A Multi-mode Hybrid Manipulator Based on Motion Bifurcation Mechanism

Abstract

The present invention relates to a multi-mode hybrid mechanical arm based on a motion bifurcation mechanism, which includes an end effector, an arm, and a parallel base connected in sequence, wherein: the arm is an 8-rod single-ring motion bifurcation mechanism, including Two arm branch chains arranged symmetrically, the two ends of the two arm branch chains are respectively movably connected to form a single-loop closed chain structure, each of the arm branch chains includes four connecting rods that are sequentially movably connected; the parallel base is a two-rotation Freedom space parallel mechanism; the parallel base is equipped with a mode switching mechanism for realizing the series and parallel conversion of the two arm branch chains. Compared with the prior art, the invention has the advantages of high working efficiency, small structure size and high overall stability.

Description

technical field [0001] The invention relates to the field of robots and machine manufacturing, in particular to a multi-mode hybrid mechanical arm based on a motion bifurcation mechanism, which can realize series-parallel switching of the arms. Background technique [0002] At present, the application scenarios of robots are diversified, especially for application scenarios such as super-large mechanical equipment, special environmental operations, and production lines with various station properties, which are taller than ordinary mechanical structures, have diverse station properties, and have many parts styles. However, the traditional processing and assembly operation equipment has the limitation of a single operation mode. [0003] One of the previous solutions is to use the parallel mechanism to improve the work efficiency and quality by using the parallel mechanism's high rigidity and high precision. However, these solutions have the inherent disadvantage of the paral...

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Problems solved by technology

[0002] At present, the application occasions of robots are diversified, especially for super-large mechanical equipment, special environment operations, production lines with various natures of stations, etc., where the size is larger than ordinary mechanical structures, the nature of stations is diverse, and the styles of parts are various. working conditions, while the traditional processing and assembly operation equipment has the limitation of a single operation mode

[0003] One of the previous solutions is to use parallel mechanisms to improve work efficiency and quality by utilizing the characteristics of high rigidity and high precision of parallel mechanisms, but these solutions have the inherent disadvantages of parallel mechanisms, that is, the working space is small

The other is to increase the number of robots. For different types of work stations, different processing robots need to be used. This solution will greatly increase the cost of production input, often limit the ability of robots to perform tasks, consume working time, and reduce work efficiency

In the prior art, there are also mechanical configurations that are further connected in series by multiple parallel mechanisms, but there are many kinematic pairs in the system, and the establishment process of coordinate motion coordinates is relatively complicated

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