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Position inverse solution method of six-axis robot and six-axis robot

A six-axis robot, inverse solution technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem that designers cannot understand the operation mechanism.

Active Publication Date: 2022-05-17
伯朗特机器人股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] However, existing commercial kinematics and dynamics simulation software is closed-source software, and designers cannot understand its operating mechanism

Method used

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  • Position inverse solution method of six-axis robot and six-axis robot
  • Position inverse solution method of six-axis robot and six-axis robot
  • Position inverse solution method of six-axis robot and six-axis robot

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Embodiment Construction

[0061] Aiming at the technical problems in the background technology, the present invention provides a six-axis robot and its inverse solution method and device, see figure 1 and figure 2 , the six-axis robot includes a static platform 100, a dynamic platform 200, six Hooke hinge assemblies 300, three joint assemblies 400, and six electric cylinder assemblies 500. Among them, the Hooke hinge assembly is installed on the static platform 100, the joint assembly 400 is installed on the moving platform 200, one end of the electric cylinder assembly 500 is installed on the Hooke hinge assembly 300, and the other end of the electric cylinder assembly 500 passes through the bearing pin 410 is rotatably connected to the joint assembly 400 .

[0062] The configuration of the robot can be considered as the arrangement of the joints, including the joint type, the number of joints and the assembly size parameters. The six-axis robot described in this embodiment can form a 6-3 UPU confi...

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Abstract

The invention relates to a position inverse solution method of a six-axis robot and the six-axis robot. The position inverse solution method of the six-axis robot proposed by the present invention is a geometric solution combined with the basic theory of robot kinematics, which can intuitively display the geometric meaning of the six-axis robot, combines conventional rigid body kinematics and robotics theory, and only involves From basic mathematical operations to basic matrix operations, there is no iterative operation process, and the calculation speed after programming is relatively high. Through the position inverse solution method of the six-axis robot of the present invention, it can be used for kinematics simulation before the development of the six-axis robot and guide the six-axis robot. For the selection of robot parts, check whether the elongation value of the piston rod of the six-axis robot electric cylinder is within the allowable range.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a position inversion method for a six-axis robot and the six-axis robot. Background technique [0002] Compared with series robots, parallel robots have the characteristics of high rigidity, high precision, and relatively large load weight. They have been widely used in positioning platforms, simulation equipment, entertainment equipment and other fields, and have great potential in automatic processing application scenarios. [0003] In the current academic and commercial fields, most six-axis robots adopt 6-6 UPS or 6-6 UPU configuration. [0004] 6-6 UPS means that 6 Hooke joints are set on the static platform, and 6 ball joints are set on the moving platform. Each Hooke joint on the static platform and the Hooke joint on the moving platform are connected through an electric cylinder, and the piston rod of the electric cylinder can be stretched. The expansion and c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J17/02
CPCB25J9/003B25J17/0258
Inventor 郭鹏田坤淼李家晖周文杨医华
Owner 伯朗特机器人股份有限公司