Parallel robot and circular motion trail interpolation method thereof

Abstract

The invention provides a parallel robot which comprises a first mounting plate, first servo motors, swing arms, first fixing shafts, connecting rods, a fixing table and second fixing shafts; the first servo motors are fixed to the lower surface of the first mounting plate at equal intervals, the swing arms are fixed to the output ends of the first servo motors, and the first fixing shafts are symmetrically fixed to one ends of the swing arms; the first fixing shafts are rotationally connected with the connecting rods through a spherical bearing; and the fixing table is arranged below the first mounting plate, and the second fixing shafts are symmetrically fixed to the three corners of the fixing table. According to the invention, three CCD cameras can carry out omnibearing visual inspection on a workpiece, so that a robot can carry out visual inspection on the workpiece while carrying out feeding and discharging on the workpiece, the working efficiency is greatly improved, and a laser positioner can carry out accurate positioning and clamping on the position of the workpiece, so a driving clamp can accurately clamp the workpiece, the clamping precision is high, and the driving clamp is suitable for positioning and clamping of the special-shaped workpiece.

Description

technical field [0001] The invention relates to the technical field of parallel robots, in particular to a parallel robot and a circular arc motion trajectory interpolation method thereof. Background technique [0002] A robot (English name: Robot) is an automated machine. The difference is that this machine has some intelligent abilities similar to humans or creatures, such as perception, planning, action, and coordination. It is a highly flexible Robots can assist or even replace humans to complete dangerous, heavy, and complicated tasks, improve work efficiency and quality, serve human life, and expand and extend human activities and capabilities. Parallel robots work in parallel with multiple drivers at the same time. It can be defined as a closed-loop mechanism in which the moving platform and the fixed platform are connected by at least two independent kinematic chains, the mechanism has two or more degrees of freedom, and is driven in parallel; [0003] There are man...

AI Technical Summary

Problems solved by technology

[0004] However, when the existing three-degree-of-freedom parallel robot is in use, it only has the function of moving. When the workpiece is moved and unloaded, it cannot perform a full range of visual inspection on the workpiece at the same time, thereby increasing the process and reducing work efficiency. For irregular workpieces, the position of the workpiece is only calculated through image acquisition, the clamping accuracy is low, and the workpiece is easily damaged

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