A Parallel Robot and Its Circular Motion Trajectory Interpolation Method

Abstract

The present invention provides a parallel robot, which includes a first mounting plate, a first servo motor, a swing arm, a first fixed shaft, a connecting rod, a fixed platform and a second fixed shaft, and the lower surface of the first mounting plate is equidistantly fixed with A first servo motor, the output end of the first servo motor is fixed with a swing arm, one end of the swing arm is symmetrically fixed with a first fixed shaft, and the first fixed shaft is rotatably connected to a connecting rod through a spherical bearing, and the first fixed shaft is connected to a connecting rod through a spherical bearing. A fixing platform is arranged under the installation plate, and the triangles of the fixing platform are all symmetrically fixed with second fixing shafts. The invention can carry out all-round visual detection on the workpiece through three CCD cameras, so that the robot can visually detect the workpiece while loading and unloading the workpiece, greatly improving the work efficiency, and the position of the workpiece can be checked by the laser positioner Perform precise positioning and clamping, so that the driving fixture can accurately clamp the workpiece, with high clamping accuracy, and is suitable for positioning and clamping of special-shaped workpieces.

Description

A parallel robot and its circular arc motion trajectory interpolation method technical field The present invention relates to parallel robot technical field, relate in particular to a kind of parallel robot and its circular arc motion trajectory inserter supplement method. Background technique Robot (English name: Robot) is an automated machine, the difference is that this machine has some Intellectual abilities that are similar to objects, such as perception, planning, motor, and coordination, are a highly flexible Robots can assist or even replace humans to complete dangerous, heavy and complex work and improve work efficiency Quality, serve human life, expand and extend the range of human activities and capabilities, while parallel robots are driven by multiple drives simultaneously. The joint work can be defined as the moving platform and the fixed platform are connected by at least two independent kinematic chains, and the mechanism has two or A closed-loop ...

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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