Owner BEIJING UNIV OF TECH
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