A metamorphic wheeled mobile welding robot with controllable mechanism

Abstract

The invention provides a controllable mechanism type metamorphic wheeled mobile welding robot, which comprises a metamorphic executing mechanism sub-chain, a serial executing mechanism main chain and a moveable platform, wherein the metamorphic executing mechanism sub-chain is provided with parallel closed-loop sub-chains, the serial executing mechanism main chain is used for controlling the plane movement of a tail executer, and the space movement of the movable platform is realized by the movement of a robot body and the movable platform; the metamorphic movement is realized by the metamorphic executing mechanism sub-chain with the parallel closed-loop sub-chains and the serial executing mechanism main chain through a closed-loop sub-chain. The controllable mechanism type metamorphic wheeled mobile welding robot has the advantages that the controlling is realized by the metamorphic synthesis movement, the controllable, adjustable and output flexible functions are realized, and the features of multifunctional phase change, multi-topological structure and multi-degree-of-freedom change are realized; the movement inertia of the tail executer is small, the dynamic property is good, the reliability is high, the movement and operation functions are realized, and the robot can be applied to multiple occasions.

Description

【Technical field】 [0001] The invention relates to the field of robots, in particular to a controllable mechanism metamorphic wheeled mobile welding robot. 【Background technique】 [0002] Mobile robot is a comprehensive system integrating environment perception, dynamic decision-making and planning, behavior control and execution. It integrates multi-disciplinary research results in sensor technology, information processing, electronic engineering, computer engineering, automation control engineering, and artificial intelligence. It represents the highest achievement of mechatronics and is one of the most active fields of science and technology development. [0003] Metamorphic mechanism is an important concept proposed by scholars in recent years. It is a new type of mechanism with variable degrees of freedom or variable number of components. In addition to being highly scalable and expandable like expandable mechanisms, this type of mechanism can also change topology. Grap...

AI Technical Summary

Problems solved by technology

[0004] Compared with the traditional serial robot, the parallel robot has the characteristics of no cumulative error, high precision, compact structure, large carrying capacity, high rigidity and small inertia of the end effector. The driving device can be placed on the fixed platform or close to the fixed platform. position, so that the moving parts are light in weight, high in speed and good in dynamic response; but the obvious disadvantages of parallel robots are small working space and complex structure

The existing manipulators with partial closed chain in engineering such as MOTOMAN-K10 did not solve the problems existing in industrial robots

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