Modularized robot based on intelligent mechanical arm

Abstract

The invention discloses a modularized robot based on an intelligent mechanical arm, and belongs to the field of robots. The modularized robot based on the intelligent mechanical arm comprises the intelligent mechanical arm and modularized joints. The intelligent mechanical arm is cascaded into a robot having multiple degrees of freedom by the modularized joints. The intelligent mechanical arm comprises a body framework, a piezoelectric ceramic actuator, and stress sensors. The stress sensors are installed on the body framework; and the stress sensors installed on the body framework constitute a group which is used for measuring the overall deformation status of the body framework in its motion process. The piezoelectric ceramic actuator is installed inside the body framework and is used for compensating the overall deformation of the body framework in its motion process. The modularized robot employs the intelligent mechanical arm section based on the vibration measurement and the compensation in association with the feature that the modularized robot is easy to manufacture to increase the standardization degree of the robot, and to increase the adaptability of the robot to different working conditions as well, thereby increasing the working accuracy of the robot.

Description

technical field

[0001] The invention relates to the field of robots, in particular to a modular robot based on an intelligent mechanical arm. Background technique

[0002] In light-load high-speed precision applications such as IC packaging and laser welding, the tandem robot arm mechanism represented by the tandem robot is one of the common mechanism forms. The mechanism form of a conventional series robot is: the primary arm is fixed on the base, and the remaining mechanical arms are connected in series through joints. The multi-degree-of-freedom motion of the industrial robot is driven by servo motors at each joint. Traditional types of robot design often need to specifically design the body mechanism and deceleration system (or direct drive system) of each segment of the robot arm according to the actual work requirements of the robot, which leads to a more specialized working mode of the robot. Components such as arms are difficult to be used in common with other type...

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