Structural dimension parameter adjustable Mecanum wheel type mobile robot

Abstract

The invention discloses a structural dimension parameter adjustable Mecanum wheel type mobile robot. The robot is composed of a structural dimension parameter adjustable Stewart platform and a Mecanum wheel type mobile platform, wherein the Stewart platform comprises a Stewart movable platform, a Stewart static platform and a linkage mechanism. The Stewart platform is a parallel robot which has six freedom degrees and is applicable to heavy load; the Mecanum wheel type mobile platform has the characteristics of heavy load and all-direction movement; a mobile parallel robot formed by combination of the Mecanum wheel type mobile platform and the Stewart platform has the characteristics of being movable in all directions, high in positioning precision, capable of being heavily loaded and flexible in adjustment of tail end posture, and is applicable to industrial demands of flexible processing, overloading transportation and the like. By respectively changing the structural dimension parameters of the Stewart movable platform and the Stewart static platform, the robot disclosed by the invention is correspondingly changed in overall height, tail end motion space range and bearing capacity so as to adapt to work demands, so the applicability of the Mecanum wheel type mobile parallel robot is improved.

Description

technical field [0001] The invention relates to a mecanum wheeled mobile robot with adjustable structural size parameters, which is suitable for industrial production environments. Background technique [0002] With the continuous improvement of the level of science and technology, the replacement of products has become more and more frequent, and flexible manufacturing has also entered the field of actual industrial manufacturing from an academic concept. Mobile robots can well meet the flexible needs of modern manufacturing; The parallel structure has the advantages of high rigidity and simple inverse solution, and is suitable for applications where high precision is required. [0003] The Mecanum wheel mobile platform is an omnidirectional mobile platform, which can move omnidirectionally and has high motion accuracy. It is very suitable for the environment with limited transfer space and narrow working channels, and has the advantages of strong carrying capacity, suitabl...

AI Technical Summary

Problems solved by technology

[0005] However, the Stewart platform has disadvantages such as hard kinematic solutions, small range of motion, and small working space.

For the shortcoming of the small range of motion of the Stewart platform, the existing solution is to add a mechanism with at least one degree of freedom (such as a retractable end clamp) on the moving platform of the Stewart platform to make up for the shortcoming of its small range of motion.

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