Mechanical arm based on reconfigurable parallel mechanism

Abstract

The invention relates to the field of mechanical equipment and aims to provide a mechanical arm based on a reconfigurable parallel mechanism. The mechanical arm based on the reconfigurable parallel mechanism is used for clamping an object, climbing a pipeline and other multiple application occasions, the clamping space is large, and postures are flexible and variable. The mechanical arm comprisesan upper platform and a lower platform. The upper platform is connected with the lower platform through three branched chains which are the same in structure. The upper platform comprises a first linear actuator (1), a second linear actuator (2) and a third linear actuator (3). The two ends of the first linear actuator (1) are rotationally connected with one end of the second linear actuator (2) and one end of the third linear actuator (3), and a clamping part is formed by the other end of the second linear actuator (2) and the other end of the third linear actuator (3). By means of the mechanical arm, the problems that an existing mechanical arm is relatively singular in function and the small in application range are solved.

Description

technical field [0001] The invention relates to the technical field of mechanical equipment, in particular to a manipulator based on a reconfigurable parallel mechanism. Background technique [0002] Manipulator refers to an automatic operation device that can imitate certain movement functions of human hands and arms, and is used to grip, carry objects or operate tools according to a fixed program. It can replace human heavy labor to realize mechanization and automation of production, greatly improving work Efficiency, and can operate in a harmful environment to protect personal safety, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments. The manipulator is mainly composed of three parts: the actuator, the drive mechanism and the control system. According to the shape, size, material and operation requirements of the object to be gripped, the actuator can be divided into clamping type, holding typ...

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Problems solved by technology

[0005] For this reason, the technical problem to be solved by the present invention is that the manipulator in the prior art has a single function and a small scope of application. However, it provides a manipulator that integrates the gripping and climbing functions, has a large gripping space, and has a flexible and changeable posture. Reconstructing the Manipulator of Parallel Mechanism

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