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
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[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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