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发明公开
CN104626095A 一种三自由度连杆式可控移动操作机械臂 无效 - 撤回

一种三自由度连杆式可控移动操作机械臂
摘要：
一种三自由度连杆式可控移动操作机械臂，该机械臂的第一大臂下端安装在小车上上端与第二大臂一端连接；第二大臂另一端与第三大臂一端连接，第三大臂另一端连接在机械抓手上；第二主动杆下端安装在小车上上端与第二连杆一端连接，第二连杆另一端与第十连杆一端连接，第十连杆另一端连接在复合铰链上；第三主动杆下端安装在小车上上端与第三连杆一端连接，第三连杆另一端连接在第二大臂上；第一主动杆下端安装在小车上上端与第一连杆一端连接，第一连杆另一端连接在第一大臂上。本发明中，三台伺服电机驱动安装在小车上克服了机械臂刚性差、惯量大、关节误差容易积累、反映不灵敏等缺点，提高了工作效率和稳定性。
摘要（英）：

Provided is a three-freedom-degree connecting rod type controllable moving operation mechanical arm. The lower end of a first large arm of the mechanical arm is arranged at the upper end of a trolley and is connected with one end of a second large arm. The other end of the second large arm is connected with one end of a third large arm. The other end of the third large arm is connected with a mechanical grabbing hand. The lower end of a second driving rod is arranged at the upper end of the trolley and is connected with one end of a second connecting rod. The other end of the second connecting rod is connected with one end of a tenth connecting rod. The other end of the tenth connecting rod is connected to a composite hinge. The lower end of a third driving rod is arranged at the upper end of the trolley and is connected with one end of a third connecting rod. The other end of the third connecting rod is connected with the second large arm. The lower end of a first driving rod is arranged at the upper end of the trolley and is connected with one end of a first connecting rod. The other end of the first connecting rod is connected with the first large arm. Three servo motors are arranged on the trolley in a driving mode, the shortcomings that a mechanical arm is poor in rigidity and high in inertia, joint error accumulation is easy, and reflecting is not flexible are overcome, and working efficiency and stability are improved.

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