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Mobile mechanical arm

A technology for moving manipulators and manipulators, applied in the field of robotics, can solve problems such as inapplicability of remote control, limited operating space for operators, and lack of visual functions for operators

Inactive Publication Date: 2010-12-15
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the operator in this technology is fixed on a fixed operating platform, this limits the operating space of the operator, and the operator has no visual function, so it is not suitable for remote control

Method used

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Examples

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Embodiment Construction

[0016] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0017] Such as figure 1 As mentioned above, this example includes: a mobile platform 1, a two-dimensional rotating platform 2, and a mechanical arm 3-8, wherein: the mechanical arm 3-8 and the two-dimensional rotating platform 2 are respectively fixed on the mobile platform 1.

[0018] The mechanical arm includes: a waist joint 3 , a shoulder joint 4 , a big arm 5 , an elbow joint 6 , a small arm 7 , and a wrist joint 8 . Among them: the waist joint 3 has one degree of freedom of rotation, the shoulder joint 4 and the elbow joint 6 have one degree of freedom of swing respectively, the forearm 7 has one degree of f...

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Abstract

The invention discloses a mobile mechanical arm, which belongs to the technical field of robots. The mobile mechanical arm comprises: a mobile platform, a mechanical arm and a two-dimensional rotating cable head, wherein the mechanical arm and the two-dimensional rotating cable head are arranged on the mobile platform. The mechanical arm comprises a waist joint, a shoulder joint, a large arm, an elbow joint, a forearm, a wrist joint and a claw, wherein the waist joint is connected with the shoulder joint; the two ends of the large arm are connected with the shoulder joint and the elbow joint respectively; the two ends of the forearm are connected with the elbow joint and the wrist joint respectively; and the claw is connected with the end of the wrist joint. The mobile mechanical arm has a wide operating space. Because the mechanical arm is fixed on the mobile platform, the mobile mechanical arm can perform mobile operation without suffering from spatial limitation; with two-degree-of-freedom visual performance like human eyes, the mobile mechanical arm is suitable for remote operation and control and can sample image information; and the mechanism can realize six-axial linkage, and the entire system has higher rigidity, high attitude adjustment degree and high reliability.

Description

technical field [0001] The invention relates to a device in the technical field of robots, in particular to a mobile mechanical arm. Background technique [0002] When the parallel robot controls the motion 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, The motion load is small, and the dynamic performance is good; (4) The position reverse solution is easy to solve, and is 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. Parallel and series structures have disadvantages, just the opposite. They are a "dual" relationship. If the parallel and series structures are combined and thei...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J9/00
Inventor 高雪官李智军武超戴磊
Owner SHANGHAI JIAO TONG UNIV
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