CN105415352A - Six-DOF (degrees of freedom) three-dimensional-manipulation robot - Google Patents
Six-DOF (degrees of freedom) three-dimensional-manipulation robot Download PDFInfo
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- CN105415352A CN105415352A CN201610033705.2A CN201610033705A CN105415352A CN 105415352 A CN105415352 A CN 105415352A CN 201610033705 A CN201610033705 A CN 201610033705A CN 105415352 A CN105415352 A CN 105415352A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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Abstract
The invention relates to a six-DOF (degrees of freedom) three-dimensional-manipulation robot. The six-DOF three-dimensional-manipulation robot comprises a pedestal bearing, a horizontal sliding table, a vertical moving arm, an upper arm lever, a forearm lever, a swing flange and an output shaft; the pedestal bearing consists of vertical upright columns and horizontal crossbeams supported on the upright columns; the horizontal sliding table is arranged on the crossbeams and does horizontal translation through pinion and rack transmission, so as to form a horizontal movement degree of freedom; the vertical moving arm is connected with the horizontal sliding table and does vertical movement through pinion and rack transmission, so as to form a vertical movement degree of freedom; the upper arm lever is connected to the lower end of the vertical moving arm and does rotational movement, so as to form a first rotational degree of freedom; the forearm lever is connected to the front end of the upper arm lever and does rotational movement, so as to form a second rotational degree of freedom; the swing flange is connected to the front end of the forearm lever and does rotational movement, so as to form a third rotational degree of freedom; the output shaft is connected to the side end of the swing flange and does rotational movement, so as to form a fourth rotational degree of freedom; the output shaft achieves operation of a predetermined trajectory in a three-dimensional space through the combined action of the six degrees of freedom. The six-DOF three-dimensional-manipulation robot has the advantages of simple structure, high reliability, large working space and the like.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of six degree of freedom three-dimensional manipulating robot, belong to robotics.
Background technology
Along with the development of computer and automatic control technology, robot become enhance productivity, one of the important automated production reducing labour intensity.Robot is used for industrial circle, be then called as industrial robot; If for the life of serving people, be then called as service robot; If for agricultural automation, be then called as agricultural robot.According to the difference of node configuration, robot can be divided into parallel robot and serial manipulator.The complicated structure of parallel robot, is used for the fields such as fast removal, and serial manipulator Application comparison is extensive, and its structure is simple, working space is also larger.Industrial robot common at present mainly contains Three Degree Of Freedom, four-degree-of-freedom, five degree of freedom, six degree of freedom, if add a redundant degree of freedom again, becomes seven freedom.The cost of Three Degree Of Freedom, four-degree-of-freedom robot is lower, but flexibility is poor, can only be used for that some action requests are simple, the uncomplicated occasion of movement locus.Although traditional robot with five degrees of freedom has taken into account cost and flexibility, by number of degrees of freedom, quantitative limitation, its working space often can not meet application requirement.At present, the universal six degree of freedom serial manipulator on market is expensive, and complicated operation sometimes in order to increase working space, can only be selected the six-DOF robot of more heavy load specification, thus cause cost significantly to improve.
Except universal six-DOF robot, through finding the literature search of prior art, application number be 201520080778.8 Chinese patent provide a kind of six-DOF robot arm, body position regulatory function is achieved by arranging L shape index lever, special-shaped block and lower cylinder body, contributing to the spacing of spring on the one hand by arranging expansion link, spring and dop, also contributing to the deck damping on body on the other hand.But this invention adopts housing structure, cannot realize the high-precision motor closed-loop control of robot, and working range is limited.
Retrieval also finds, publication number is that the Chinese patent of CN104608118A provides a kind of three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot, between moving platform with fixed platform, be provided with the side chain that three structures are identical, each side chain includes connecting rod motor, two connecting rods, adapter sleeve and double leval jib assemblies.This robot is small-sized parallel robot, because working space is limited, and is not suitable for the working space field operation of Long Distances.
