Five-freedom-degree hybrid robot

Abstract

The invention relates to a five-freedom-degree hybrid robot which comprises a fixing frame, a moveable platform, a positioning head, a first branch chain, a second branch chain and a third branch chain, wherein the positioning head is connected with the tail end of the moveable platform; the first, second and third branch chains are same in structure; each of the branch chains comprises a first hinge, a second hinge, a connecting rod and a driving device arranged at one end of the connecting rod; the first branch chain and the second branch chain are symmetrically connected with the two sides of the upper end of the fixing frame through own first hinges; the third branch chain passes through the fixing frame, is located under the first branch chain and the second branch chain and is connected with the middle part inside the fixing frame through the own first hinge; one ends of the first, second and third branch chains away from the driving device are respectively connected with the moveable platform through the corresponding second hinges; moveable planes of the first branch chain and the second branch chain are located in a same plane or are two mutually parallel planes; and the moveable planes of the first branch chain and the second branch chain are vertical to the moveable plane of the third branch chain. The five-freedom-degree hybrid robot is conveniently controlled in real time, the rigidity of the mechanism is effectively increased and the size of a cantilever is reduced.

Description

technical field [0001] The present invention relates to a robot. In particular, it relates to a multi-coordinate hybrid five-degree-of-freedom hybrid robot. Background technique [0002] The existing patent SE0402824 (or WO2006054935) discloses a multi-coordinate hybrid robot with a positioning head, including a fixed frame, a moving platform, a positioning head, and three vertically elongated or shortened parts connecting the fixed frame and the moving platform. Length adjustment device. Wherein, the two length adjusting devices have the same structure and are symmetrically arranged in space relative to the third length adjusting device. One end of each length adjusting device is fastened to the fixed frame through a hinge, and the other end is connected to the moving platform through a hinge with only one rotational degree of freedom. Its shortcoming is that since the two length adjustment devices with the same structure are connected with the fixed frame by hinges with...

AI Technical Summary

Problems solved by technology

One end of each length adjustment device is connected to the fixed frame through a hinge, and the other end is rotatably connected to the moving platform. The three length adjustment devices are arranged axisymmetrically in space. The disadvantage is that this arrangement makes the inverse kinematics solution of the mechanism without an analytical solution. Inconvenient for real-time control

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