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High-speed multi-body mechanism driven by cables in parallel

A high-speed, parallel technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of high cost, reduced precision of lightweight terminals, and difficulties in processing and manufacturing, and achieve the effect of reducing mass, compact structure, and improving efficiency

Active Publication Date: 2017-11-21
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current general method is to use light non-metallic materials such as carbon fiber to make the kinematic branch chain of the parallel mechanism, but the above-mentioned materials are difficult to process and the cost is high
At the same time, light weight brings the problem of reduced terminal accuracy

Method used

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  • High-speed multi-body mechanism driven by cables in parallel
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  • High-speed multi-body mechanism driven by cables in parallel

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Embodiment Construction

[0026] The working principle of the planar parallel mechanism, which is the core part of this design, will be introduced in detail below in conjunction with the accompanying drawings.

[0027] Such as figure 1 As shown, the cable-driven planar two-degree-of-freedom high-speed multi-body mechanism is composed of a static platform 2, a drum and a driving unit 1, a rope 4-1, a rigid telescopic rod 5-1, a rotating hinge 3-1, and a moving platform 6. The rigid telescopic rod One end of 5-1 is connected with static platform 2 by rotating hinge 3-1, and the other end is connected on the moving platform 6 by rotating hinge 3-1. The drum and drive unit 1 are mounted on a static platform 2 . The rope 4-1 is wound on the drum and the driving unit 1, and the extension and contraction of the rope 4-1 is realized by controlling the rotation of the drum and the driving unit 1. Wherein the two groups of ropes on the right form parallel cable systems to ensure that the dynamic platform 6 and...

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Abstract

The invention provides a rope parallel-driving type high-speed multi-body mechanism. A rope parallel-driving type high-speed multi-body robot, which is connected to a fixed platform and an end effector through a rigid or telescopic oscillating bar, comprises the fixed platform, the end effector, ropes, rollers, driving units, hinges and the rigid or telescopic bar, wherein one end of the rigid bar is connected to the fixed platform through one hinge while the other end of the rigid bar is directly fixedly connected to the end effector or connected to the end effector through the other hinge; each driving unit, which is used for driving and controlling the gyratory motion of the corresponding roller, is formed by connecting a servo motor, a speed reducer and a coupling in series; the driving units and the rollers are mounted on the fixed platform; one end of each rope coils the corresponding roller while the other end of each rope is fixedly connected to the end effector. According to the mechanism, the rollers are controlled by the driving units to rotate so as to achieve the telescopic motion of the ropes; a plurality of ropes are coordinated to telescope and together drive the end effector to perform space or plane movement.

Description

technical field [0001] The invention belongs to the field of high-speed parallel mechanisms, in particular to a high-speed multi-body mechanism driven by cable parallel connections. Background technique [0002] Compared with the traditional series mechanism, the parallel mechanism has the advantages of high rigidity, high speed, high precision and high load capacity. High-speed parallel mechanisms represented by Diamond, Delta and X4 have begun to obtain large-scale commercial applications. [0003] However, in order to further increase the speed of reciprocating motion and improve production efficiency, the high-speed parallel mechanism needs to further reduce the mass and inertia of the moving part. The current general method is to use light non-metallic materials such as carbon fiber to make the kinematic branch chain of the parallel mechanism, but the processing and manufacturing of the above materials is difficult and the cost is high. At the same time, light weight ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0057
Inventor 邵珠峰唐晓强王立平夏圣悦袁伟涛李彤宇莫艽
Owner TSINGHUA UNIV
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