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Arrangement for an articulated arm robot and method for determining the positioning of a mount for an end effector of an articulated arm robot
Arrangement for an articulated arm robot and method for determining the positioning of a mount for an end effector of an articulated arm robot
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机译:用于铰接臂机器人的布置和用于确定铰接臂机器人的末端执行器的安装件的定位的方法
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摘要
An arrangement for an articulated arm robot having an articulated arm and having a measurement arm formed in a parallel kinematic system is provided. The articulated arm includes: joints, each of which has a joint axis; actuators, each actuator being associated with one of the joints; link elements, which connect the joints in a serial articulated arm arrangement; and a mount for an end effector, which mount is arranged at an end of the articulated arm and is configured to hold an end effector. The measurement arm includes: measurement arm joints, each of which has a measurement arm joint axis, which extends coaxially to the joint axis of an associated joint of the articulated arm; rotary encoders, each encoder being associated with one of the measurement arm joints; and measurement arm link elements, which connect the measurement arm joints in a serial measurement arm arrangement.
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