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Modularized reconstructible soft rope parallel mechanism experiment platform

An experimental platform and modular technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of restricting high loads, large workspace tasks, etc., and achieve convenient and flexible assembly and disassembly, convenient operation, high performance and high precision The effect of exercise output

Active Publication Date: 2014-06-04
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since the reconfigurable flexible cable parallel robot and its driving device are only driven by motors, and the frame of the robot body is a square frame structure connected by profiles with chutes, the reconfigurable flexible Cable parallel robots limit the ability of flexible cable parallel mechanisms to complete tasks with high loads and large workspaces

Method used

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  • Modularized reconstructible soft rope parallel mechanism experiment platform
  • Modularized reconstructible soft rope parallel mechanism experiment platform
  • Modularized reconstructible soft rope parallel mechanism experiment platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] figure 1 Shown is an experimental platform for a six-degree-of-freedom flexible cable parallel mechanism. The flexible cable pillars are set in six groups, and the connection points corresponding to the end effector 1 are evenly distributed and located on the outer circumference of the upper table of the end effector 1 and On the outer peripheral surface of the lower table, the connecting points on the outer peripheral surface of the upper table and the outer peripheral surface of the lower table are equidistantly staggered at circumferential positions.

[0024] In specific implementation, for figure 1 In the six-degree-of-freedom flexible cable parallel mechanism experimental platform shown, there are three connection points evenly distributed on the outer peripheral surface of the upper table of the end effector 1, and the other three connection points that are staggered one by one in the circumferential position are evenly distributed On the outer peripheral surface...

Embodiment 2

[0028] The difference from Example 1 is that for the flexible cable parallel mechanism experiment platform with five degrees of freedom, the flexible cable pillars are set in five groups, among which there are three connection points evenly distributed on the outer peripheral surface of the upper table, which are different from those in the circumferential position The other two connection points that form a one-to-one staggered pattern are evenly distributed on the outer peripheral surface of the lower table, and the orthographic projections of a total of five connection points on the plane of the lower table of the conical frustum are located at the five vertices of the regular pentagon.

Embodiment 3

[0030] The difference from Example 1 is that for the flexible cable parallel mechanism experimental platform with four degrees of freedom, the flexible cable pillars are set in four groups, in which there are two connection points evenly distributed on the outer circumference of the upper table, compared with the The other two connection points that are staggered in position are evenly distributed on the outer peripheral surface of the lower platform, and the orthographic projections of a total of four connection points on the lower platform plane of the conical frustum are located at the four vertices of the regular quadrilateral.

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Abstract

The invention discloses a modularized reconstructible soft rope parallel mechanism experiment platform. The platform is characterized by comprising a horizontally-arranged circular-ring-shaped guide rail, two to six groups of soft rope supporting columns capable of moving along the circular-ring-shaped guide rail and capable of extending and contracting vertically are arranged on the circular-ring-shaped guide rail, the soft rope supporting columns are extensible hydraulic cylinders vertically arranged on a base, a fixed pulley is arranged at the top end of each hydraulic cylinder, winches are fixedly arranged on the base, one ends of soft ropes are wound and unwound by the winches while the other ends of the same bypass the fixed pulleys and are connected on connecting points at corresponding positions of an end effector, the connecting points correspondingly connected with the soft ropes in a one-to-one manner are positioned at different positions of the end effector, the base can move on the circular-ring-shaped guide rail according to a circular-ring-shaped track, and the end effector is taken as a controlled object to realize different degrees of freedom. The modularized reconstructible soft rope parallel mechanism experiment platform is rich in module tye, parallel connection of various parameter-variable soft ropes different in degree of freedom can be realized, large-load running and high-performance movement output can be realized for performing operation experiments of large-range working space, and the platform can be used for studying kinematic and dynamic performance of various soft rope parallel mechanisms different in structure and of degree of freedom from one to six.

Description

technical field [0001] The invention relates to an experimental platform for a flexible cable parallel mechanism, in particular to a modular reconfigurable flexible cable parallel mechanism experimental platform capable of completing lifting and hoisting tasks with a high load and a large working space. Background technique [0002] The flexible cable parallel mechanism has the characteristics of simple structure, large working space, easy disassembly and assembly, reorganization, high degree of modularization, strong load capacity, fast movement speed and low price. At present, flexible cable parallel mechanisms with various degrees of freedom have been extensively researched and applied at home and abroad. Chinese patent 01127939.7 discloses a flexible cable-driven three-degree-of-freedom parallel mechanism, Chinese patent 200910070056.3 discloses a two-degree-of-freedom flexible cable parallel mechanism, and Chinese patent 200910233341.2 discloses a three-degree-of-freedo...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 訾斌朱华炳孙辉辉曾亿山
Owner HEFEI UNIV OF TECH
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