Mechanism type mobile mechanical hand with multiple degrees of freedom

A mobile manipulator and mechanism technology, applied in the field of robots, can solve the problems of small working space, low rigidity, and large required torque, and achieve the effect of large working space, high flexibility, and reducing dynamic torque.

Inactive Publication Date: 2015-04-22
GUANGXI UNIV
View PDF5 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a mechanism-type mobile manipulator with multiple degrees of freedom, which solves the shortcomings of traditional serial robots about the large torque required, low rigidity and small working space

Method used

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
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Mechanism type mobile mechanical hand with multiple degrees of freedom
  • Mechanism type mobile mechanical hand with multiple degrees of freedom
  • Mechanism type mobile mechanical hand with multiple degrees of freedom

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0033] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0034] A mechanism-type mobile manipulator with multiple degrees of freedom, including a movable platform 1, a body 2, a first link 3, a second link 5, a third link 15, a fourth link 7, and a fifth link 11. Sixth connecting rod 14, seventh connecting rod 9, eighth connecting rod 13, ninth connecting rod 18, tenth connecting rod 19, eleventh connecting rod 21, twelfth connecting rod 40, thirteenth connecting rod rod 41, the fourteenth connecting rod 42 and the end effector 23;

[0035] The sixth connecting rod 14 is "L"-shaped, the second connection end is located at the corner of the "L" shape, and the third connection end and the first connection end are respectively located at the vertical upper end and the horizontal right end of the "L" shape;

[0036] The lower end of the fuselage 2 is connected to the movable platform 1...

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

PUM

No PUM Login to view more

Abstract

A mechanism type mobile mechanical hand with multiple degrees of freedom comprises multiple parallel mechanism closed-loop executing mechanism sub chains, a series executing mechanism main chain and a mobile platform. The mechanism closed-loop sub chains can control a main chain connecting rod to move in a plane where the four-rod mechanism closed-loop sub chains are located. Space movement of the mobile platform can be achieved through movement of the multiple parallel connecting rod sub chains, a robot palletizer body and the mobile platform. According to the mechanism type mobile mechanical hand, control is achieved through resultant movement of the four closed-loop sub chains and the robot palletizer body, space movement of an end executor is achieved through connection of multiple connecting rods, the robot palletizer body and the mobile platform, the end executor is small in movement inertia, good in dynamics performance and high in reliability, the mechanism has the advantages of being compact in structure, easy to control and capable of moving and being operated at the same time, the rods can be light, and the mechanism is large in working space so as to act on more occasions.

Description

technical field [0001] The invention relates to the field of robots, in particular to a mechanism-type mobile manipulator with multiple degrees of freedom. Background technique [0002] Research on mobile robots began in the late 1960s. Nils Nilssen and Charles Rosen of Stanford Research Institute (SRI) and others developed an autonomous mobile robot named Shakey from 1966 to 1972. The purpose is to study the application of artificial intelligence technology, autonomous reasoning, planning and control of robotic systems in complex environments. [0003] According to the way of movement, it can be divided into: wheeled mobile robots, walking mobile robots (single-legged, double-legged and multi-legged), crawler mobile robots, crawling robots, peristaltic robots and swimming robots, etc. ; According to the working environment, it can be divided into: indoor mobile robot and outdoor mobile robot; according to the control architecture, it can be divided into: functional (horiz...

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

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J5/00B25J18/00B25J19/00
Inventor 蔡敢为王麾范雨王少龙李智杰张永文朱凯君王龙王小纯李岩舟杨旭娟温芳
Owner GUANGXI UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap