Spatial six-mobility drilling robot mechanism
A six-degree-of-movement robot technology, applied in drilling/drilling equipment, manipulators, program-controlled manipulators, etc., can solve the problems of small working space, accumulation of joint errors, and inflexible movements of parallel robots, and achieve high-precision operations , good error compensation, simple and compact overall structure
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[0020] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0021] control figure 1 , 2 , 3 and 4, the six-degree-of-space drilling robot mechanism is composed of a one-dimensional rotating arm mechanism, a two-dimensional rotating forearm mechanism and a three-dimensional rotating platform mechanism.
[0022] control figure 1 , 2 , the one-dimensional rotating arm mechanism is composed of a frame 1, a one-dimensional rotating arm 3 and a first linear drive 18, and the one-dimensional rotating arm 3 is connected to the frame 1 through the first rotating pair 2, and the first One end of the linear drive 18 is connected to the frame 1 through the second rotating pair 19 , and the other end is connected to the one-dimensional rotating arm 3 through the third rotating pair 17 . The first linear driver 18 drives the one-dimensional rotating arm 3 to realize the one-dimensional rotating ...
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