A multi-configuration cable-driven parallel robot and its space pose solution method

A rope-driven, robotic technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of high cost, difficult installation and maintenance, and low control accuracy.

Active Publication Date: 2019-04-26
UNIV OF SCI & TECH OF CHINA
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] The domestic patent application No. 201110026500.9 discloses a rope-driven parallel robot that can realize rapid reconfiguration. The device is composed of multiple sets of drive modules, reversing devices and output devices. However, since there is no real-time measurement of tension, the control accuracy is relatively low. Low cost, complex structure, difficult installation and maintenance, and higher cost

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  • A multi-configuration cable-driven parallel robot and its space pose solution method
  • A multi-configuration cable-driven parallel robot and its space pose solution method
  • A multi-configuration cable-driven parallel robot and its space pose solution method

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Embodiment Construction

[0081] In this embodiment, a multi-configuration rope-driven parallel robot includes: a moving platform 1000, several rope driving devices 2000, a main frame 3000, and several ropes 4000;

[0082] A rope driving device 2000 is provided at any position of the main frame 3000 according to the task; such as figure 1 As shown, the moving platform 1000 is located in the internal space of the main frame 3000, and the position and attitude can be changed arbitrarily in the internal space; the rope driving device 2000 is connected with the moving platform 1000 through the rope 4000, and the moving platform 1000 is obtained by using the spatial pose solution method. The pose in the inner space of the main body frame 3000 , so that the rope 4000 is used to pull the moving platform 1000 to reach the corresponding position in the main body frame 3000 , and the corresponding posture of the moving platform 1000 is changed. The connection method between the rope 4000 and the moving platform ...

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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.

Description

technical field [0001] The invention relates to the field of a rope-driven parallel robot, in particular to a multi-configuration rope-driven parallel robot and a spatial calculation pose calculation method thereof. Background technique [0002] Parallel robots have the advantages of large working space, strong load capacity, fast reconfiguration, and modular design. The advantages of rope drive make the target work platform have a larger working range and faster movement speed, and are being widely used in various operating mechanisms. , the position and attitude of the moving platform in the working 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 pulling force of the rope needs to be detected; the existing rope-driven parallel mechanism drives The measurement device cannot be integrated in the device, and the traditional measurement method is to m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/10
CPCB25J9/0078B25J9/104
Inventor 尚伟伟张飞丛爽张彬
Owner UNIV OF SCI & TECH OF CHINA
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