Large-stroke four-degree-of-freedom rigid-flexible coupling mechanical arm

Abstract

The invention discloses a large-stroke four-degree-of-freedom rigid-flexible coupling mechanical arm. The large-stroke four-degree-of-freedom rigid-flexible coupling mechanical arm comprises a linearsliding table, an electric rotating table, a rigid arm body and a flexible arm body, wherein the lower end of the electric rotating table is fixedly connected to a sliding plate on the linear slidingtable, the upper portion of the electric rotating table is rotationally connected to one end of the rigid arm body through a rigid arm joint motor transmission mechanism, and the other end of the rigid arm body is rotationally connected to the flexible arm body through a flexible arm joint motor transmission mechanism. According to the large-stroke four-degree-of-freedom rigid-flexible coupling mechanical arm, the rigid arm body is formed by splicing, so that the weight of the rigid arm body is easier to reduce, the inertia is reduced, the weight of the rigid arm body and the control over thewhole four-degree-of-freedom mechanical arm are more convenient to balance, deformation is not prone to occurrence in the stress direction, and meanwhile the joint structure is easier to design, manufacture and install; and in the flexible mechanism motion planning and vibration active suppression in the intelligent manufacturing research, the replaceability of the joint structure is higher, the design of the joint structure is simplified through the spliced mechanical arm, the transmission efficiency is improved, and the weight is reduced.

Description

technical field [0001] The invention belongs to the field of flexible mechanism motion planning and vibration active suppression in intelligent manufacturing research, and relates to a four-degree-of-freedom rigid-flexible coupled mechanical arm with a large stroke and fast replaceability. Background technique [0002] Flexible manipulators exhibit enormous advantages over rigid manipulators. The advantages of light weight, small size, and fast response make flexible manipulators well used in industrial production applications, but the deformation and micro-vibration characteristics of flexible manipulators make them show some problems in high-precision operations. Severe environmental conditions and effective controls are required. An effective control method is a necessary condition for flexible manipulators to achieve high-precision manipulation. The flexible manipulator has a high load-to-weight ratio, can work at a high speed, has high operating energy efficiency, and...

AI Technical Summary

Problems solved by technology

[0006] The existing multi-degree-of-freedom flexible manipulators have different space spans, properties and dimensions of flexible materials, etc., depending on their workplaces and purposes. It is difficult to replace the various components of the existing four-degree-of-freedom robots

Images