Multi-degree-of-freedom controllable parallel type mobile robot

A mobile robot and degree of freedom technology, applied in the field of robots, can solve the problems of poor positioning accuracy, low stiffness, and large required torque, and achieve the effect of small motion inertia of the mechanism, good dynamic performance, and reduced dynamic torque.

CN104476536AInactive Publication Date: 2015-04-01GUANGXI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2015-04-01
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to a multi-degree-of-freedom controllable parallel type movable spot welding robot. The multi-degree-of-freedom controllable parallel type movable spot welding robot comprises a movable platform, four parallel controllable four-bar mechanism closed-loop actuator subchains and a serial actuator main chain. The controllable four-bar mechanism closed-loop actuator subchains controls main-chained connecting bars to move within a plane where the four-bar mechanism closed-loop subchains are located, and spatial motion of the movable platform can be realized through motions of a first connecting bar, a machine body and the movable platform. A moving function is realized through the movable platform; the robot is controlled through the synthetic motion of the four four-bar mechanism closed-loop actuator subchains and the machine body; the spatial motion of an end actuator is realized through a plurality of connecting bars and the machine body; the end actuator is small in movement inertia, good in dynamics performance and high in precision. Through the structure, the robot has motion redundancy of almost infinite work space and height, has moving and operating functions at the same time, and can act on more occasions.
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Description

technical field

[0001] The invention relates to the field of robots, in particular to a multi-degree-of-freedom controllable parallel mobile robot. Background technique

[0002] The development and application of robot technology has greatly changed human production and life style. The use of robots can not only quickly and accurately complete boring repetitive tasks, but also safely and reliably complete many complex operations in dangerous and harsh environments, which can greatly reduce people's labor intensity, increase labor productivity, and improve product quality. As an advanced robot with a closed-chain structure, the parallel robot has the advantages of low motion inertia, strong load capacity, and high rigidity in terms of mechanism, which just makes up for the shortcomings of traditional industrial robots in these aspects, making parallel robots a potential robot. High-speed, high-precision motion platform. In the past 30 years, researchers have done a lot of r...

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Embodiment Construction

[0025] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] control figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Image 6 , Figure 7 with Figure 8 , the multi-degree-of-freedom controllable parallel mobile robot described in the present invention includes a fuselage 2, a first connecting rod 20, a second connecting rod 17, a third connecting rod 3, a fourth connecting rod 5, a fifth connecting rod Rod 10, sixth connecting rod 7, seventh connecting rod 12, eighth connecting rod 9, ninth connecting rod 14, tenth connecting rod 21, eleventh connecting rod 22, twelfth connecting rod 23, end effector 24 and the movable platform 1, the specific structural diagram and connection method are: the fuselage 2 is connected to the movable platform 1 through the first rotating pair 25, and the fuselage 2 is connected to one end of the first connecting rod 20 through the ...