Four degrees of freedom link nine controllable robot arm A tape moving operation of moving the sub

Four nine degrees of freedom link robot arm controllably moving operation of the sub A tape movement, the lower end of the first swing link is connected to a first end of the robot arm connected to the upper end of the triangular connecting plate to the rotary platform; a second swing link a second end connected to the lower end of the upper end of the trolley and the triangular connecting plate; a second lifting rod end of the triangular connecting plate connected to the other end of the third terminal connected to the grip connecting plate; a first lifting rod having one end connected in a triangular connecting plate the other end of the center grip connecting plate; a first active lever lower end connected to the rotary platform is connected to the upper end of the first link is connected to a first end of the other end of the swing rod; second active lever lower end connected to the upper end of the slewing platform one end connected to the second link, the second link and the other end connected to the sliding sleeve, one end of the third link is connected to the sliding sleeve and the other end connected to the first lifting link. The present invention overcomes the poor rigidity of its large inertia, joint error is easy to accumulate, and other shortcomings reaction insensitive, high efficiency and stability.