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

A technology of rope drive and wheel train, which is applied in the field of manipulator system, can solve the problems that the control accuracy and dynamic response characteristics of the manipulator are difficult to guarantee, the complexity of the control algorithm increases, and the friction between the rope and the lasso is large, so as to simplify the motion control algorithm , Simple structure, avoiding the effect of large friction

Active Publication Date: 2017-10-31
健芮智能科技(昆山)有限公司
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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

Method used

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

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Embodiment Construction

[0032] The accompanying drawings disclose non-restrictive structural schematic diagrams of the present invention involved and preferred implementations, and the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0033] see figure 1 and image 3 As shown, the present invention discloses a passive decoupling mechanism for the driving rope movement of a rope-driven series mechanical arm, which sequentially includes a joint base 7, a fixed wheel 1, a follower wheel 2, a planetary gear train 4, a driving wheel 3, The current joint connecting rod 8; wherein the fixed wheel 1 is fixedly connected with the joint base 7 and cannot rotate; the driving wheel 3 is fixedly connected with the current joint connecting rod 8, and rotates following the current joint connecting rod 8; the fixed gear 41 is connected to the fixed wheel 1 through a flat key Connected, the driving gear 42 is connected with the driving whee...

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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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J17/02
CPCB25J9/104B25J9/1045B25J17/025
Inventor 印亮蒋素荣徐伟华达人蒋萌陈柏白东明赵鹏吴洪涛张超
Owner 健芮智能科技(昆山)有限公司
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