A 6-ptrt parallel robot with self-calibration function

Abstract

The invention provides a six-PTRT type parallel robot with the self-calibration function. The six-PTRT type parallel robot with the self-calibration function comprises a parallel robot body composed of a static platform, a movable platform, six connecting rod mechanisms and a drive device, wherein the six connecting rod mechanisms are connected between the static platform and the movable platform, and the drive device is connected with the connecting rod mechanisms. The six-PTRT type parallel robot further comprises a calibration device. The calibration device comprises a truss structure, six stay wire sensors and six stay ropes, wherein the upper portion and the lower portion of the truss structure are respectively in the shape of a regular hexagon. The parallel robot body is fixedly installed at the bottom of the truss structure. The six stay wire sensors are fixed to the six corners of the upper regular hexagon on the truss structure respectively. One end of each stay rope is fixed to the corresponding stay wire sensor, and the other end of each stay rope is fixed to the movable platform. The six-PTRT type parallel robot with the self-calibration function has six degrees of freedom and can achieve spatial complete positioning and simulation of poses, and the platform with the six degrees of freedom can be calibrated; the six-PTRT type parallel robot with the self-calibration function is exquisite in structure, small in size, light in weight and low in manufacturing cost and can be easily controlled through computer programming.

Description

technical field [0001] The invention relates to a parallel robot, specifically a parallel robot with a self-calibration function. Background technique [0002] Parallel robots have the advantages of high precision, high stiffness, small inertia, high load capacity, simple motion inverse model, high operating speed, and easy control. It has become one of the important branches of robot research and is widely used in various fields. The parallel mechanism has 2, 3, 4, 5 or 6 degrees of freedom, among which the 6 degrees of freedom parallel robot can complete the position and attitude positioning at the same time, which can be used to simulate the pose of the object, so it is favored by more scholars. Although the research on the 6-DOF parallel mechanism is relatively comprehensive, there are still deficiencies. The previous 6-DOF parallel mechanism is formed by connecting the upper and lower platforms with 6 rods. The upper and lower platforms are connected by spherical hinge...

AI Technical Summary

Problems solved by technology

Although the research on the 6-DOF parallel mechanism is relatively comprehensive, there are still deficiencies. The previous 6-DOF parallel mechanism is formed by connecting the upper and lower platforms with 6 rods. The upper and lower platforms are connected by spherical hinges and Hooke hinges respectively, so that the upper platform and the lower platform can perform 6 independent movements, and can move in any direction and rotate around the axis in any direction and position in three-dimensional space

But there are few parallel mechanisms with self-calibration function

Moreover, most of these six rods are electric cylinders, which are large in size, relatively complicated in mechanism, difficult to process and high in cost

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