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Gesture regulating wrist mechanism of robot decoupled with position mechanism movement

A mechanism motion and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as complex position control algorithms, simplify motion analysis and control algorithms, solve nonlinear motion coupling, and realize motion decoupling. Effect

Inactive Publication Date: 2006-03-08
SUZHOU BC TECH
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Problems solved by technology

[0005] There is nonlinear kinematic coupling between the above-mentioned various wrist mechanisms and the position mechanism of the robot, that is to say, the spatial position of the robot hand will be changed when the hand posture is adjusted. Therefore, it must be compensated in the control algorithm. The position control algorithm relatively complex

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  • Gesture regulating wrist mechanism of robot decoupled with position mechanism movement
  • Gesture regulating wrist mechanism of robot decoupled with position mechanism movement
  • Gesture regulating wrist mechanism of robot decoupled with position mechanism movement

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Embodiment Construction

[0013] The present invention will be described in further detail below in conjunction with the accompanying drawings and the specific embodiments given by the inventor according to the technical solution of the present invention.

[0014] 1. The principle of the wrist mechanism for robot attitude adjustment decoupled from the motion of the position mechanism

[0015] Such as figure 1 As shown, the wrist of the robot attitude adjustment is composed of the rotary axis AD and the link mechanism ABCEFGD, and has two degrees of freedom. The end effector in the figure is the spray gun of the metal arc spraying rapid prototyping robot. According to the needs of the end effector, the degree of freedom of rotation around the III-axis axis (parallel to the EF rod of the linkage mechanism) can be added to form a three-degree-of-freedom wrist.

[0016] The basic structural form of the link mechanism ABCEFGD adopted in the present invention is composed of five movable members and seven r...

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Abstract

The invention discloses a robot pose adjusting mechanism with two or three rotary freedoms, containing a special link rod mechanism composed of two parallelograms. When using the wrist mechanism to adjust the robot pose, it keeps the space position of working point in the robot hand, which realizes the motion decoupling of position mechanism and pose adjusting mechanism, extremely simplifying motion analysis and control algorithm of the robot.

Description

technical field [0001] The invention belongs to the field of robot manufacturing, and relates to a robot mechanical structure or a robot wrist mechanism, in particular to a robot posture adjustment wrist mechanism decoupled from the movement of a position mechanism. Background technique [0002] Industrial robots are usually composed of three parts: mechanical system, control system and intelligent system. The mechanical system is further divided into an actuator and a drive mechanism, and the actuator is generally composed of a hand, a wrist, an arm, a waist and a base. [0003] The robot wrist (wrist) is the connecting part between the arm and the hand, the posture adjustment mechanism of the robot, and the most complicated part in the industrial robot manipulator. According to the number of degrees of freedom, wrists can be divided into single-degree-of-freedom wrists, two-degree-of-freedom wrists and three-degree-of-freedom wrists. In order for the hand to be in any di...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08
Inventor 卢秉恒朱东波何仲云洪军赵万华
Owner SUZHOU BC TECH
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