An asymmetric over-constrained five-degree-of-freedom hybrid robot

A degree of freedom and over-constraint technology, applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of unfavorable real-time control, affecting the dynamic performance of robots, and the mass of the robot's moving platform, so as to reduce the quality of the whole machine, Less number of hinge degrees of freedom and lower manufacturing costs

Active Publication Date: 2020-04-24
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this hybrid robot has two significant disadvantages: there is no analytical solution for the forward and inverse kinematics solutions, which is not conducive to real-time control; Dynamic performance of the robot

Method used

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  • An asymmetric over-constrained five-degree-of-freedom hybrid robot
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  • An asymmetric over-constrained five-degree-of-freedom hybrid robot

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Embodiment Construction

[0045] An asymmetric over-constrained five-degree-of-freedom hybrid robot of the present invention will be described in detail below in conjunction with the embodiments and drawings.

[0046] Such as figure 1 , figure 2 As shown, an asymmetrical over-constrained five-degree-of-freedom hybrid robot of the present invention includes a moving platform 4, and a positioning head 5 is connected in series at the end of the moving platform 4, and the positioning head 5 is a two-degree-of-freedom A / C Shake your head. Both sides of the moving platform 4 are respectively connected to one end of the first active length adjusting device 13 and the second active length adjusting device 23, wherein the first active length adjusting device 13 is fixedly connected to the moving platform 4, and the first active length adjusting device 13 is fixedly connected to the moving platform 4, and the second The two active length adjustment devices 23 are connected to the moving platform 4 through a ...

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Abstract

The invention discloses an asymmetric over-constrained five-degree-of-freedom hybrid robot. The tail end of a mobile platform is in tandem connection with a positioning head; the two sides of the mobile platform are connected with one end of a first active length regulating device and one end of a second active length regulating device; the first active length regulating device is fixedly connected with the mobile platform; the second active length regulating device is in hinged connection with the mobile platform; the lower side of the mobile platform is connected with one end of a third active length regulating device through a third hinge; the first active length regulating device and the second active length regulating device are connected onto a first rotary bracket through a hinge with one rotation freedom; the third active length regulating device is connected onto a second rotary bracket through a hinge with one rotation freedom; the two sides of the first rotary bracket are separately in hinged connection with first fixed shaft bases which are in hinged connection with an external supporting device; and the two sides of the second rotary bracket are separately in hinged connection with second fixed shaft bases connected with the external supporting device. The whole machine is high in rigidity, is simple in kinematics solution and is convenient to control.

Description

technical field [0001] The invention relates to a five-degree-of-freedom hybrid robot. In particular, it relates to an asymmetric over-constrained five-degree-of-freedom hybrid robot. Background technique [0002] The existing patent US20130087004A1 discloses a five-degree-of-freedom hybrid robot with a positioning head, including a fixed frame, a universal bracket, a moving platform, a positioning head, and three parts connecting the fixed frame and the moving platform, which can be extended or shortened longitudinally. length adjustment device. Wherein the universal bracket is rotatably connected to the fixed frame, the first and second length adjustment devices have the same structure, and are arranged symmetrically in space relative to the third length adjustment device; one end of the first and second length adjustment devices passes through The hinge with only one degree of freedom of rotation is connected to the universal bracket, and the other end is also connected...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 刘海涛董成林黄田
Owner TIANJIN UNIV
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