Parallel robot mechanical arm and control method thereof

Abstract

The invention discloses a parallel robot mechanical arm and a control method thereof. The parallel robot mechanical arm comprises a static platform, a driving arm, a driven arm and a movable platform, the driving arm is mounted outside the static platform, a servo motor is arranged inside the static platform and connected with the driving arm through an output shaft, the exterior of the driving arm is connected with a tripod through a rotating shaft, and the other end of the tripod is connected with the driven arm through the rotating shaft. According to the parallel robot mechanical arm and the control method thereof, the integrated sensor is additionally arranged on the movable platform, the problem that the control of a traditional parallel robot mechanical arm is not accurate enough in a complex environment is solved, the parallel robot mechanical arm can detect different functions through four sensors in the working process, the control accuracy of the mechanical arm by a parallel robot can be improved, and according to the control method, the precise control effect of the parallel robot in the complex environment is greatly improved, the overall structure is compact, and the practicability is high.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a parallel robot mechanical arm and a control method thereof. Background technique [0002] Parallel robot belongs to a kind of robot, which can be defined as a closed-loop mechanism in which the moving platform and the fixed platform are connected by at least two independent kinematic chains. The mechanism has two or more degrees of freedom and is driven in parallel. The characteristic of the robot is that there is no cumulative error; 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. [0003] The parallel robot manipulators currently on the market have the following problems in use: [0004] 1. The traditional parallel robot manipulators often use a single method to control the operation, and this control method is prone to detection errors when applied i...

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Problems solved by technology

[0007] Aiming at the deficiencies in the prior art, the present invention provides a parallel robot manipulator and its control method, which solves the problem that the existing parallel robot manipulators often use a single method to control the operation, and such When the control method is applied in a more complex environment, detection errors are prone to occur, which leads to inaccurate control effects and certain limitations in use. At the same time, most parallel robot arms are relatively large in size during operation. The protection performance of small parts is not high, and it is easy to be disturbed by the outside when working. In severe cases, it will also be hit by foreign objects from the outside, which will cause different degrees of damage to the parts. It is more troublesome in the application process. The problem

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