Rope Drive Decoupling Mechanism Based on Gear Train and Its Decoupling Method

Abstract

The invention discloses a rope drive decoupling mechanism based on a gear train and a decoupling method thereof, and particularly relates to a multi-joint rope drive series mechanical arm system. The mechanism comprises a fixed wheel, a follower wheel, a driving wheel, a guide pulley and the planetary gear train. The driving wheel is connected with a joint connecting rod. The fixed wheel is connected with a joint base. The follower wheel is driven by the planetary gear train, and the rotating speed of the follower wheel is 1 / 2 that of the joint connecting rod. A drive rope of a rear end joint is wound according to the forward direction and reverse direction of a wire groove in the follower wheel, so that drive rope displacement changes caused by rotation of the joint connecting rod and displacement changes caused by rotation of the follower wheel offset. The drive rope passing through the decoupling mechanism and the joint connecting rod have no relative displacement, and motion decoupling of the rope is achieved. The decoupling mechanism can work within the range of 0 DEG C to 300 DEG C, and is wide in work range and simple, compact and reliable in structure. The rope motion decoupling mechanism and a rope drive joint are mounted in a matched manner, modularization can be achieved, and the application range is wide.

Description

technical field [0001] The invention relates to a gear train-based rope-driven decoupling mechanism and a decoupling method thereof, in particular to a multi-joint rope-driven manipulator system coupled in series motion. Background technique [0002] At present, the widely used robotic arm has large volume and mass, complex structure, high rigidity, low load-to-weight ratio, high energy consumption and low efficiency for grabbing loads. In order to reduce the weight and moment of inertia of the manipulator, many researchers have applied the rope drive technology to the tandem manipulator in recent years. [0003] Rope-actuated technology uses cables to transmit motion and force. It installs all the drive units on the base, transmits motion and force remotely through the rope, and realizes the motion of the joint. Because the drive unit is external and the rope transmission is used, the mass and volume of the robotic arm can be greatly reduced, but at the same time it will ...

AI Technical Summary

Problems solved by technology

At present, there are two main methods for joint decoupling: 1. Active decoupling using motion control algorithms. As the number of joints increases, the complexity of the control algorithm will increase sharply; 2. Using lasso transmission, there is no motion coupling phenomenon. , but the friction between the rope and the lasso is large, and there are nonlinear characteristics such as dead zone, gap, hysteresis, etc., the control accuracy and dynamic response characteristics of the manipulator are difficult to guarantee

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