Two-degree freedom rope traction and parallel-connection mechanism

Abstract

The invention relates to a two-degree freedom rope traction and parallel-connection mechanism which comprises a rack and a dynamic platform. The mechanism is characterized by also comprising an intermediate branched chain and two groups of rope traction branched chains, the intermediate branched chain is formed by hinging two rotational joints which are vertical mutually and is installed at the center position between the rack and the dynamic platform; the two groups of rope traction branched chains have the same structures and are installed between the rack and the dynamic platform in a crossway by taking the intermediate branched chain as a center, and each group of rope traction branched chains is driven by a motor fixed on the rack, and the motor drives a rope to drive the dynamic platform through a tension mechanism and a pulley mechanism to rotate around the intermediate branched chain, thereby realizing that the dynamic platform can rotate in two mutually vertical directions. The invention is a non-redundant drive and has simple mechanism and can be controlled easily.

Description

technical field [0001] The invention relates to the field of mechanics, in particular to a two-degree-of-freedom rope traction parallel mechanism. Background technique [0002] The rope traction parallel mechanism is a closed mechanical device that converts the motion and force of several drivers into the motion and force of the moving platform (end effector) in parallel using the rope as the medium. Its constituent elements include: a frame, a driver, a rope, a moving platform, a joint connecting the rope and the moving platform, and a joint between the driver and the rope. The rope traction parallel mechanism is a new type of mechanism, which has the characteristics of simple structure, large working space and fast movement speed, so it has been widely researched and applied in the fields of large ships and ships, manufacturing and maintenance, machinery manufacturing, artificial radio telescopes, robots, etc. . The drive of the rope traction parallel mechanism is fixed,...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the disadvantages that the rope traction mechanism must adopt redundant drive and high cost, the present invention proposes a new two-degree-of-freedom rope traction parallel mechanism, which adopts the method of adding two sets of tensioning devices to realize the tension of the rope without loosening , does not require redundant drives, has the advantages of simple structure, reduced cost, easy control and operation, and flexible movement, which can realize a larger turning space

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