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SIX-DEGREE-OF-FREEDOM MECHANICAL ARM BASED ON TRANSLATIONAL PARALLEL MECHANISM
SIX-DEGREE-OF-FREEDOM MECHANICAL ARM BASED ON TRANSLATIONAL PARALLEL MECHANISM
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机译：基于翻译并行机制的六自由度机械臂
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摘要
A six-degree-of-freedom mechanical arm based on a translational parallel mechanism. The mechanical arm comprises a base (1), a mechanical arm body, and two three-degree-of-freedom translational parallel mechanisms (2) disposed on the base; the mechanical arm body comprises a proximal moving platform (4), a distal moving platform (3), a push rod (7), and an end effector (5); the proximal moving platform is connected to one of the three-degree-of-freedom translational parallel mechanisms; the distal moving platform is connected to the other of the three-degree-of-freedom translational parallel mechanisms; one end of the push rod is rotatably connected to the proximal moving platform by means of a proximal kinematic pair, and the other end of the push rod passes through the distal moving platform to be connected to the end effector (5); the push rod and the distal moving platform are connected by means of a distal kinematic pair (8); the push rod can rotate along the normal of the distal moving platform, rotate along a horizontal axis parallel to the distal moving platform, and move in the direction of the central axis of the push rod relative to the distal moving platform by means of the distal kinematic pair. The six-degree-of-freedom mechanical arm is flexible and light, has good dynamic response, can perform grasping, clamping, and other operations, and can be widely applied.
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