The invention belongs to the field of
advanced manufacturing and
automation, and particularly discloses a heavy-duty lifting
robot based on a parallel wire driven mechanism. The heavy-duty lifting
robot comprises an upper platform, a lower platform and six wires. The upper platform is a fixed platform, the lower platform is a movable platform, and the upper platform is connected with the lower platform through the six wires to form a Stewart type parallel mechanism. Each
branch wire is connected with the upper platform through a fixed
pulley and a motor roller and connected with the lower platform through a crossed hinge. An
encoder is installed on a
pulley shaft of each
branch and can measure the
length change of the corresponding wire. When the center of the upper platform and the centerof the lower platform are located on the same plumb line and the movable platform of the
robot naturally droops in balance, the gravity
surface conditions are met between the circumferential
radius of the center points of the pulleys on the upper platform and the circumferential
radius of the joints of the lower platform, and the
pulley central plane, perpendicular to the rotating axis, of each
branch pulley and the corresponding gravity surface are coplanar. The practical application conditions of the heavy-duty automatic operation are sufficiently considered, and the heavy-duty lifting robot has the advantages of being high in loading capacity, high in operation precision, reasonable in structural optimization and capable of realizing six-dimensional motions.