A robot arm (500) for end-effector motion. The robot arm comprises a first actuator (4) and a first kinematic chain from the first actuator to an end-effector platform, which gives a first degree of freedom for positioning the end-effector platform. The robot arm also comprises a second actuator (5; 5b) and a second kinematic chain from the second actuator to the end-effector platform, which gives a second degree of freedom for positioning the end-effector platform. The robot arm further comprises a third actuator (6; 6b, 512) and a third kinematic chain from the third actuator (6; 6b) to the end-effector platform, which gives a third degree of freedom for positioning the end-effector platform. The robot arm also comprises a fourth actuator (50; 150) and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis (65) for an end-effector (28). The fourth kinematic chain comprises an orientation linkage (52, 57, 59; 202, 204, 207, 209; 284, 286; 251, 256, 258) mounted to the inner arm-assemblage via at least one bearing (53, 55; 206), and an orientation transmission (64B, 64A, 216; 64C, 64D, 64E; 100, 64A; 281, 279, 275; 260, 262, 264, 266, 271, 270) mounted to the end-effector platform, wherein the orientation linkage comprises an end-effector rotation link (59; 209; 258; 281) and joints (58, 60; 208, 210; 257, 259; 257, 259; 282, 280) that provide at least two degrees of freedom for each end joint of the end-effector rotation link.

A parallel mechanism comprises legs with kinematically redundant actuation for a parallel mechanism. Each of these legs comprises a first sub-leg and a second sub-leg, each said sub-leg comprising a proximal end and a distal end. A link has a proximal end and a distal end. A joint with a rotational degree of freedom (DOF) is between and common to the distal ends of each of the first sub-leg and the second sub-leg, and the proximal end of the link. A joint provides at least two rotational DOFs at the distal end of the link and is adapted to connect the distal end of the link to one end of the parallel mechanism. Joints in the first sub-leg and the second sub-leg to provide DOFs to the sub-legs and to connect the proximal ends of the sub-legs to the other end of the parallel mechanism. A degree of actuation (DOA) is provided for each of the first sub-leg and the second sub-leg to control movement of the link. A method for controlling movement of the parallel mechanism is also provided.

A flexible-rope-driven hybrid spray painting robot mechanism includes a static platform framework, a flexible-rope-guided pulley train, flexible transmission ropes, a moving platform, and drive mechanisms. A moving platform casing is driven by eight flexible ropes in parallel, to realize three degrees of freedom of translation thereof. A spray gun is connected in series to the moving platform casing via a universal joint cross, and is driven by four flexible ropes in parallel, to realize two degrees of freedom of rotation thereof. Beneficial technical effect of the present invention: The flexible ropes are used in parallel to control three degrees of freedom of translation and two degrees of freedom of rotation of the end spray gun, achieving advantages of a small movement inertia and flexible movement. Electric drive devices are placed together in a bottom layer of the static platform framework and are isolated from a spraying space.

The present invention discloses an overhead machining device based on a portable 5-DOF full parallel module. The overhead machining device based on a portable 5-DOF full parallel module comprises: a sliding table for moving a parallel module to increase the stroke of the machine tool such that the machine tool can machine large components and can also simultaneously conduct the mounting and the machining of workpieces at different stations; a CNC rotary table; and a portable 5-DOF full parallel module. The portable parallel module has a large swing angle range, can conduct the conversion between vertical and horizontal machining modes and can achieve five-face machining in one setup in cooperation with the CNC rotary table. The parallel module can move flexibly, and can machine large and complex components after mounted on the sliding table.

A robot arm (500) for end-effector motion. The robot arm comprises a first actuator (4) and a first kinematic chain from the first actuator to an end-effector platform, which gives a first degree of freedom for positioning the end-effector platform. The robot arm also comprises a second actuator (5; 5b) and a second kinematic chain from the second actuator to the end-effector platform, which gives a second degree of freedom for positioning the end-effector platform. The robot arm further comprises a third actuator (6; 6b, 512) and a third kinematic chain from the third actuator (6; 6b) to the end-effector platform, which gives a third degree of freedom for positioning the end-effector platform. The robot arm also comprises a fourth actuator (50; 150) and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis (65) for an end-effector (28). The fourth kinematic chain comprises an orientation linkage (52, 57, 59; 202, 204, 207, 209; 284, 286; 251, 256, 258) mounted to the inner arm-assemblage via at least one bearing (53, 55; 206), and an orientation transmission (64B, 64A, 216; 64C, 64D, 64E; 100, 64A; 281, 279, 275; 260, 262, 264, 266, 271, 270) mounted to the end-effector platform, wherein the orientation linkage comprises an end-effector rotation link (59; 209; 258; 281) and joints (58, 60; 208, 210; 257, 259; 257, 259; 282, 280) that provide at least two degrees of freedom for each end joint of the end-effector rotation link.

A robotic system includes a support structure, a platform, a center serial chain, outer serial chains, motors, a sensor, and a control module. The center serial chain connects a center of the platform to the support structure and includes first joints connected to a linear sliding shaft. The outer serial chains are disposed radially outward of the center serial chain. Each of the outer serial chains includes second joints connecting a bar to the platform and the supporting structure. The motors are connected to the outer serial chains. The sensor is connected to the platform and detects at least one of force or torque applied by a human operator on the platform and generates a signal indicative thereof. The control module controls the motors based on the signal to assist the human operator in at least one of moving or rotating the platform.

A 2 DOFs decoupling parallel mechanism provided by the present disclosure comprises a fixed platform, a rotation assembly, a moving platform, an arc kinematic chain, and an arc rod. In the 2 DOFs decoupling parallel mechanism, the rotation assembly can drive the moving platform to rotate by 360 degrees around a direction being perpendicular to the fixed platform, the arc rod reciprocates along the tangential direction of the arc kinematic chain to enable the moving platform to rotate around an axis of a plane where the arc kinematic chain is located. In this way, the rotations of the moving platform in two directions are respectively driven by driving units in two directions and being independent from each other, such that the two rotation actions of the mechanism have decoupling capability.

A control system for a neck mechanism includes a perception system configured to track movement of an object, and a perception control system that controls a rotary motor to yaw a platform and controls a first linear actuator and a second linear actuator that is in parallel with the first linear actuator to pitch and roll the platform according to a target position of the platform. The perception system tracks movement of the object by estimating its position and pose in 3D space and the platform is moved according to a vision-based position and pose estimation result.

A flexible-rope-driven hybrid spray painting robot mechanism includes a static platform framework, a flexible-rope-guided pulley train, flexible transmission ropes, a moving platform, and drive mechanisms. A moving platform casing is driven by eight flexible ropes in parallel, to realize three degrees of freedom of translation thereof. A spray gun is connected in series to the moving platform casing via a universal joint cross, and is driven by four flexible ropes in parallel, to realize two degrees of freedom of rotation thereof. Beneficial technical effect of the present invention: The flexible ropes are used in parallel to control three degrees of freedom of translation and two degrees of freedom of rotation of the end spray gun, achieving advantages of a small movement inertia and flexible movement. Electric drive devices are placed together in a bottom layer of the static platform framework and are isolated from a spraying space.

A control system for a neck mechanism includes a perception system configured to track movement of an object, and a perception control system that controls a rotary motor to yaw a platform and controls a first linear actuator and a second linear actuator that is in parallel with the first linear actuator to pitch and roll the platform according to a target position of the platform. The perception system tracks movement of the object by estimating its position and pose in 3D space and the platform is moved according to a vision-based position and pose estimation result.