A robot based on cooperative joint motor and its control method

Abstract

The invention relates to a robot based on cooperative joint motors and a control method thereof. The robot based on the cooperative joint motors adopts three direct-current torque motors as a power system, and the three motors are installed on a fixed chassis; an absolute value encoder is of a hollow shaft type and is installed at the tail ends of the motors; the motors are connected with three driving arms through expansion sleeves, and three sets of driven arms are driven to move through rotating pairs; and three motion branch chains are uniformly distributed on the two planes of the chassisand a moving platform at 120 degrees to form a space closed loop, and a parallel connection mode is formed. In the abovementioned way, an operation hand part of the mechanism has three translation degrees of freedom of space X-Y-Z, and the positioning of the robot at the driven end in the space can be controlled. According to the robot based on the cooperative joint motors and the control methodthereof, the structural friction factor of the robot and the backlash error of the system can be reduced, and the overall precision of the robot is improved.

Description

technical field [0001] The invention relates to the field of robots and their control, in particular to a robot based on cooperative joint motors and its control method. Background technique [0002] Parallel robots have the characteristics of high precision, fast response, and small footprint. They are often used in the industrial food packaging industry, 3D printing industry and medical robot industry. [0003] The existing mechanisms and control schemes of parallel robots used for telemedicine mostly use ordinary DC motors or servo motors plus planetary reducers as power systems, and incremental encoders as speed feedback devices. There are several problems in such a design: First, the accuracy of the mechanism depends heavily on the accuracy of the planetary reducer, and the reducer will introduce friction factors to the overall structure, which brings great uncertainty to the overall model construction. It cannot be accurately modeled and will bring great energy loss t...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a robot based on collaborative joint motors and its control method to solve the problem of the existing mechanism and control schemes of parallel robots used for telemedicine. The problem of low precision

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