Six-axis robot counterforce inverse solution method and six-axis robot

A six-axis robot and inverse solution technology, applied in the direction of manipulators, program-controlled manipulators, joints, etc., can solve the problems that designers cannot understand the operating mechanism

Active Publication Date: 2021-05-28
伯朗特机器人股份有限公司
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  • 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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  • Six-axis robot counterforce inverse solution method and six-axis robot
  • Six-axis robot counterforce inverse solution method and six-axis robot
  • Six-axis robot counterforce inverse solution method and six-axis robot

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Embodiment Construction

[0067]For technical problems in the background art, the present invention provides a six-axis robot and its reversible method and apparatus. Seefigure 1 versusfigure 2 The six-axis robot includes a static platform 100, a movable platform 200, six tiger Kark hinge assemblies 300, three joint assemblies 400, and six tank assemblies 500. Among them, the Tiger Kicking assembly is mounted on the static platform 100, and the joint assembly 400 is mounted on the moving platform 200, and one end of the tiger assembly 500 is mounted on the Tiger Kick Hinge assembly 300, and the other end of the tacho assembly 500 passes through the support pin shaft. 410 Turn connected to the joint assembly 400.

[0068]The robot's configuration can be considered to be arranged by joints, including joint type, joint number, and assembly dimensional parameters. The six-axis robot according to the present embodiment can form a 6-3upu configuration according to a particular assembly method using the above-describe...

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Abstract

The invention relates to a six-axis robot counterforce inverse solution method and a six-axis robot. The six-axis robot counterforce inverse solution method is a geometric solution combined with a robot kinematic basic theory, can visually display the geometric meaning of the six-axis robot, combines a conventional rigid body kinematic theory and a robotic theory, only involves basic arithmetical operation and basic operation of a matrix without an iterative operation process, and is high in calculation speed after programming. The six-axis robot counterforce inverse solution method can be applied to kinematic simulation before development of the six-axis robot, and can obtain a thrust value or a tension value of an electric cylinder to guide model selection of parts of the six-axis robot and check whether the size and the direction of stress at a bearing position of the six-axis robot are within an allowable range or not.

Description

Technical field[0001]The present invention relates to the technical field of industrial robots, in particular to a reaction resistance of six-axis robots and six-axis robot.Background technique[0002]The parallel robot has a large number of stiffness, high precision, and high precision. It has a wide range of applications in the field of positioning platforms, simulation equipment, entertainment equipment, which has great potential for automated processing applications.[0003]In the current academic and commercial fields, most six-axis robots use 6-6Ups or 6-6UPU configurations.[0004]6-6UPS indicates that six tiger articulation joints are set on the stationary platform, and 6 ball gathers are set on the moving platform. Each Tiger Koido joint on the static platform is connected in the middle of the tiger climbing section on the moving platform, and the piston rod of the tank can be telescopically. The piston rod telescopic can result in the position and posture of the moving platform,...

Claims

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Application Information

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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
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