Multi-mode series-parallel mechanical arm based on movement bifurcation mechanism
A motion bifurcation, multi-mode technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex coordinate motion coordinate establishment process, limit the robot's ability to perform tasks, increase production input costs, etc. Production input cost, convenient transportation, and the effect of improving the quality of completion
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[0047] The present invention will be described in detail below with reference to the drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and provides detailed implementation and specific operation procedures, but the protection scope of the present invention is not limited to the following embodiments.
[0048] Such as Figure 1-Figure 2 As shown, this embodiment provides a multi-mode hybrid mechanical arm based on a motion bifurcation mechanism, which includes an end effector 47, an arm portion and a parallel base connected in sequence, and the arm portion is an 8-bar single-loop motion bifurcation The mechanism includes two arm branches symmetrically arranged. The ends of the two arm branches are respectively movably connected to form a single-loop closed chain structure. Each of the arm branches includes four movably connected links in sequence. The base is limited by bolt III46; the parallel base...
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