Multi-configuration rope drive parallel robot and space position and posture solution method thereof

A rope-driven and robotic technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of high cost, complex structure, and low control precision
CN107009348AActive Publication Date: 2017-08-04UNIV OF SCI & TECH OF CHINA
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
UNIV OF SCI & TECH OF CHINA
Publication Date
2017-08-04

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Abstract

The invention discloses a multi-configuration rope drive parallel robot and a space position and posture solution method thereof. The multi-configuration rope drive parallel robot is characterized by comprising a movable platform, a plurality of rope drive devices, a main rack and a plurality of ropes, wherein the rope drive devices can be arranged in an arbitrary position of the main rack according to task requirements; the movable platform is in an inner space of the main rack, and positions and postures of the movable platform can be freely changed in the inner space; the flexible ropes connected with the rope drive devices are arranged on the movable platform; and the rope drive devices pull the movable platform through the self ropes to move in arbitrary positions of the space in the main rack. According to the multi-configuration rope drive parallel robot, position and posture control precision of the rope drive parallel robot and utilization efficiency of robot devices can be improved.
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Description

technical field

[0001] The invention relates to the field of a cable-driven parallel robot, in particular to a multi-configuration cable-driven parallel robot and a method for calculating its space and posture. Background technique

[0002] Parallel robots have the advantages of large working space, strong load capacity, fast reconfigurability, and modular design. The advantages of rope drive make the target working platform have a larger working range and faster movement speed, and are being widely used in various operating mechanisms. In the above, the position and attitude of the braking platform in the work space is controlled by controlling the output length of the rope; in the driving process, not only the output length of the rope needs to be precisely controlled, but also the tension on the rope needs to be detected; the drive of the existing rope-driven parallel mechanism Most of the devices cannot be integrated with measuring devices. The traditional measuring meth...

Claims

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