Retrieval also finds, publication number is that the Chinese patent of CN203726484U provides a kind of six-DOF robot, and its motor housing is fixed on base, and output shaft vertically upward, and is connected on corner block; The output shaft of waist motor is connected to and is positioned on large arm thin plate one end of its side, and the other end of large arm thin plate is connected on the output shaft of shoulder motor; The housing nests of shoulder motor is on the first Type B corner block.This robot architecture and general six-DOF robot similar, but due to connecting elements adopt thin-slab structure, there is certain defect in its Rigidity and strength.There is less deficiency equally in the working space of this robot.
In addition, traditional chain for realizing horizontal rectilinear motion mode or bel-drivenn precision and efficiency comparison low, few in robot, and adopt trapezoidal screw or ball-screw, then trapezoidal screw transmission efficiency is low, is not suitable for coming and going transmission at a high speed, and drive gap is large, backhaul low precision, is only suitable for being used in vertical-transmission; And although ball-screw transmission efficiency is high, precision is high, and noise is low, is applicable at a high speed coming and going transmission, can not self-locking, and when horizontal conveyor, can be out of shape if horizontal throw is large because conducting oneself with dignity sagging.
Summary of the invention
The present invention is directed to above shortcomings in prior art, a kind of six degree of freedom three-dimensional manipulating robot is provided, there is large horizontal throw, to increase working space, can reduce costs, the flexibility of robot work can be improved again.
The technical scheme that the present invention solves its technical problem is:
A kind of six degree of freedom three-dimensional manipulating robot, comprises base support, horizontal sliding table, vertical transfer arm, large armed lever, little armed lever, swings flange and output shaft; Wherein,
Base support is fixed on terrestrial reference or is arranged on other mobile platforms, is made up of vertical column and the crossbeam be flatly supported on this column;
The crossbeam that horizontal sliding table is arranged on base support does the translation of horizontal direction by rack pinion, is formed and move horizontally the free degree;
Vertical transfer arm is connected horizontal sliding table and is done the movement of vertical direction by rack pinion, forms vertical one-movement-freedom-degree;
Large armed lever is connected to the lower end of vertical transfer arm and rotates, and forms the first rotational freedom;
Little armed lever is connected to the front end of large armed lever and rotates, and forms the second rotational freedom;
Swing flange be connected to the front end of little armed lever and rotate, form three-rotational-freedom;
Output shaft is connected to the side of swing flange and rotates, and forms the 4th rotational freedom;
Output shaft, by moving horizontally the acting in conjunction of the free degree, vertical one-movement-freedom-degree, the first rotational freedom, the second rotational freedom, three-rotational-freedom and the 4th rotational freedom, realizes the operation of desired trajectory in three dimensions.
Preferably, described horizontal sliding table is connected with the crossbeam of base support with horizontal rack by horizontal motor, horizontal gear; Wherein, horizontal motor is arranged on horizontal sliding table, and horizontal gear is connected on the output shaft of horizontal motor, and horizontal rack to be fixed on crossbeam and to engage with horizontal gear; Horizontal motor drives horizontal sliding table translation in the horizontal direction on the crossbeam of base support by horizontal gear and horizontal rack.
Preferably, the crossbeam of described base support increases length according to actual needs, and to increase the working space of described robot, described horizontal rack is correspondingly formed by connecting by some rack segments.
Preferably, the maximum length of described horizontal rack is 90 meters, and the column of described base support is at least 3.
Preferably, described vertical transfer arm is connected with described horizontal sliding table with guide rail by motor vertical, vertical gear, vertical tooth rack, slide block; Wherein, motor vertical is arranged on horizontal sliding table, and vertical gear is connected on the output shaft of motor vertical, vertical tooth rack to be fixed on vertical transfer arm and with vertical gears meshing, guide rail is fixed on vertical tooth rack, and slide block to be fixed on horizontal sliding table and can slippage on guide rail; Motor vertical drives vertical transfer arm to move in the vertical direction under the guiding of slide block and guide rail by vertical gear and vertical tooth rack.
