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
CN103722552BActive Publication Date: 2016-01-20GUANGXI UNIV
6 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
GUANGXI UNIV
Publication Date
2016-01-20

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

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.
Need to check novelty before this filing date? Find Prior Art

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More