Arrival target point contemplation type position attitude non interference type arm mechanism

摘要

Abstract Topic Translation and rotation of the robot hand interfereWithout ru thing, therefore stooge position of the hand/spirit of occurrence powerAs it is possible, to improve degree, the point of the handWe to be opposite to the job point always, the operator job object ones and hanPosition of do and recognizing attitude being easy, rate of work and the workThe arm mechanism which can improve industry precision is offered SolutionsWith respect to base world coordinate system possessing and endTo possess system of coordinates 9 in point on effector 5, endoehueRotary akuchiyu each classified by axis which drives the revolution around each axis of kutaeta 13a and b, average of job object things such as 3 c and uniaxial directionThe translational actuator 17 which drives Shank, the translational control drive machineBeing connected to structure 10, attitude with respect to world coordinate system of job object onesThe attitude retention mechanism inside the horizontal plane of 18 which is maintained uniformly and the tableIt possesses actuator 24a and b which advance side by side.