Preferably, described large armed lever is connected with described vertical transfer arm with large arm motor by large arm decelerator; Wherein, large arm decelerator is fixed on the bottom of vertical transfer arm, and one end connects large arm motor, and the other end connects large armed lever; Large arm motor drives large armed lever to rotate relative to vertical transfer arm by large arm decelerator;
Described little armed lever is connected with described large armed lever with forearm motor by forearm decelerator; Wherein, forearm decelerator is fixed on the front portion of large armed lever, and one end connects forearm motor, and the other end connects little armed lever; Forearm motor drives little armed lever to rotate relative to large armed lever by forearm decelerator;
Described swing flange is connected with described little armed lever with oscillating motor by swinging decelerator; Wherein, swing the front portion that decelerator is fixed on little armed lever, one end connects oscillating motor, and the other end connects swing flange; Oscillating motor drives swing flange to rotate relative to little armed lever by swinging decelerator;
Described output shaft is by output shaft decelerator and output shaft motor and described swing Flange joint; Wherein, output shaft decelerator is fixed on the bottom swinging flange, and one end connects output shaft motor, and the other end connects output shaft; Output shaft motor is rotated around own axes by output shaft decelerator driver output axle.
Preferably, described large armed lever to be parallel to each other relative to the rotation of little armed lever with swing flange relative to the rotation of large armed lever relative to the rotation of vertical transfer arm, little armed lever and vertical with the horizontal translation direction of described horizontal sliding table, and the rotation of described output shaft is with to swing flange mutually vertical relative to the rotation of little armed lever.
Preferably, described large arm decelerator is planetary reduction gear, harmonic speed reducer or RV.
Preferably, described forearm decelerator, swing decelerator and output shaft decelerator are harmonic speed reducer.
Compared with prior art, the present invention has following beneficial effect:
This described six degree of freedom three-dimensional manipulating robot, it takes into account flexibility, precision and cost, has the advantages such as structure is simple, reliability is high, working space is large.Especially, if the horizontal rack length on increase base support, then greatly can increase the working space of this six degree of freedom three-dimensional manipulating robot, seamless spliced by by maximum 45 2 meters long single rack sections, the maximum range of movement reaching the horizontal free degree of 90 meters, and can to reach ± the horizontal positioning accuracy of 0.1mm.
In addition, this horizontal shifting platform adopts gear & rack structure, and add stability and the bearing capacity of robot, transmission accuracy is also higher.Vertical transfer arm also adopts gear & rack structure, reduce further cost.The swing of large arm have employed planetary reduction gear, and this decelerator has that speed reducing ratio is large, good reliability, can transmit the advantages such as larger torque.If in order to improve precision, this planetary reduction gear also can substitute with harmonic speed reducer or RV.All the other cradle heads all have employed harmonic speed reducer, and this decelerator has that speed reducing ratio is large, without backlash, number of meshes is many, transmission efficiency is high, positioning precision advantages of higher, and therefore the present invention can realize higher end positioning precision.Because end output shaft can install various different end effector, therefore described robot can be used in the various different operation tasks such as 3 D-printing, food processing, carrying, assembling, welding, gluing, agricultural automation.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention.
Fig. 2 is side view of the present invention.
In figure:
1 base support, 2 horizontal rack, 3 horizontal sliding tables, 4 horizontal gears, 5 vertical transfer arms, 6 large armed levers, 7 little armed levers, 8 horizontal motor, 9 swing flange, 10 output shafts, 11 guide rails, 12 slide blocks, 13 vertical tooth racks, 14 vertical gears, 15 bearings, 16 motor verticals, 17 large arm motors, 18 large arm decelerators, 19 bellowss, 20 forearm motors, 21 forearm decelerators, 22 oscillating motors, 23 swing decelerator, 24 output shaft motors, 25 output shaft decelerators, about 26
drag chain, 27 horizontal drag chains.
Detailed description of the invention
The invention provides a kind of six degree of freedom three-dimensional manipulating robot, have that structure is simple, reliability is high, end positioning precision is high, working space is large, flexibility is higher, low cost and other advantages.This robot end, corresponding end effector is installed, the various job tasks such as 3 D-printing, food processing, carrying, assembling, welding, gluing, agricultural automation can be completed.
Elaborate to embodiments of the invention below, following embodiment, premised on technical solution of the present invention, gives detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, the amendment of done any equivalence, replacement, modification and improvement, all should belong to protection scope of the present invention.
