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A cable parallel device based on translational restraint structure

A technology of restraint structure and translation, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of pushing up the manufacturing cost and system complexity, limiting the configuration of the cable-parallel mechanism, increasing the number of driving cables, etc. Manufacturing cost and control complexity, avoidance of attitude errors, effect of reducing redundant control requirements

Active Publication Date: 2019-01-29
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, since the rope can only bear tension but not pressure, the configuration of the cable parallel mechanism is subject to many restrictions: 1) In order to ensure that the rope fully constrains the terminal motion, the number of ropes must be greater than the number of terminal degrees of freedom, thus introducing redundant drives and cable force distribution, the control system must include a cable force detection and adjustment module to avoid false pulling of the rope
2) The rope must be pulled in pairs to keep the rope always tensioned
The above-mentioned mechanism is used in translational working conditions, and the redundant rotational degrees of freedom will not only increase the number of driving cables, push up manufacturing costs and system complexity, but also easily introduce terminal attitude errors

Method used

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  • A cable parallel device based on translational restraint structure
  • A cable parallel device based on translational restraint structure
  • A cable parallel device based on translational restraint structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] like figure 1 As shown, the space three-translation cable parallel mechanism based on the translation constraint structure consists of a static platform 1, a drum and a driving unit 2, a rope 3, a moving platform 4, a Hooke hinge 5, a ball hinge 6, a rigid rod 7, a spring 8, Intermediate platform 9 constitutes;

[0037] One end of the two rigid rods 7 is connected to the static platform 1 through the Hooke hinge 5, and the other end is connected to the intermediate platform 9 through the Hooke hinge 5, ensuring that the rotation axes of the four Hooke hinges 5 are parallel and the rigid rods 7 are parallel, forming a parallel structure. quadrilateral body. Outside the parallelogram plane, one end of the third rigid rod 7 is connected to the static platform 1 through the ball joint 6, and the other end is connected to the intermediate platform 9 through the ball joint 6, and the three rods 7 are parallel and equal to each other in the initial state. long. At this time...

Embodiment 2

[0040] like figure 2As shown, the parallel mechanism of two translational cables based on the translational restraint structure is composed of a static platform 1, a drum and a driving unit 2, a rope 3, a moving platform 4, a rotary hinge 10, a rigid rod 7, a spring 8, and an intermediate platform 9 ;

[0041] One end of the two rigid rods 7 is connected to the static platform 1 through a rotary hinge 10, and the other end is connected to the intermediate platform 9 through a rotary hinge 10 to ensure that the rotation axes of the four rotary hinges 10 are parallel to each other and the rigid rods 7 are equal in length and parallel to form a parallel structure. quadrilateral body. At this time, it can be guaranteed that the intermediate platform 9 and the static platform 1 are always parallel. Similarly, the rotary hinge 10 and the rigid rod 7 are used to connect the moving platform 4 and the intermediate platform 9 to form a planar translation constraint structure to ensur...

Embodiment 3

[0044] like image 3 As shown, the parallel mechanism of two translational cables based on the translational restraint structure is composed of a static platform 1, a drum and a driving unit 2, a rope 3, a moving platform 4, a rotary hinge 10, a rigid rod 7, a spring 8, and an intermediate platform 9 ;

[0045] One end of the two rigid rods 7 is connected to the static platform 1 through a rotary hinge 10, and the other end is connected to the intermediate platform 9 through a rotary hinge 10 to ensure that the rotation axes of the four rotary hinges 10 are parallel to each other and the rigid rods 7 are equal in length and parallel to form a parallel structure. quadrilateral body. At this time, it can be guaranteed that the intermediate platform 9 and the static platform 1 are always parallel. Similarly, the rotary hinge 10 and the rigid rod 7 are used to connect the moving platform 4 and the intermediate platform 9 to form a planar translation constraint structure to ensur...

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Abstract

The invention discloses a rope parallel device based on a translation constraint structure. The device comprises a static platform, an intermediate platform and a moving platform, wherein rollers and driving units are arranged on the static platform; ropes wind around the rollers and the driving units and are connected with the moving platform; the intermediate platform is connected with the static platform and the moving platform by the aid of rigid rod pieces, each rigid rod piece comprises rigid rods and hinge devices at two ends, and the rigid rods which are equal in length and are parallel constitute parallelogram mechanisms; and springs are connected on diagonal lines of the parallelogram mechanisms and are in the stretched state to provide tension for the ropes. The terminal degree of freedom of a rope parallel mechanism is constrained by the aid of a translation mechanism, and the device inherits the advantages of simple structure, high carrying capacity, easy mounting and dismounting and the like of the rope parallel mechanism and effectively avoids terminal attitude errors, so that the terminal trajectory accuracy is improved.

Description

technical field [0001] The invention belongs to the technical field of parallel devices, and relates to a cable parallel device based on a translational restraint structure. Background technique [0002] The research and application of the cable parallel mechanism originated in the late 1980s. It is a special flexible mechanism in the parallel mechanism, and its driving branch chain is a flexible cable. Compared with the rigid rod-supported parallel mechanism, the cable parallel mechanism has the advantages of simple structure, large working space, high load capacity, easy disassembly, reorganization, high degree of modularization and fast movement speed. [0003] However, since the rope can only bear tension but not pressure, the configuration of the cable parallel mechanism is subject to many restrictions: 1) In order to ensure that the rope fully constrains the terminal motion, the number of ropes must be greater than the number of terminal degrees of freedom, thus introd...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 邵珠峰唐晓强王立平李彤宇张兆坤李煜琦夏圣悦
Owner TSINGHUA UNIV
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