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Multi-planar-degree-of-freedom robot

A robot, a technology of degrees of freedom, applied in the field of robotics

Inactive Publication Date: 2010-04-28
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the research on planar robots is mainly two-degree-of-freedom joint robots, and the research on three-degree-of-freedom and higher degrees of freedom is rarely involved. At the same time, the research on underactuated robots is generally concentrated on two-joint robots. Experimental Study

Method used

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Embodiment Construction

[0032] Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0033] see figure 1 As shown, the mechanical part of the robot mainly includes the first arm 1, the second arm 6, the third mechanical arm 9, the fourth mechanical arm 11, an encoder, a motor and a base, between each mechanical arm and between the fourth mechanical arm 11 and the The bases 15 are all connected in the form of rotating pairs, and the driving device of the joints adopts a DC brushless servo motor, which has good torque characteristics, high power and a relatively wide speed regulation range. The brake is an electromagnetic brake with power-off braking. The motion controller of the robot adopts the GT-400-SV series servo motion controller developed by Googol Technology Co., Ltd. Figure 9 It is a typical connection diagram of a motion control system composed of GT series controllers. The test bench PC is connected with the motion control ...

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Abstract

The invention discloses a multi-planar-degree-of-freedom robot, which comprises mechanical arms, a motor, an encoder and a pedestal. The four mechanical arms are connected by turning pairs; the mechanical arms and the machine frame are also connected by turning pairs; the structures of the plurality of joints of the robot are similar; the joints adopt motors and / or brakes; the mechanical arms are in shaft connection with the encoder; a light-shielding plate is fixedly connected with the first mechanical arm; the inner cover of a bearing is fixedly connected with the first mechanical arm; the outer cover of the bearing is fixedly connected with the second mechanical arm; the motor of the second joint is fixedly connected with a second central shaft; the motor pedestal is fixedly connected with the outer cover of the bearing and the motor; and a motor and / or the brake is mounted on the second joint. The human-computer interaction interface of the robot can set the parameters associated with the mechanical motion and can monitor the motion state of each joint. The invention can do researches associated with the fields of underactuated and actuated robots.

Description

technical field [0001] The invention relates to the field of robots, in particular to a plane multi-degree-of-freedom robot. Background technique [0002] With the development of modern science and technology, there are serious challenges to the design of mechanical products. High speed, high precision, high flexibility, light weight and low energy consumption have become the development trend of modern mechanical equipment. The planar multi-degree-of-freedom robot has a compact structure. , precise positioning, high efficiency, and high flexibility are of great research significance. The system generally uses a DC servo motor and a high-precision harmonic reducer. The encoder at the motor has two types: incremental and absolute. In terms of machine control, it is usually a PC-based motion control system, and a PLC control system is used for occasions where the site environment is harsh and the interference is large. An underactuated robot means that one or some joints of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12B25J17/00B25J9/06
Inventor 任志全余跃庆夏齐霄
Owner BEIJING UNIV OF TECH
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