Refer to Fig. 1, diagram six degree of freedom three-dimensional manipulating robot comprises base support 1, horizontal sliding table 3, vertical transfer arm 5, large armed lever 6, little armed lever 7, swings flange 9 and output shaft 10.Described base support 1 is fixed on terrestrial reference or is arranged on other mobile platforms, is made up of vertical column and the crossbeam be flatly supported on this column.The crossbeam that described horizontal sliding table 3 is arranged on described base support 1 does the translation of horizontal direction by rack pinion, is formed and move horizontally the free degree.Described vertical transfer arm 5 is connected this horizontal sliding table 3 and is done the movement of vertical direction by rack pinion, forms vertical one-movement-freedom-degree.Described large armed lever 6 is connected to the lower end of this vertical transfer arm 5 and rotates, and forms the first rotational freedom.Described little armed lever 7 is connected to the front end of this large armed lever 6 and rotates, and forms the second rotational freedom.Described swing flange 9 is connected to the front end of this little armed lever 7 and rotates, and forms three-rotational-freedom.Described output shaft 10 is connected to the side of this swing flange 9 and rotates, and forms the 4th rotational freedom.
Described output shaft 10, by moving horizontally the acting in conjunction of the free degree, vertical one-movement-freedom-degree, the first rotational freedom, the second rotational freedom, three-rotational-freedom and the 4th rotational freedom, realizes the operation of desired trajectory in three dimensions.
Incorporated by reference to consulting Fig. 2, described horizontal sliding table 3 is connected with the crossbeam of horizontal rack 2 with described base support 1 by horizontal motor 8, horizontal gear 4.Wherein, horizontal motor 8 is fixedly mounted on horizontal sliding table 3; Horizontal gear 4 is connected on the output shaft of horizontal motor 8; Horizontal rack 2 to be fixedly mounted on the crossbeam of base support 1 by corner connector and to engage with horizontal gear 4, this horizontal rack 2 is provided with dust cover, drops on tooth bar to prevent dust and other impurity.Described horizontal motor 8 drives the translation in the horizontal direction on the guide rail of described base support 1 crossbeam of described horizontal sliding table 3 by described horizontal gear 4 and horizontal rack 2.
The crossbeam of described base support 1 can increase length according to actual needs, and to increase the working space of described robot flexibly, correspondingly, described horizontal rack 2 also increases length, is formed by connecting by some rack segments.Meet the action need of Long Distances like this, but cost increases limited, but function improves greatly.
Especially, by being undertaken seamless spliced by the single rack section of maximum 45 2 meters long, the maximum range of movement reaching the horizontal free degree of 90 meters, can reach ± the horizontal positioning accuracy of 0.1mm simultaneously.The length of single rack section can adjust according to the condition of the requirement of reality and processing, and be not limited to 2 meters, the quantity of rack segments also wants respective change.If the length of horizontal rack 2 is more than 5 meters, can increase column in the centre position of described base support 1 crossbeam according to loading condition, namely the column of this base support 1 is at least 3, is out of shape because of gravity to prevent described horizontal rack 2.
Described vertical transfer arm 5 is connected with described horizontal sliding table 3 with guide rail 11 by motor vertical 16, vertical gear 14, vertical tooth rack 13, slide block 12.Wherein, motor vertical 16 is arranged on horizontal sliding table 3, vertical gear 14 is connected on the output shaft of motor vertical 16, vertical tooth rack 13 to be fixed on vertical transfer arm 5 and to engage with vertical gear 14, guide rail 11 is fixed on vertical tooth rack 13, slide block 12 is fixed on horizontal sliding table 3, and can slippage on guide rail 11, and guide rail 11 plays guiding by slide block 12 to vertical transfer arm 5.Described motor vertical 16 drives described vertical transfer arm 5 to move in the vertical direction under the guiding of described slide block 12 and guide rail 11 by described vertical gear 14 and vertical tooth rack 13, this moving direction and described horizontal sliding table 3 to move horizontally direction vertical, realize described vertical transfer arm 5 moving both vertically relative to described base support 1.
