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Mechanical arm with symmetrical mechanisms

A mechanism-type, manipulator technology, applied in the field of robotics, can solve the problems of low rigidity, small working space, and large torque required, and achieve the effect of large working space, lower center of gravity, and reduced active torque

Inactive Publication Date: 2014-04-23
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a symmetrical mechanism-type manipulator, which solves the shortcomings of traditional serial robots about the large torque required, low rigidity and small working space

Method used

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  • Mechanical arm with symmetrical mechanisms
  • Mechanical arm with symmetrical mechanisms
  • Mechanical arm with symmetrical mechanisms

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Embodiment Construction

[0028] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0029] control figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 and Figure 6 , with a symmetrical mechanism-type manipulator, its structure and connection method are:

[0030]The actuator chain is composed of fuselage 2, first connecting rod 3, second connecting rod 13, third connecting rod 7, fourth connecting rod 11, fifth connecting rod 5, sixth connecting rod 9, seventh connecting rod 14. Eighth connecting rod 31, ninth connecting rod 17, tenth connecting rod 18, eleventh connecting rod 19, twelfth connecting rod 33, thirteenth connecting rod 35, end effector 21 and frame 1 are connected The first connecting end 22 of the fuselage 2 is connected to the frame 1 through the first rotating pair 22, the fuselage 2 is driven by the first rotating pair 22, the first rotating pair 22 is driven by a motor, and the se...

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Abstract

The invention discloses a mechanical arm with symmetrical mechanisms. The mechanical arm comprises a plurality of parallel mechanism closed loop execution mechanism sub-chains and a series execution mechanism main chain. A main chain connecting rod can be controlled by the mechanism closed loop sub-chains to move in the plane where a four-rod mechanism closed loop sub-chain is located, and spatial motion of a movable platform can be achieved through motion of a plurality of parallel connecting rod sub-chains and a machine body. Control is achieved through resultant movement of four closed-loop sub-chains and the machine body; spatial motion of a tail end executor is achieved through connection of a plurality of connecting rods and the machine body; the tail end executor is small in motion inertia, good in dynamics performance and high in reliability; the mechanisms have the advantages of being compact in structure and easy to control; light rods can be produced; because the mechanisms are large in work space, the gravity of the mechanisms moves backwards, and the mechanisms are kept balanced and can be applied to more occasions.

Description

technical field [0001] The invention relates to the field of robots, in particular to mechanical arms with symmetrical mechanisms. Background technique [0002] The traditional series robot has the advantages of simple structure, low cost, and large working space. Relatively speaking, the series robot has low rigidity and cannot be applied to high-speed and large-load occasions; compared with the traditional series robot, the parallel robot has no cumulative error, High precision, compact structure, large bearing capacity, high rigidity and small inertia of the end effector, etc., the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response; However, the obvious disadvantages of parallel robots are small working space and complex structure. The existing manipulators with partial closed chains in engineering, such as MOTOMAN-K10, did not solve the problems of indu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J9/02B25J9/06B25J9/18
Inventor 蔡敢为胥刚张林高德中于腾丁侃
Owner GUANGXI UNIV
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