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Movable manipulator system

A technology for mobile manipulators and manipulators, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of finding, moving fast, limiting the viewing angle range and function of the visual system, etc.

Inactive Publication Date: 2005-05-04
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But there are also some problems: no suitable installation position for the vision system can be found on the mobile platform, either the viewing angle is blocked by the manipulator, or it conflicts with the workspace of the manipulator. Without a vision system, it is difficult to achieve accurate positioning of the mobile manipulator. Global positioning, if the vision system is installed at the end of the manipulator, it will greatly limit the viewing angle and function of the vision system; the industrial manipulator has a large mass and fast movement speed, and a large coupling force will be generated during the movement to act on the mobile platform It affects the stability of the platform, and it is easy to cause platform vibration or tipping; the energy consumption of industrial manipulators is very large, which is the main burden of the mobile platform's vehicle energy.

Method used

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Embodiment Construction

[0011] The three degrees of freedom of the mobile platform refer to its three motion forms of front and rear, left and right, and rotation on the plane, which can realize all-round movement on the plane, especially in a narrow space, and can move freely. Therefore, it can ensure that the robot arm Operate in a favorable orientation. In addition to wheels, motors, drivers and drive power, the mobile platform also includes ultrasonic sensors and infrared sensors, etc., which can be used to achieve preliminary positioning of the mobile platform.

[0012] The manipulator consists of the following parts: torso, shoulder, upper arm, forearm, wrist, and hand. And the joints connecting each part, including 1 moving joint, such as the up and down movement of the slider on the linear guide rail (trunk), and 4 rotating joints such as shoulder joint, elbow joint, wrist rotation joint and wrist swing joint, a total of 5 degrees of freedom. Through the coordinated movement of each joint, ...

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Abstract

The present invention relates to a mobile robot system, include a 3-freedom mobile platform, a 5-freedom robot, vision system and comptuer control system. Its camera with rotation and pitching function is mounted in the top end of straight-line guideway of robot, the mobile platform can implement forward, backward, leftward, rightward and automatic revolving 3-freedom omnibearing movement, and its 5-freedom robot is consisted of 1 moving joint and 4 turning joints, and its operation is flexible. The movement of said robot can implement large range movement operation function. Besides, said invention also provides the application range and method of said mobile robot system.

Description

technical field [0001] The invention relates to a mobile manipulator system, in particular to a mobile manipulator system comprising a 3-degree-of-freedom omnidirectional mobile platform and a 5-degree-of-freedom manipulator for realizing large-scale mobile operations. Background technique [0002] The mobile manipulator system consists of a manipulator fixed on a mobile platform. The manipulator is used to realize some actions such as grasping, operation, etc. The working space of the manipulator is expanded through the movement of the platform, so that the manipulator can perform tasks in a more suitable posture. The mobile manipulator is very suitable for working instead of people in various dangerous situations, such as removing explosives, garbage disposal, field exploration and space operations, etc. It is suitable for dealing with various complex industrial problems such as the welding and manufacturing of mobile manipulators for large ship hulls, etc., suitable for ...

Claims

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Application Information

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IPC IPC(8): B25J13/08
Inventor 赵冬斌易建强宋佐时邓旭玥
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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