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MDOF rocker arm type connection rod mechanism

A link mechanism and rocker arm technology, applied in the field of robotics, can solve the problems of small working space, large torque required, low stiffness, etc., and achieve the effect of lowering the center of gravity, reducing active torque, and good dynamic performance

Inactive Publication Date: 2015-05-20
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a multi-degree-of-freedom rocker-type linkage mechanism, which solves the shortcomings of traditional serial robots about large torque required, low rigidity and small working space

Method used

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  • MDOF rocker arm type connection rod mechanism
  • MDOF rocker arm type connection rod mechanism
  • MDOF rocker arm type connection rod mechanism

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Embodiment Construction

[0030] The technical solution of the present invention will be further described below in conjunction with the drawings and embodiments.

[0031] Such as Figure 1-Figure 6 As shown, a multi-degree-of-freedom rocker arm linkage mechanism includes a column 2, a main arm 4, a first rocker arm 3, a second rocker arm 7, a first link 5, a second link 6, and a third link. The rod 8, the fourth link 9, the slider 23, the fifth link 12, and the sixth link 11.

[0032] The bottom end of the column 2 is used to connect the walking mechanism 1, and the top end of the column 2 is respectively connected to the first connecting end of the main arm 4 and the first connecting end of the first rocker arm 3 through the first rotating pair 13. The second connecting end is connected to one end of the first connecting rod 5 through the second rotating pair 14, and the other end of the first connecting rod 5 is connected to the second connecting end of the second rocker arm 7 through the fourth rotating...

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Abstract

Provided is an MDOF rocker arm type connection rod mechanism. A stand column is connected with one end of a main arm and the first connection end of a first rocker arm, the second connection end of the first rocker arm is connected with one end of a first connection rod, and the other end of the first connection rod is connected with the second connection end of a second rocker arm. The first connection end of the second rocker arm is connected with the other end of the main arm. The third connection end of the second rocker arm is connected with one end of a second connection rod, and the other end of the second connection rod is connected with the third connection end of the first rocker arm. One end of a third connection rod is connected with the fourth connection end of the second rocker arm, and the other end of the third connection rod is connected with a fourth connection rod. One end of a fifth connection rod is connected with a sliding block, the other end of the fifth connection rod is connected with one end of a sixth connection rod, and the other end of the sixth connection rod is connected with the middle of the main arm. The MDOF rocker arm type connection rod mechanism has the advantages of being large in working space, and high in rigidity, bearing capacity and execution accuracy.

Description

Technical field [0001] The invention relates to the field of robots, in particular to a multi-degree-of-freedom rocker arm type linkage mechanism. Background technique [0002] The series robot has low rigidity and cannot be used in high-speed and large load-bearing occasions. Compared with the traditional series robot, the parallel robot has no cumulative error, higher precision, compact structure, large load capacity, high rigidity and small inertia of the actuator And other characteristics, the driving device can be placed on or close to the fixed platform, so that the moving part is light in weight, high in speed, and good in dynamic response; but the obvious disadvantage of parallel robots is the small working space and complex structure. Existing manipulators with partial closed chains in engineering such as MOTOMAN-K10 do not solve the problems of industrial robots. Summary of the invention [0003] The technical problem to be solved by the present invention is to provide ...

Claims

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Application Information

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IPC IPC(8): B25J19/00B25J9/08B25J5/00
Inventor 蔡敢为范雨张林李智杰张永文李荣康朱凯君王龙王小纯李岩舟杨旭娟
Owner GUANGXI UNIV
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