Described large armed lever 6 is connected with described vertical transfer arm 5 with large arm motor 17 by large arm decelerator 18.Wherein, large arm decelerator 18 is fixed on the bottom of vertical transfer arm 5, and this large arm decelerator 18 one end connects large arm motor 17, and the other end connects large armed lever 6.Described large arm motor 17 drives described large armed lever 6 to rotate relative to described vertical transfer arm 5 by described large arm decelerator 18.
Described little armed lever 7 is connected with described large armed lever 6 with forearm motor 20 by forearm decelerator 21.Wherein, forearm decelerator 21 is fixed on the front portion of large armed lever 6, and this forearm decelerator 21 one end connects forearm motor 20, and the other end connects little armed lever 7.Described forearm motor 20 drives described little armed lever 7 to rotate relative to described large armed lever 6 by described forearm decelerator 21.
Described swing flange 9 is connected with described little armed lever 7 with oscillating motor 22 by swinging decelerator 23.Wherein, swing decelerator 23 is mounted on little armed lever 7 front portion by rebound, this swing decelerator 23 one end connects oscillating motor 22, and the other end connects swing flange 9.Described oscillating motor 22 drives described swing flange 9 to rotate relative to described little armed lever 7 by described swing decelerator 23.
Described output shaft 10 is connected with described swing flange 9 with output shaft motor 24 by output shaft decelerator 25.Wherein, output shaft decelerator 25 is fixed on the side swinging flange 9 bottom, and one end connects output shaft motor 24, and the other end connects output shaft 10.Described output shaft motor 24 drives described output shaft 10 to rotate around own axes by described output shaft decelerator 25.Described output shaft 10 can install different end effectors as required, thus complete various operation task.
In the present embodiment, described large arm decelerator 18 have employed planetary reduction gear, and this decelerator has that speed reducing ratio is large, good reliability, can transmit the advantages such as larger torque.If in order to improve precision, this large arm decelerator 18 also can substitute with harmonic speed reducer or RV.Described forearm decelerator 21, swing decelerator 23 and output shaft decelerator 25 all have employed harmonic speed reducer, this decelerator has that speed reducing ratio is large, without backlash, number of meshes is many, transmission efficiency is high, positioning precision advantages of higher, and therefore the present invention can realize higher end positioning precision.
In the present embodiment, described large armed lever 6 to be parallel to each other relative to the rotation of little armed lever 7 relative to rotation and the swing flange 9 of large armed lever 6 relative to the rotation of vertical transfer arm 5, little armed lever 7 and vertical with the horizontal translation direction of described horizontal sliding table 3, and the rotation of described output shaft 10 is mutually vertical relative to the rotation of little armed lever 7 with described swing flange 9.Naturally as required, the rotation of large armed lever 6, the rotation of little armed lever 7 and swing the rotation of flange 9 also can be not parallel but be mutually an oblique angle, also with the horizontal translation direction out of plumb of horizontal sliding table 3; Equally, the rotation of the rotation of output shaft 10 and described swing flange 9 also can out of plumb mutually.
Described six degree of freedom three-dimensional manipulating robot also includes the bellows 19, be up and down interconnected
drag chain26 and horizontal drag chain 27, the cable of each component is upper and lower by this
drag chain26, horizontal drag chain 27 and bellows 19 finally converge to regulator cubicle.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (9)
1. a six degree of freedom three-dimensional manipulating robot, is characterized in that: comprise base support, horizontal sliding table, vertical transfer arm, large armed lever, little armed lever, swing flange and output shaft; Wherein,
Base support is fixed on terrestrial reference or is arranged on other mobile platforms, is made up of vertical column and the crossbeam be flatly supported on this column;
The crossbeam that horizontal sliding table is arranged on base support does the translation of horizontal direction by rack pinion, is formed and move horizontally the free degree;
Vertical transfer arm is connected horizontal sliding table and is done the movement of vertical direction by rack pinion, forms vertical one-movement-freedom-degree;
Large armed lever is connected to the lower end of vertical transfer arm and rotates, and forms the first rotational freedom;
Little armed lever is connected to the front end of large armed lever and rotates, and forms the second rotational freedom;
Swing flange be connected to the front end of little armed lever and rotate, form three-rotational-freedom;
Output shaft is connected to the side of swing flange and rotates, and forms the 4th rotational freedom;
Output shaft, by moving horizontally the acting in conjunction of the free degree, vertical one-movement-freedom-degree, the first rotational freedom, the second rotational freedom, three-rotational-freedom and the 4th rotational freedom, realizes the operation of desired trajectory in three dimensions.
