The invention discloses a parallel connection mechanism with two movement freedom degrees of a plane. The parallel connection mechanism with the two movement freedom degrees of the plane comprises a driving assembly, a first connecting rod, a second connecting rod, a movable platform and a rack, the driving assembly comprises a first driving unit and a second driving unit; the first connecting rod is connected with the first driving unit; the second connecting rod is connected with the second driving unit; the two ends of the movable platform are connected with the first connecting rod and the second connecting rod correspondingly so as to make the movable platform have two movement freedom degrees in the reference plane; and the first driving unit and the second driving unit are both connected to the rack so as to make the first driving unit, the second driving unit, the first connecting rod, the second connecting rod, the rack and the movable platform form a spaced closed-loop mechanism. The parallel connection mechanism with the two movement freedom degrees of the plane can have two movement freedom degrees in the plane, the structure is more compact and simpler, control is flexible, and the movement freedom degrees of the plane is applicable to the fields of precise operation and machining.

Parallel connection mechanism with two movement freedom degrees of plane

A five-degree-of-freedom hybrid robot based on a 2R1T parallel mechanism comprises a fixed platform, a movable platform, an L-shaped vertical rack, a moving platform, three branch chain chains and a single-degree-of-freedom swing head. The movable platform is arranged on the fixed platform. The L-shaped vertical rack is arranged on the side face of the fixed platform. The three branch chain chains are arranged between a top platform and the moving platform of the L-shaped vertical rack. The single-degree-of-freedom swing head is arranged under the moving platform. The first branch chain and the third branch chain are identical in structure. The axis, close to the L-shaped vertical rack, of a U pair of the second branch chain is parallel to the axes of two revolute pairs of the first branch chain and the third branch chain. The axis, close to a connecting rod, of the U pair is parallel to the axis of the revolute pair of the second branch chain and perpendicular to the axis of a sliding pair. The axis of the revolute pair of the second branch chain is parallel to the axes, close to the moving platform, of the two U pairs of the first branch chain and the third branch chain. According to the five-degree-of-freedom hybrid robot based on the 2R1T parallel mechanism, the structure is simple, real-time control is facilitated, the working space of a machine tool can be enlarged easily, and the sensitivity of the machine tool is improved.

Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism

The invention relates to a robot target locating and grabbing method based on binocular vision and a laser radar. The method is suitable for a robot. The robot comprises a robot body, a left mechanical arm, a right mechanical arm, a first camera arranged on the left mechanical arm, a second camera arranged on the right mechanical arm and a laser radar sensor arranged on the robot body, wherein theleft mechanical arm, the right mechanical arm, the first camera and the second camera are movably connected with the robot body. The method comprises the following steps of (a) recognizing a target object, (b) determining the position of the target object, (c) determining the distance between the robot and the target object, and (d) controlling the robot to grab the target object. According to the robot target locating and grabbing method, the high precision characteristic of laser ranging and integrity of visual information are comprehensively utilized, the robot can precisely locate and grab the target object, and the error rate that the target object is grabbed by the mechanical arms of the robot is reduced.

Robot target locating and grabbing method based on binocular vision and laser radar

The invention relates to a three-freedom-degree waist device for a humanoid robot. The three-freedom-degree waist device comprises a worm and gear assembly mechanism, a ball joint mechanism, a sliding screw mechanism and a universal joint mechanism. Through the connection of a worm gear, a worm and a direct current motor, the mechanism rotating power and movement ability are provided; and then through matching of the sliding screw mechanism and a universal joint, the power provided by the direct current motor converts linear movement into the waist rotating power under matching of the ball joint mechanism. Under driving of the direct current motor, the sliding screw mechanism and the universal joint mechanism complete waist bending movement and waist edging movement. Through mutual matching of the mechanisms, the flexibility problem of humanoid robot waist movement can be solved. Therefore, the three-freedom-degree waist device for the humanoid robot has the advantages of being simple in structure, stable in operation, economical, practical, environmentally friendly, small in space structure, convenient to produce and assemble, and the like.

