A Modular Flexible Cable Parallel Mechanism Experiment Platform and Its Self-Reconfiguration Method

Abstract

The invention discloses a modular flexible cable parallel-connection mechanism experimental platform. The modular flexible cable parallel-connection mechanism experimental platform comprises an annular guide rail. Six sets of bases are assembled on the annular guide rail in a sliding mode. A hydraulic cylinder is vertically installed at the radial inner end of the top surface of each base, and a fixed pulley is rotationally installed at the upper end of a piston rod of each hydraulic cylinder. A winch driven by a hydraulic motor is installed on the top surface of each base, and flexible cables on shafts of the winches wind across the corresponding fixed pulleys upwards and then extend to the center of the annular guide rail. An end effector is arranged above the center of the annular guide rail. The end of each flexible cable is connected with a hook through a shearing type mechanism with a spring and grasps a hook ring in the corresponding position of the end effector through the hook. The surface, facing the upper portion of the center of the annular guide rail, of each hydraulic cylinder is hinged to a connecting rod-sliding block mechanism. Through a self reconstruction method of the modular flexible cable parallel-connection mechanism experimental platform, the kinematic and dynamic performance of two-to-six freedom degree flexible cable parallel-connection mechanisms with different configurations can be researched conveniently.

Description

technical field [0001] The invention relates to the field of an experimental platform for flexible cable parallel mechanisms, in particular to a modular flexible cable parallel mechanism experimental platform and a self-reconfiguration method thereof. Background technique [0002] In the past ten years, cable-driven parallel mechanisms with various degrees of freedom have been extensively studied and applied in some fields. Compared with traditional mechanisms, they can generate a large acceleration and working range, and have a strong load-carrying capacity, lightness and flexibility, reorganization, and a high degree of modularization. [0003] Chinese patent 201410090629.X discloses a six-degree-of-freedom modular reconfigurable flexible cable parallel mechanism. However, during the experiment, we found that the reconstruction process of the modular reconfigurable flexible cable parallel experimental platform is relatively complicated. Not only does it need to manually d...

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Problems solved by technology

However, during the experiment, we found that the reconstruction process of the modular reconfigurable flexible cable parallel experimental platform is relatively complicated. Not only does it need to manually disassemble the flexible cables on the end effector to change the number of flexible cables, but also, the It is also troublesome to disassemble and assemble the six flexible cable pillars installed on the circular guide rail to control the movement of the six flexible cables.

In the whole experiment, it is time-consuming to disassemble and assemble each module, which reduces the work efficiency

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