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A controllable multi-degree-of-freedom manipulator

A manipulator and degree of freedom technology, applied in the field of robotics, can solve the problems of small working space, low rigidity, and large torque required, and achieve the effect of large working space, high flexibility, and reduced active torque

Active Publication Date: 2016-01-20
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a controllable multi-degree-of-freedom manipulator, which solves the shortcomings of traditional serial robots about the large torque required, low rigidity and small working space

Method used

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  • A controllable multi-degree-of-freedom manipulator
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  • A controllable multi-degree-of-freedom manipulator

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Embodiment Construction

[0027] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0028] control figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 and Figure 6 , a controllable multi-degree-of-freedom manipulator, its structure and connection method are:

[0029] The actuator chain is composed of fuselage 2, first connecting rod 3, second connecting rod 6, third connecting rod 21, fourth connecting rod 18, fifth connecting rod 16, sixth connecting rod 9, seventh connecting rod 15. The eighth connecting rod 11, the ninth connecting rod 12, the tenth connecting rod 19, the eleventh connecting rod 22, the twelfth connecting rod 24, the end effector 25 and the frame 1 are connected, and the fuselage 2 A connecting end 26 is connected on the frame 1 through the first rotating pair 26, the fuselage 2 is driven by the first rotating pair 26, the first rotating pair 26 is driven by a motor, and the sec...

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Abstract

A controllable multi-degree-of-freedom manipulator comprises four parallelly controlled four-bar mechanism closed-loop actuator subchains and one serial main actuator chain. The four-bar mechanism closed-loop subchains are capable of controlling main-chained connecting bars to move within a plane where the four-bar mechanism closed-loop subchains are located, and spatial motion of a platform can be realized through motions of a first connecting bar and a machine body. The manipulator can be controlled through the synthetic motions of the closed-loop subchains and the machine body; the spatial motion of an end actuator can be realized through multiple connecting bars and the machine body; the end actuator is small in motion inertia, good in dynamics performance and highly reliable; the manipulator has the advantages of compact structure and simplicity in controlling; member bars can be made into light bars; having a large working space, the manipulator can have the center of gravity back moved, so that balance of the manipulator is achieved, and the manipulator is available to more occasions.

Description

technical field [0001] The invention relates to the field of robots, in particular to a controllable multi-degree-of-freedom manipulator. Background technique [0002] The traditional series robot has the advantages of simple structure, low cost, and large working space. Relatively speaking, the series robot has low rigidity and cannot be applied to high-speed and large-load occasions; compared with the traditional series robot, the parallel robot has no cumulative error, High precision, compact structure, large bearing capacity, high rigidity and small inertia of the end effector, etc., the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response; However, the obvious disadvantages of parallel robots are small working space and complex structure. The existing manipulators with partial closed chains in engineering, such as MOTOMAN-K10, did not solve the problems ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08B25J9/02B25J9/06B25J9/18
Inventor 蔡敢为胥刚张林高德中于腾吕姗姗丁侃
Owner GUANGXI UNIV
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