Three-freedom-degree waist device for humanoid robot

The invention discloses a parallel mechanism with three spatial degrees of freedom, comprising three moving branch chains vertically arranged and a moving platform disposed in space enclosed by the three moving branch chains; each moving branch chain includes a linear feeding system, the linear feeding systems drive the moving platform to vertically move; the three moving branch chains include respectively, a moving branch chain I, a moving branch chain II and a moving branch chain III; the moving branch chain I is connected with the moving platform through a Y-shaped connector; the moving branch chain II is connected with the moving platform through a connecting rod A; the moving branch chain III is connected with the moving platform through a connecting rod B The parallel mechanism with two spatial rotational degrees of freedom and one spatial translational degree of freedom, the branch chains are simple in structure, and high dynamic characteristic and force balance characteristic of the mechanism are effectively guaranteed; X-directional and Y-directional rotational degrees of freedom of the mechanism are decoupled, and the tail moving platform thereby obtains large turning angle range and good output precision, which is an outstanding advantage of this mechanism

Parallel mechanism with three spatial degrees of freedom

The invention relates to a parallel mechanism with spatial two rotation and one translation freedom degrees, wherein the parallel mechanism with spatial two rotation and one translation freedom degrees comprises a movable platform, three fixing frames which are uniformly axially and symmetrically distributed around the movable platform, and three branched chains for connecting the fixing frames with the movable platform; each branched chain comprises a linear guide rail which is fixedly connected on the inner sides of the fixing frames and perpendicular to the movable platform, a slide block which is slidably arranged on the linear guide rail, a drive device which is fixedly connected on the fixing frames and used for driving the slide block to move, and a connecting rod, wherein one end of the connecting rod is connected with the slide block via a first hinge which has two rotation freedom degrees, the other end is connected with the movable platform via a second hinge which has two rotation freedom degrees. The parallel mechanism with spatial two rotation and one translation freedom degrees can be widely applied to five-shaft linkage parallel serial numerically-controlled machine tools.

Parallel mechanism with spatial two rotation and one translation freedom degrees

The invention relates to a leg-track composite humanoid robot. The leg-track composite humanoid robot is characterized by comprising an upper body, a head, an interactive sensor, a space positioning sensor, an environment detection sensor, arm assemblies, a waist, a crotch, leg assemblies, an energy supply system and a control system, wherein a hollow cavity for placing the space positioning sensor, the environment detection sensor, the energy supply system and the control system is formed in the upper body; the top of the upper body is rotationally connected with the head; the head is provided with the interactive sensor; the upper part of the upper body is rotationally connected with the arm assemblies, the bottom of the upper body is rotationally connected with the top of the waist, the bottom of the waist is fixedly connected with the top of the crotch, and the bottom of the crotch is fixedly connected with the leg assemblies capable of carrying out translational action and striding action; and the interactive sensor, the space positioning sensor, the environment detection sensor, the arm assemblies, the waist, the crotch, the leg assemblies and the energy supply system are electrically connected with the control system separately. The leg-track composite humanoid robot can be widely applied to the military field and the civil field.

Leg-track composite humanoid robot

The invention relates to a parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space. The parallel mechanism comprises a movable platform in the shape of an equilateral triangle, a static platform in the shape of an equilateral triangle and three branch chains connecting the movable platform and the static platform. Each branch chain comprises a connecting rod, one end of each connecting rod is connected with one corner of the movable platform through a first hinge with two rotation degrees of freedom, and the inner side of each connecting rod is provided with a linear guide rail. A sliding block is arranged on each linear guide rail in a sliding mode, a driving device for driving the corresponding sliding block to move on the corresponding linear guide rail is firmly fixed to and connected to each branch chain, and each sliding block is connected with one corner of the static platform through a second hinge with two rotation degrees of freedom.

Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space

The invention relates to a foot and shoe composite four-foot robot The foot and shoe composite four-foot robot is characterized in that the four-foot robot comprises a back supporting plate, leg assemblies, interaction sensors, a space positioning sensor, an environment scanning sensor, an executing mechanism, an energy supply system and a control system; the leg assemblies are fixedly connected to the bottom of the back supporting plate, the two interaction sensors are symmetrically arranged on one side of the top of the back supporting plate, and the top of the back supporting plate is further provided with the space positioning sensor and the environment scanning sensor; the top of the part, located on one side of the interaction sensors, of the back supporting plate is fixedly connected with the executing mechanism, and the other side of the top of the back supporting plate is fixedly connected with a bearing box used for containing the energy supply system and the control system; and the leg assemblies, the interaction sensors, the space positioning sensor, the environment scanning sensor, the executing mechanism and the energy supply system are electrically connected with the control system The foot and shoe composite four-foot robot can be widely applied to the field of rescue and relief work and industry application

Foot and shoe composite four-foot robot

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