Space-controllable multi-rod six-degree-of-freedom welding robot with parallel closed-loop sub-chains

Abstract

A multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space comprises two controllable fine adjustment four-bar mechanism closed loop sub chains connected in parallel and an executing mechanism sub chain connected in series. The four-bar mechanism closed loop sub chains can control a first connecting bar to move in a plane where the four-bar mechanism closed loop sub chains are located. Spatial motion of a movable platform can be achieved through motion of the first connecting bar and a robot body. Control is achieved through resultant motion of the two closed loop sub chains and the first connecting bar and the first connecting bar and a second connecting bar are connected with the robot body, so that spatial motion of an executor at the tail end is achieved. The multi-bar six-freedom-degree welding robot containing the parallel closed loop sub chains and provided with the controllable space has the advantages that the structure is compact, control is simple, control is achieved through the first connecting bar connected to the robot body, the bars can be manufactured into light bars, mechanism motion inertia is small, the dynamics performance is good, the reliability is high, and the work space of a mechanism is large.

Description

technical field [0001] The invention relates to the field of robots, in particular to a space-controllable multi-rod six-degree-of-freedom welding robot with parallel closed-loop sub-chains. 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. Existing manipulators with partial closed chains such as MOTOMAN...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a space-controllable multi-rod six-degree-of-freedom welding robot with parallel closed-loop sub-chains, which solves the shortcomings of traditional serial robots that require large torque, low rigidity and small working space

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