Seven-degree-of-freedom series-parallel hybrid mechanical arm and robot

Abstract

The invention provides a seven-degree-of-freedom series-parallel hybrid mechanical arm. The seven-degree-of-freedom series-parallel hybrid mechanical arm comprises a base, a first joint, a first link,a second joint, a connection support, a third joint, a second link, a fourth joint, a fifth link, a fifth joint, a sixth joint, a sixth link, a seventh joint and an end executer connection flange which are sequentially connected, wherein a third link and a fourth link are further arranged between the third joint and the fourth joint, one end of the fourth link is connected with the fourth joint,the other end of the fourth link is connected with the third link, and the third link is connected with a motor shell body of the fourth joint; the third link, the fourth link, the fourth joint and the second link form a parallel four-link transmission mechanism; and the axis of the third joint, the axis of the fourth joint and the axis of the fifth joint are mutually parallel. The new configuration of the seven-degree-of-freedom series-parallel hybrid mechanical arm is high in operation flexibility in a common reachable range of a main movement space; and meanwhile, the load torque of the motor in the vicinity of the base is reduced, and the rotational inertia of the whole mechanical arm is reduced.

Description

technical field [0001] The invention relates to the field of robots, in particular to a seven-degree-of-freedom serial-parallel hybrid mechanical arm and a robot. Background technique [0002] Collaborative robots represented by dexterous robotic arms have developed rapidly in recent years and have been widely used in many fields. According to the principle of bionics, the articulated manipulator simulates the limbs of animals and humans, and has better movement capabilities than other types of robots. For example, the human arm has 7 degrees of freedom, which is the most flexible physiological structure. Therefore, the structure of the dexterous robotic arm is designed to have 7 degrees of freedom, including 3 degrees of freedom for the shoulder joint, 1 degree of freedom for the elbow joint, and 1 degree of freedom for the wrist joint. With 3 degrees of freedom, it can transform from one configuration to another while keeping the three-dimensional position of the end mech...

AI Technical Summary

Problems solved by technology

The flexibility and freedom of the mechanical arm in the main motion plane are not enough, and the moment of inertia of the entire mechanical arm is relatively large

Images