Movable type robot in 6 degree of freedom being connected in series parallel

A degree of freedom, mobile technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of undiscovered hybrid robots and insufficient use of tandem mechanisms.

Inactive Publication Date: 2006-02-22
SHANGHAI JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Both of the above two robot mechanisms use a complete parallel mechanism. Although the advantages of the parallel mechanism are applied, the advantages of the serial mechanism are not fully utilized to make up for the shortcomings of the parallel mechanism.
In further searches, no report identical or similar to the subject of the hybrid robot of the present invention has been found

Method used

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  • Movable type robot in 6 degree of freedom being connected in series parallel
  • Movable type robot in 6 degree of freedom being connected in series parallel

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Embodiment Construction

[0010] Such as figure 1 As shown, the present invention mainly comprises: fixed platform 1, branched chain AA 0 , branched chain BB 0 , branched chain CC 0 1. The moving platform 5 is connected in the following manner: the fixed platform 1 is fixed horizontally and is the support of the whole mechanism, and its shape is isosceles △A 0 B 0 C 0 , where A 0 is the vertex, B 0 C 0 is the bottom edge, at the three corners of the fixed platform 1 and the branch chain AA respectively 0 , branched chain BB 0 , branched chain CC 0 It constitutes the connection of moving pairs, the three moving pairs are all in the vertical direction, the three driving motor seats are placed on the fixed platform 1, and the branch chain AA 0 , branched chain BB 0 They are respectively connected with the moving platform by ball joints, and the branch chain CC 0 The connection with the moving platform is a point contact. The shape of the moving platform 1 is isosceles △ABC, where A is the ape...

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Abstract

A movable six-freedom mixed robot is composed of a static platform, three branch joins AAo, BBo and CCo, and a movable platform. Said branch join AAo (or BBo) has three guide rods: moving rods X, Y and Z, whose moving directions are mutually perpendicular for realizing the movement in X, Y and Z directions. The moving rods X, Y and Z of AAo and the moving rods Y and Z of BBo have drive force but the moving rod X of BBo has not. It can realize 6-freedom movement of movable platform. Its advantages are good decoupling performance of branch joins, high rigidity of movable platform, and no error accumulation.

Description

technical field [0001] The invention relates to a mobile robot, in particular to a mobile six-degree-of-freedom hybrid robot capable of realizing six-degree-of-freedom motion of a moving platform. Background technique [0002] When the parallel robot controls the movement of the platform, it has the following advantages compared with the serial robot: (1) large rigidity, stable structure, and strong bearing capacity; (2) no error accumulation and high precision; (3) the motor is placed on a fixed platform, and the movement Small load, good dynamic performance; (4) Position reverse solution is easy to solve, suitable for online real-time control. However, compared with the series robot, the parallel robot has a smaller space for movement, and the movement of the movable platform is not as flexible as the hand of the series robot, and the position is difficult to solve. The advantages and disadvantages of the parallel structure and the series structure are exactly the opposit...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08
Inventor 曹冲振高雪官马培荪于会涛
Owner SHANGHAI JIAOTONG UNIV
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