A three-branched six-degree-of-freedom robot
A degree of freedom and robot technology, applied in the field of robotics, can solve the problems that the motion accuracy of a single branch chain affects the motion form of the moving platform, it is difficult to achieve the application effect, and the control method is complicated, and achieves a simple and reliable structure, reasonable design, and simple motion form. Effect
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[0018] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.
[0019] A three-branched six-degree-of-freedom robot, such as figure 1 and figure 2 As shown, it includes a moving platform (2) and a fixed platform (1) on which actuators are installed, and three branch chains with the same structure are installed between the moving platform (2) and the fixed platform (1). Each branch chain consists of a motor bracket (3), a connecting rod motor (4), a first connecting rod (5), a second connecting rod (6), a connecting sleeve (7) and a four-link assembly installed on a fixed platform Composition, the described four-bar linkage assembly is composed of an upper rod (10), a first drive rod (8), a second drive rod (9) and a drive rod motor (14). The following uses one of the branches as an example to illustrate the structure of each branch:
[0020] One end of the first connecting rod (5) is connected with the ...
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