Novel parallel connection arm-and-hand system with two degrees of freedom

Abstract

The invention provides a novel parallel connection arm-and-hand system with two degrees of freedom, and particularly relates to a control method of a novel parallel connection mechanical arm device with two degrees of freedom. The novel parallel connection arm-and-hand system with two degrees of freedom comprises two groups of screw rods, two groups of guide rails, two groups of sliding block mechanisms, a four-link mechanism and a movement output mechanism. The screw rods and the guide rails are matched for use so as to limit the movement of the sliding block mechanisms in the axial direction of a guide rod. Four connecting rods and bearing holes located in sliding blocks and the movement output mechanism form two groups of parallelograms, wherein the two groups of parallelogram structures jointly limit the movement of the movement output mechanism, and the two groups of sliding blocks and the parallelogram mechanisms control the movement output mechanism to move towards a target point.

Description

technical field [0001] The invention relates to a manipulator system, in particular to a novel two-degree-of-freedom parallel manipulator system. Background technique [0002] Traditional moving work generally adopts manual methods, which are time-consuming and labor-intensive. Under the background of increasing labor shortage and increasing costs, manual methods are bound to be eliminated by the market. [0003] A simple solution is to use the traditional cylinder method: that is, the combination of the horizontal movement cylinder and the vertical movement cylinder to realize the moving action. Although this method is difficult to implement, its movement mode is too mechanized and not flexible enough. There are too many waiting actions in the moving action, which is not conducive to high-speed movement, and the movement track is not easy to adjust, so it is difficult to meet the occasions with high requirements for the handling track. There are shocks during the movement,...

AI Technical Summary

Problems solved by technology

At present, most of the manipulators adopt a series structure, which has limited carrying capacity, and it is difficult to improve the running speed and precision, and has the characteristics of low precision.

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