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3 6 6 DOF BALL-DRIVEN ROBOT WITH A 3 DOF PARALLEL KINEMATIC MANIPULATOR
3 6 6 DOF BALL-DRIVEN ROBOT WITH A 3 DOF PARALLEL KINEMATIC MANIPULATOR
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机译：3 6 6自由度球驱动机器人，带有3自由度并联运动机器人
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摘要
A ball drive robot provided with a parallel mechanism of three degrees of freedom is disclosed. A ball driving robot having a three-degree-of-freedom parallel mechanism includes a ball constituting a robot body; A first table surrounding the sphere at a height lower than the center of the sphere and spaced apart from the sphere; A first motor provided on the first table and providing rotational force to the omni wheel; An omni wheel coupled to a shaft of the first motor unit and disposed below the first table; A second table disposed on the sphere; A first support coupled to the first table at one end and coupled to the second table at the other end; A control unit for controlling the first motor unit; A battery for supplying power to the first motor unit and the control unit; A third table disposed above the second table; A second support coupled to the second table at one end and coupled to the third table at the other end; And a parallel mechanism formed on the second table or the third table.
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