Five-coardinate space positioning robot mechanism
A spatial positioning and robotic technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low precision, patient pain, doctor fatigue, etc., and achieve the effect of high precision, small trauma, and easy operation.
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[0025] The present invention will be further described below in conjunction with the drawings and embodiments.
[0026] See Figure 1~8 As shown, the five-coordinate space positioning robot mechanism of the present invention is composed of five parts: the lifting arm 1, the big arm 2, the small arm 3, the wrist 4 and the needle frame 5. The lifting arm 1 is connected to the big arm 2 through the slide rail 11, The big arm 2 and the forearm 3, the forearm 3 and the wrist 4, and the wrist 4 and the needle holder 5 are connected by a rotating shaft. Driven by the motor, each part can produce relative motion, and the working end can independently realize high-precision absolute positioning according to the planned path, and has a large working space and load capacity. The robot drive and control system is composed of AC servo motor, driver, photoelectric encoder, control card, computer and control software.
[0027] The robot kinematics structure of the present invention has five degre...
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