Six-freedom-degree parallel machine arm driven by tubular linear motors and control method of six-freedom-degree parallel machine arm

Abstract

The invention relates to a six-freedom-degree parallel machine arm driven by tubular linear motors and a control method of the six-freedom-degree parallel machine arm. The parallel machine arm comprises a fixed platform, a movable platform, upper limiting photoelectric sensors, lower limiting photoelectric sensors, grating ruler sensors and parallel controllers. The multiple tubular linear motorsare evenly distributed between the fixed platform and the movable platform. Each tubular linear motor comprises an outer circular pipe and a drive shaft, wherein the outer circular pipe is internallyprovided with a motion cavity and a drive cavity which are in communication in the axial direction, the diameter of the motion cavity is larger than that of the drive cavity, the upper end, stretchinginto the motion cavity, of the drive shaft is provided with a limiting block, and the corresponding upper limiting photoelectric sensor and the corresponding lower limiting photoelectric sensor are correspondingly arranged at the two ends of the drive cavity. The grating ruler sensors are arranged between motor stator windings and the drive shafts. The parallel controllers are connected with theupper limiting photoelectric sensors, the lower limiting photoelectric sensors and the grating ruler sensors correspondingly and connected with the motor stator windings through motor drivers. Compared with the prior art, the six-freedom-degree parallel machine arm has the beneficial effects of being small in weight, small in size, high in motion speed and efficiency and the like.

Description

technical field [0001] The invention relates to the field of industrial robot arms, in particular to a six-degree-of-freedom parallel robot arm driven by a tubular linear motor and a control method thereof, which is especially suitable for automatic production lines in light industrial fields such as food, medicine and electronic products. Background technique [0002] The existing parallel robot arms used in the industrial field mainly include DELTA parallel robots driven by rotary servo motors and Stewart parallel robots driven directly by hydraulic cylinders or electric push rods. The Stewart parallel robot arm has high rigidity, strong bearing capacity, complex mechanical structure, and bulky body. It is mainly used in the heavy industry field. Compared with the Stewart parallel robot arm, the DELTA robot arm is a high-speed, light-load parallel robot. It is mainly used in food, medicine and Processing and assembly of electronic products, etc. However, in addition to th...

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Problems solved by technology

However, in addition to the output drive source of the servo motor and reducer, the DELTA robot arm also needs 3 or 6 sets of two-link movement composed of the master arm and the slave arm to realize the three-degree-of-freedom or six-degree-of-freedom movement of the motion platform. Large and complicated mechanical structure, so it is not suitable for automatic production lines with limited space

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