Three-freedom parallel mechanism driven by flexible rope

A cable-driven, degree-of-freedom technology, applied to manipulators, manufacturing tools, etc., can solve problems such as limited working space and range of motion, large component mass and moment of inertia, and difficulty in achieving high-speed motion, reducing quality and power consumption Low, simple structure effect

Inactive Publication Date: 2003-02-19
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In the existing parallel robot mechanisms, most of them use rigid components as the transmission mechanism, and the mass and moment of inertia of the components are large, making it difficult to achieve high-speed motion
In addition, due to the small range of joint rotation, its working space and range of motion are limited

Method used

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  • Three-freedom parallel mechanism driven by flexible rope
  • Three-freedom parallel mechanism driven by flexible rope
  • Three-freedom parallel mechanism driven by flexible rope

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0016] Such as figure 1 As shown, the parallel mechanism of the present invention is composed of three groups of drive units and a motion platform 8, wherein: each drive unit includes a base 1, a reel 2 installed with a motor, a column 5, a counterweight 6, an upper, Fixed pulleys 7, 3 and steel wire rope 4 are placed below, and the column 5 is vertically fixed on the machine base 1. There is a fixed pulley on the top and bottom respectively, and the steel wire rope 4 is wound on the reel 2 with a spiral groove on it. When the reel 2. When rotating in the forward and reverse directions, the steel wire rope 4 can be rolled in or released; the steel wire rope 4 drawn from the reel 2 is connected to the lower part of the counterweight 6 through the lower fixed pulley 3, and the steel wire 4 drawn from the upper part of the counterweight 6 bypasses The upper fixed pulley 7 is connected to the motion platform 8; the wire ropes 4 drawn from the three sets of drive units are all conn...

Embodiment 2

[0021] Such as figure 2 As shown, the difference between the present invention and Embodiment 1 is: the reel 2 installed with the motor is fixed at a high place, six fixed pulleys are omitted, and five steel wire ropes 4 are wound side by side on the reel 2, and one end of the steel wire rope 4 is It is connected to the motion platform 8, and the other end is connected to the counterweight 6. The friction between the reel 2 and the wire rope 4 is used to transmit motion and power. The driving principle is similar to that of an elevator; three sets of drive units are used to adjust the length of the three wire ropes. The motion platform 8 can realize pitching, rolling and moving along the vertical direction.

[0022] The motion platform 8 in this embodiment forms a triangle and is an equilateral triangle.

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Abstract

A flexible cable driven three-freedom parallel mechanism is composed of three drive units and moving platform. The said driven unit comprises base, reel installed along with motor and vertical column. The steel wire cable wound on the said reel passes through lower static pulley, counterweight and upper static pulley and then fixed to the moving platform. The steel wire cables for threed drive units are all fixed to the moving platform to form a triangle. Its advantages are big working space and high stressing performance and speed.

Description

technical field [0001] The invention relates to a parallel robot mechanism, in particular to a cable-driven three-degree-of-freedom parallel mechanism. technical background [0002] In the existing parallel robot mechanisms, most of them use rigid components as the transmission mechanism, and the mass and moment of inertia of the components are large, so it is difficult to achieve high-speed movement. In addition, due to the small range of joint rotation, its working space and range of motion are limited. Contents of the invention [0003] In order to overcome the insufficiency of the parallel mechanism with rigid components and make the parallel mechanism with less degrees of freedom meet wider application requirements, the purpose of the present invention is to provide an The three-degree-of-freedom parallel mechanism is driven by a flexible cable with one-dimensional translation. [0004] The technical solution of the present invention is: it is composed of three grou...

Claims

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Application Information

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IPC IPC(8): B25J3/00B25J11/00
Inventor 赵明扬王洪光房立金陈书宏徐志刚郭立新
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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