2. six degree of freedom three-dimensional manipulating robot according to claim 1, is characterized in that: described horizontal sliding table is connected with the crossbeam of base support with horizontal rack by horizontal motor, horizontal gear; Wherein, horizontal motor is arranged on horizontal sliding table, and horizontal gear is connected on the output shaft of horizontal motor, and horizontal rack to be fixed on crossbeam and to engage with horizontal gear; Horizontal motor drives horizontal sliding table translation in the horizontal direction on the crossbeam of base support by horizontal gear and horizontal rack.
3. six degree of freedom three-dimensional manipulating robot according to claim 2, it is characterized in that: the crossbeam of described base support increases length according to actual needs, to increase the working space of described robot, described horizontal rack is correspondingly formed by connecting by some rack segments.
4. six degree of freedom three-dimensional manipulating robot according to claim 3, is characterized in that: the maximum length of described horizontal rack is 90 meters, and the column of described base support is at least 3.
5. six degree of freedom three-dimensional manipulating robot according to claim 1, is characterized in that: described vertical transfer arm is connected with described horizontal sliding table with guide rail by motor vertical, vertical gear, vertical tooth rack, slide block; Wherein, motor vertical is arranged on horizontal sliding table, and vertical gear is connected on the output shaft of motor vertical, vertical tooth rack to be fixed on vertical transfer arm and with vertical gears meshing, guide rail is fixed on vertical tooth rack, and slide block to be fixed on horizontal sliding table and can slippage on guide rail; Motor vertical drives vertical transfer arm to move in the vertical direction under the guiding of slide block and guide rail by vertical gear and vertical tooth rack.
6. six degree of freedom three-dimensional manipulating robot according to claim 1, is characterized in that: described large armed lever is connected with described vertical transfer arm with large arm motor by large arm decelerator; Wherein, large arm decelerator is fixed on the bottom of vertical transfer arm, and one end connects large arm motor, and the other end connects large armed lever; Large arm motor drives large armed lever to rotate relative to vertical transfer arm by large arm decelerator;
Described little armed lever is connected with described large armed lever with forearm motor by forearm decelerator; Wherein, forearm decelerator is fixed on the front portion of large armed lever, and one end connects forearm motor, and the other end connects little armed lever; Forearm motor drives little armed lever to rotate relative to large armed lever by forearm decelerator;
Described swing flange is connected with described little armed lever with oscillating motor by swinging decelerator; Wherein, swing the front portion that decelerator is fixed on little armed lever, one end connects oscillating motor, and the other end connects swing flange; Oscillating motor drives swing flange to rotate relative to little armed lever by swinging decelerator;
Described output shaft is by output shaft decelerator and output shaft motor and described swing Flange joint; Wherein, output shaft decelerator is fixed on the bottom swinging flange, and one end connects output shaft motor, and the other end connects output shaft; Output shaft motor is rotated around own axes by output shaft decelerator driver output axle.
7. six degree of freedom three-dimensional manipulating robot according to claim 6, it is characterized in that: described large armed lever to be parallel to each other relative to the rotation of little armed lever with swing flange relative to the rotation of large armed lever relative to the rotation of vertical transfer arm, little armed lever and vertical with the horizontal translation direction of described horizontal sliding table, the rotation of described output shaft is with to swing flange mutually vertical relative to the rotation of little armed lever.
8. six degree of freedom three-dimensional manipulating robot according to claim 6, is characterized in that: described large arm decelerator is planetary reduction gear, harmonic speed reducer or RV.
9. six degree of freedom three-dimensional manipulating robot according to claim 6, is characterized in that: described forearm decelerator, swing decelerator and output shaft decelerator are harmonic speed reducer.
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