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Multi-coordinate serioparallel robot with redundant freedom

A technology with degrees of freedom and multi-coordinates, applied in the field of robotics, can solve problems such as the long adjustment stroke of the adjustment device, and achieve the effect of large working space

Inactive Publication Date: 2006-03-01
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] This kind of robot, because the connection mode of all length adjustment devices adopts parallel structure, its disadvantage is: when the robot is required to have a large working space, all its adjustment devices require a long adjustment stroke

Method used

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  • Multi-coordinate serioparallel robot with redundant freedom
  • Multi-coordinate serioparallel robot with redundant freedom
  • Multi-coordinate serioparallel robot with redundant freedom

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Embodiment Construction

[0016] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0017] As shown in Figures 1 to 3, the multi-coordinate hybrid robot with redundant degrees of freedom of the present invention includes a fixed frame 1, a first length adjustment device 2, a second length adjustment device 3, a third length adjustment device 4, The fourth length adjusting device 5, the moving platform 6 and the positioning head 7. The fixed frame 1 is provided with first, second, third and fourth hinges 21, 31, 41, 51 with two rotational degrees of freedom. In this embodiment, the first hinge 21 is located in the middle of the fixed frame 1, and the second 2. The third and fourth hinges 31 , 41 , 51 are evenly distributed around the first hinge 21 as the center circle. The upper part of the first length adjustment device 2 is arranged on the fixed frame 1 through the first hinge 21 and the sliding pair formed with the first...

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Abstract

The multi-coordinate serioparallel robot with redundant freedom includes fixing frame, movable platform, positioning head and four length regulators. The fixing frame has one first hinge in the middle part, the first length regulator has its upper part and the first hinge constituting one sliding pair set on the fixing frame, the positioning head is mounted in the bottom of the first length regulator, the fixing frame has the second, the third and the fourth hinges distributed homogeneously around the first hinge and connected separately with one end of the second, the third and the fourth length regulator, and the other ends of the second, the third and the fourth length regulators are hinged separately to the movable platform, and the movable platform is mounted outside the first length regulator. The robot of the present invention features one redundant freedom and large work space.

Description

technical field [0001] The invention relates to a robot, in particular to a multi-coordinate hybrid robot with a positioning head. Background technique [0002] According to patents GB2173472 (or EP0200369, US4790718), SE8502327 (or US4732525), EP0674969 (or US6336375), CN1524662 (or WO2005025816), the existing multi-coordinate hybrid robot with a positioning head includes at least three vertically extending Long or shorten length adjustment device. One end of one of the driven or active adjusting devices is connected with a movable positioning head and connected with the fixed frame through a hinge to limit certain degrees of freedom of the positioning head. And each other adjusting device is that one end is fastened on the fixing frame by a hinge, so that it can rotate around various directions relative to the fixing frame, and the other end is connected with the other end of the driven or active adjusting device by a hinge. [0003] This ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02B25J9/06
Inventor 黄田刘海涛赵学满李曚梅江平
Owner TIANJIN UNIV
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