Three-freedom degree controllable mechanism type mobile mechanical arm

Abstract

The invention discloses a three-freedom degree controllable mechanism type mobile mechanical arm. A tenth revolute pair and a ninth revolute pair are arranged on an operation platform of the mobile mechanical arm; a fourth connecting rod is triangular; the lower end of a first driving component is connected to a turning table; the upper end of the first driving component is connected with a first connecting rod; the other end of the first connecting rod is connected with one end of a second connecting rod; the other end of the second connecting rod is connected with the operation platform; the lower end of a big arm is connected to the turning table; the upper end of the big arm is connected with a first end of the fourth connecting rod; the lower end of a third connecting rod is connected to the turning table; the upper end of the third connecting rod is connected with a second end of the fourth connecting rod; one end of a fifth connecting rod is connected with a third end of the fourth connecting rod; the other end of the fifth connecting rod is connected with the operation platform; the lower end of a second driving component is connected to the turning table; the upper end of the second driving component is connected with one end of a sixth connecting rod; the other end of the sixth connecting rod is connected to the big arm. According to the three-freedom degree controllable mechanism type mobile mechanical arm provided by the invention, rotational inertia and vibration coupling in a movement process of the mechanical arm are reduced, and the bearing capacity of the mechanical arm is improved.

Description

technical field [0001] The invention relates to a device in the technical field of robots, in particular to a three-degree-of-freedom controllable mechanism mobile mechanical arm. Background technique [0002] The robotic arm is a device used to realize some actions such as grabbing. It can install certain tools on the operating platform at the end of the robotic arm to perform various operations. It is widely used in national defense, space exploration, logistics, EOD, assembly, etc. In the field, the mobile manipulator expands the working space of the manipulator through the movement of the mobile platform, which makes it superior to the traditional fixed manipulator and has a broader application prospect. [0003] The research on domestic mobile manipulators started relatively late, but after decades of development, great progress has been made. At present, domestic research on mobile manipulators mainly focuses on several aspects such as manipulator structure, motion con...

AI Technical Summary

Problems solved by technology

This driving form directly leads to a large moment of inertia of the manipulator, harsh stress conditions of the manipulator, and strong residual vibration.

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