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Position inverse solution method of six-axis robot and six-axis robot

A six-axis robot, inverse solution technology, applied in manipulators, program-controlled manipulators, joints, etc., can solve the problem that designers cannot understand the operation mechanism.

Active Publication Date: 2021-05-28
伯朗特机器人股份有限公司
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0007] However, existing commercial kinematics and dynamics simulation software is closed-source software, and designers cannot understand its operating mechanism

Method used

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  • Position inverse solution method of six-axis robot and six-axis robot
  • Position inverse solution method of six-axis robot and six-axis robot
  • Position inverse solution method of six-axis robot and six-axis robot

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Embodiment Construction

[0061] Aiming at the technical problems in the background technology, the present invention provides a six-axis robot and its inverse solution method and device, see figure 1 and figure 2 , the six-axis robot includes a static platform 100 , a dynamic platform 200 , six Hooke hinge assemblies 300 , three joint assemblies 400 , and six electric cylinder assemblies 500 . Among them, the Hooke hinge assembly is installed on the static platform 100, the joint assembly 400 is installed on the moving platform 200, one end of the electric cylinder assembly 500 is installed on the Hooke hinge assembly 300, and the other end of the electric cylinder assembly 500 passes through the bearing pin 410 is rotatably connected to the joint assembly 400 .

[0062] The configuration of the robot can be considered as the arrangement of the joints, including the joint type, the number of joints and the assembly size parameters. The six-axis robot described in this embodiment can form a 6-3 UPU ...

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Abstract

The invention relates to a position inverse solution method of a six-axis robot and the six-axis robot. The inverse position solution method of the six-axis robot is a geometric solution combined with a robot kinematics basic theory, geometric meanings of the six-axis robot can be visually displayed, conventional rigid body kinematics and robotics theories are combined, only basic arithmetical operation and basic operation of a matrix are involved, an iterative operation process is avoided, and the calculation speed is high after programming. The position inverse solution method of the six-axis robot can be used for kinematics simulation before development of the six-axis robot, guiding model selection of parts of the six-axis robot and checking whether the extension value of a piston rod of an electric cylinder of the six-axis robot is within an allowable range or not.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a position inversion method for a six-axis robot and the six-axis robot. Background technique [0002] Compared with series robots, parallel robots have the characteristics of high rigidity, high precision, and relatively large load weight. They have been widely used in positioning platforms, simulation equipment, entertainment equipment and other fields, and have great potential in automatic processing application scenarios. [0003] In the current academic and commercial fields, most six-axis robots use 6-6UPS or 6-6UPU configurations. [0004] 6-6UPS means that 6 Hooke joints are set on the static platform, and 6 ball joints are set on the moving platform. Each Hooke joint on the static platform and the Hooke joint on the moving platform are connected through an electric cylinder, and the piston rod of the electric cylinder can be stretched. The expansion and contr...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J17/02
CPCB25J9/003B25J17/0258
Inventor 郭鹏田坤淼李家晖周文杨医华
Owner 伯朗特机器人股份有限公司
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