The invention discloses a novel series-parallel hybrid six-foot ground mobile operation robot device, and particularly relates to a six-foot ground mobile operation robot device which takes a novel series-parallel hybrid six-foot mobile device as a mobile platform and takes a UPU-stewart platform parallel mechanism as an operation arm. Comprising a platform body, a series mechanical leg set, a parallel mechanical leg set, a lifting and power device, a connection stabilizing device and a UPU-stewart platform parallel mechanism operation arm. Wherein the series mechanical leg group and the parallel mechanical leg group form a series-parallel series-parallel mechanism through the device body, do not interfere with each other, have respective working spaces, form a triangular stable structure and have a stable state. The device has the characteristics of novel structure, high stability, wide application range, high degree of freedom of the operating arm, high rigidity, high bearing capacity, no accumulation of position errors and the like.
本发明公开了一种一种新型串并混联式六足地面移动作业机器人装置,尤其涉及一种以新型串并混联式六足移动装置为移动平台、以UPU‑stewart平台并联机构为操作臂的六足地面移动作业机器人装置,包括平台主体、串联机械腿组、并联机械腿组、升降及动力装置、联接稳定装置以及UPU‑stewart平台并联机构操作臂。其中串联机械腿组、并联机械腿组通过装置本体形成串并混联式机构,相互不产生干涉,具有各自的工作空间,且之间形成三角形稳定结构,具有稳定的状态。该装置具有结构新、稳定性强、应用范围广以及操作臂自由度高、刚度大、承载能力强、位置误差不累计等特点。
Posture-adjustable six-foot ground moving operation device carrying stewart mechanism
一种搭载stewart机构的可调姿六足地面移动作业装置
2023-03-14
Patent
Electronic Resource
Chinese
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