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Controllable mechanism type two-degrees-of-freedom mobile manipulator

A technology of moving a manipulator with degrees of freedom, applied in the field of robotics, can solve the problems of harsh stress conditions of the manipulator, residual vibration, and large rotational inertia of the manipulator, so as to reduce the moment of inertia and residual vibration intensity, improve the stress conditions, The effect of expanding the workspace

Inactive Publication Date: 2015-05-27
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This driving form directly leads to a large moment of inertia of the manipulator, harsh stress conditions of the manipulator, and strong residual vibration.

Method used

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  • Controllable mechanism type two-degrees-of-freedom mobile manipulator
  • Controllable mechanism type two-degrees-of-freedom mobile manipulator
  • Controllable mechanism type two-degrees-of-freedom mobile manipulator

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Embodiment Construction

[0020] The technical solution of the present invention will be further described below through the drawings and embodiments.

[0021] A controllable mechanism type two-degree-of-freedom mobile mechanical arm, including an operating platform 12, a first active part 23, a mobile platform 1, a first link 20, a second link 17, a boom 9, a fourth link 16, The third connecting rod 21, the fifth connecting rod 14, the second driving member 5, and the sixth connecting rod 7;

[0022] The operating platform 12 is provided with a tenth rotating pair 11 and a ninth rotating pair 13. The ninth rotating pair 13 is at the upper end of the tenth rotating pair 11; the fourth link 16 is triangular, and the fourth link 16 is One end is provided with a composite hinge 10, the second end of the fourth link 16 is provided with a seventh rotating pair 19, and the third end of the fourth link 16 is provided with an eighth rotating pair 15;

[0023] The lower end of the first active member 23 is connected ...

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Abstract

The invention relates to a controllable mechanism type two-degrees-of-freedom mobile manipulator. A fourth connecting rod of the manipulator is of a triangular shape; the lower end of a first driving part is connected to a mobile platform and the upper end of the first driving part is connected with one end of a first connecting rod; the other end of the first connecting rod is connected with one end of a second connecting rod; the other end of the second connecting rod is connected with an operation platform; the lower end of a big arm is connected to the mobile platform and the upper end of the big arm is connected with the first end of a fourth connecting rod and simultaneously, the upper end of the big arm is connected to the second connecting rod by a compound hinge; the lower end of the third connecting rod is connected to the mobile platform and the upper end of the third connecting rod is connected with the second end of a fourth connecting rod; one end of a fifth connecting rod is connected with the third end of the fourth connecting rod and the other end of the fifth connecting rod is connected with the operation platform; the lower end of a second driving part is connected to the mobile platform and the upper end of the second driving part is connected with one end of a sixth connecting rod; the other end of the sixth connecting rod is connected to the big arm. According to the invention, the stress condition of the manipulator is improved; the defects of rotational inertia, residual vibration intensity and the like of the manipulator are reduced; moreover, the controllable mechanism type two-degrees-of-freedom mobile manipulator has the advantages of easiness for implementing remote control, reduction of labor intensity of workers and the like.

Description

Technical field [0001] The invention relates to a device in the technical field of robots, in particular to a controllable mechanism type two-degree-of-freedom mobile mechanical arm. Background technique [0002] The robotic arm is a device used to implement actions such as grasping. Certain tools can be installed on the end operating platform of the robotic arm to perform various operations. It is widely used in national defense, space exploration, logistics, EOD, assembly, etc. In the field, the mobile robot arm expands the working space of the robot arm through the movement of the mobile platform, which makes it superior to the traditional fixed-link robot arm and has a broader application prospect. [0003] The research of domestic mobile manipulators started relatively late, but after decades of development, great progress has been made. At present, the research of domestic mobile manipulators mainly focuses on manipulator structure, motion control technology, path planning te...

Claims

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Application Information

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IPC IPC(8): B25J5/00
Inventor 蔡敢为张永文张林黄院星朱凯军王龙李志杰李俊明范雨王麾关卓怀石慧王少龙李荣康杨旭娟李岩舟
Owner GUANGXI UNIV
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