Seven-degree-of-freedom serial-parallel hybrid anti-dead point robotic arm
A technology of robotic arms and degrees of freedom, applied in the field of robotics, can solve problems such as failure to prevent the mechanical arm from being stuck, and achieve the effect of simplifying the kinematics calculation model, large motion range, and convenient kinematics solution.
Active Publication Date: 2021-06-29
SHANGHAI JIAOTONG UNIV
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Problems solved by technology
The mechanical arm has no structural design to prevent the mechanical arm from getting stuck
Method used
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[0034] Such as Figure 1 to Figure 9 As shown, a seven-degree-of-freedom serial-parallel hybrid anti-dead point mechanical arm includes a base 19, a first joint 1, a first connecting rod 9, a second joint 2, a connecting bracket 12, a third joint 3, The second connecting rod 15, the fourth joint 4, the sixth connecting rod 17, the fifth joint 5, the sixth joint 6, the seventh connecting rod 18, the seventh joint 7 and the connecting flange 8 of the end effector; on the connecting bracket 12 The fourth joint motor housing 10 is connected; the fourth joint motor housing 10 and the third joint 3 are located on both sides of the second connecting rod 15 and are coaxial at the same height;
[0035]A third connecting rod 16, a fourth connecting rod 13 and a fifth connecting rod 14 are also arranged between the third joint 3 and the fourth joint 4, and one end of the fourth connecting rod 13 is connected to the fourth joint 4 through the first hinge 131, The other end is connected t...
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The invention provides a seven-degree-of-freedom series-parallel hybrid anti-dead point mechanical arm, which includes a base, a first joint, a first connecting rod, a second joint, a connecting bracket, a third joint, a second connecting rod, The fourth joint, the sixth connecting rod, the fifth joint, the sixth joint, the seventh connecting rod, the seventh joint and the connecting flange of the end effector; there is also a third connecting rod, The fourth link and the fifth link; one end of the fourth link and the fifth link is connected to the fourth joint, and the other end of the fourth link and the fifth link is connected to the third link; the third link and the fifth link The four-joint motor housing is connected; the third connecting rod, the fourth connecting rod, the fourth joint and the second connecting rod form a parallel four-bar transmission mechanism with an anti-dead point parallel structure. The seven-degree-of-freedom serial-parallel hybrid anti-dead point mechanical arm of the present invention avoids the mechanism from being stuck or the uncertainty of movement, and can reach the designated working point more quickly in the main motion plane.
Description
technical field [0001] The invention relates to the field of robots, in particular to a seven-degree-of-freedom series-parallel hybrid anti-dead point mechanical arm. Background technique [0002] Collaborative robots represented by multi-degree-of-freedom robotic arms have developed rapidly in recent years and have been widely used in many fields. Generally speaking, the more degrees of freedom the robot arm has, the stronger the maneuverability, the stronger the obstacle avoidance and singular functions, and the better the flexibility. However, with the increase of the degree of freedom of the mechanical arm, the complexity of the robot mechanism will appear, the stiffness will be weakened, and it will be very difficult to control. Therefore, according to the principle of bionics, the articulated robotic arm 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, whic...
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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 刘仁强孙竞陈先宝郑浩高峰孙乔
Owner SHANGHAI JIAOTONG UNIV