Title:
ASYMMETRICAL DOUBLE-MECHANICAL ARM APPARATUS
Document Type and Number:
WIPO Patent Application WO/2019/041384
Kind Code:
A1
Abstract:
An asymmetrical double-mechanical arm apparatus, relating to the technical field of industrial robots, for use in resolving the technical problem of redundant degrees of freedom of mechanical arms of an existing double-arm robot. The asymmetrical double-mechanical arm apparatus comprises a base (1), a first mechanical arm (2), and a second mechanical arm (3). Inner end portions of the first mechanical arm (2) and the second mechanical arm (3) are connected to the base (1). The relationship between the degree of freedom L of the first mechanical arm (2) and the degree of freedom M of the second mechanical arm (3) satisfies the following formula: |L-M|=N, wherein N=1, 2, 3, 4, 5, 6. The first mechanical arm (2) and the second mechanical arm (3) of the asymmetrical double-mechanical arm apparatus are of an asymmetrical structure, and components of the second mechanical arm (3) is less than components of the first mechanical arm (2), i.e., the number of components in the second mechanical arm (3) is reduced. By using the structure, the transmission error between the components of the second mechanical arm (3) can be reduced, so that the accumulated error of the whole second mechanical arm (3) is reduced; moreover, the manufacturing costs of the system are lowered, and the control difficulty of the system is also reduced.
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Inventors:
LIANG JIMIN (CN)
ZHANG GONG (CN)
WANG WEIJUN (CN)
HOU ZHICHENG (CN)
GU XING (CN)
XU ZHENG (CN)
LIANG SONGSONG (CN)
LI YOUHAO (CN)
FENG WEI (CN)
HAN CHANG SOO (CN)
ZHANG GONG (CN)
WANG WEIJUN (CN)
HOU ZHICHENG (CN)
GU XING (CN)
XU ZHENG (CN)
LIANG SONGSONG (CN)
LI YOUHAO (CN)
FENG WEI (CN)
HAN CHANG SOO (CN)
Application Number:
PCT/CN2017/101686
Publication Date:
March 07, 2019
Filing Date:
September 14, 2017
Export Citation:
Assignee:
GUANGZHOU INSTITUTE OF ADVANCED TECH CHINESE ACADEMY OF SCIENCES (CN)
International Classes:
B25J9/00; B25J9/06
Foreign References:
| CN207172062U | 2018-04-03 | |||
| CN105196277A | 2015-12-30 | |||
| CN205996959U | 2017-03-08 | |||
| CN106514606A | 2017-03-22 | |||
| CN205552521U | 2016-09-07 | |||
| CN106985141A | 2017-07-28 | |||
| US5710870A | 1998-01-20 |
Attorney, Agent or Firm:
GUANGZHOU PANYU RONDA PATENT AGENCY (CN)
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