Movable Hybrid Machining Robot based on Three-Degree-of-Freedom Force-Controlled Parallel Module

摘要

A movable hybrid machining robot based on three-degree-of-freedom force-controlled parallel module, the robot comprising: an automated guided vehicle (III-11) configured to ensure a large moving stroke of the robot; a linear guide rail (III-12) configured to control movement of the hybrid robot when the automated guided vehicle (III-11) is parked; a planar two-degree-of-freedom hybrid robotic arm configured to control in-plane two-degree-of-freedom motion, wherein the in-plane two-degree-of-freedom motion is driven by a motor on a base (21); and a three-degree-of-freedom, force-controlled parallel machining module (I) configured to control one translational degree of freedom and two rotational degrees of freedom and to control positive pressure on an end effector (564). In this robot, the three-degree-of-freedom, force-controlled parallel machining module (I) is mounted at the end of the planar two-degree-of-freedom hybrid robotic arm to cooperate with the linear guide rail (III-12) and the automated guided vehicle (III-11), so as to enlarge a high-quality workspace range of the robot, such that processing work of all curved surfaces of a large structural part is achieved in a single clamping process, and the processing quality is ensured by controlling the force on the end effector (564).