Reconfigurable cable-driven parallel manipulator and driving device thereof

Abstract

The invention relates to a driving device for a reconfigurable cable-driven parallel manipulator. The device comprises a motor, a drive module box body, a winding device, a pressure axis, a tensioning device, a spring spool, a plane volute spring, a spring catch, a split pin, a driving device, a driving slide block, an inner spherical guide hole and an outer spherical guide hole, wherein the drive module box body is connected with the motor; the winding device comprises a cable reel which is connected with the drive module box body; the pressure axis is fixed in a groove on two sides of the drive module box body, and is positioned above the cable reel; the tensioning device comprises a spring scroll; the spring spool is connected with the spring scroll; the spring catch is coaxially connected with the spring scroll; the driving device comprises a linear guide rail; the driving slide block is fixed on a slide block of the linear guide rail; the inner spherical guide hole is fixed on the slide block of the guide rail; and the outer spherical guide hole is arranged on the outer wall of the drive module box body. The reconfigurable cable-driven parallel manipulator comprises a manipulator body frame, a drive module connected with the manipulator body frame and a manipulator movable platform.

Description

Technical field: [0001] The invention relates to a parallel robot mechanism, in particular to a reconfigurable cable-driven parallel robot and its driving device. technical background: [0002] The parallel robot has a series of advantages such as high rigidity, strong bearing capacity, small error, and high precision. Executors to perform various operations. In the existing parallel robots, the drive branches are all supported by rigid rods. The interference between the rigid rods and the limitation of the motion range of the kinematic pair make the working space of the parallel robot smaller; in addition, the large inertia of the rigid arm makes the parallel robot drive a larger load and requires a higher power motor drive. These disadvantages limit the application fields of parallel robots. [0003] With the deepening of the research, the new type of parallel robot driven by flexible cables has gradually become a research hotspot. Different from the drive branch of th...

AI Technical Summary

Problems solved by technology

[0004] In practical applications, the flexible cable of the cable-driven parallel robot must be regularly wound on the reel, and must not fall off during the movement of the motor-driven reel, so that the flexible cable works stably and reliably; in the case of power failure, the flexible cable will Slack may cause the rope to fall off or the ropes to be entangled with each other. Therefore, it is also a problem to be solved to ensure that the rope can still maintain tension in the event of a power failure.

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