An Adjustable Stiffness Cable-Driven Parallel Device
A cable-driven and adjusting device technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve problems such as small scope, failure to guarantee the safety of people or products, and inability to adjust the rigidity of the robot, so as to improve the rigidity and increase the rigidity adjustment range. Effect
Active Publication Date: 2021-05-28
TSINGHUA UNIV
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Problems solved by technology
[0005] (1) There is no research on the variable stiffness of the robot from the perspective of ensuring the safety of people or products during the human-computer interaction process, while improving the operation accuracy and load capacity;
[0006] (2) The rigidity of the robot cannot be adjusted or the range of adjustment is small
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[0025] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0026] Such as figure 1 As shown, it is the overall structural diagram of the adjustable stiffness cable driving parallel device according to the embodiment of the present invention. The mechanism includes a base 1, a driving unit 2, a basic frame 3, a driving cable 4, and an end effector 5 (different The end effector of the end effector, the figure is the end effector of the loaded article), the cable guide pulley 6, the flexible cable guide and the stiffness adjustment unit 7. The base 1 is mainly used for leveling and height adjustment of the foundation frame; the drive unit 2 mainly provides driving force for the cable drive parallel device; the cable guide pulley 6 mainly makes the driving cable 4 have different cable outlet directions at the same cable outlet point; The flexible cable guide and stiffness adjustment unit 7 makes the driving cable 4 pass...
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A cable-driven parallel device with adjustable stiffness, including a base frame, a base for leveling and height adjustment of the base frame is provided at the bottom of the base frame, a drive unit is installed inside the base frame, and the drive unit is guided by a flexible cable and a stiffness adjustment unit respectively The end effector is driven to realize six-degree-of-freedom movement in space and to adjust the stiffness of the driving cable. The driving cable is arranged on the cable-exiting guide pulley, and the cable-exiting guide pulley enables the driving cable to have different cable-exiting directions at the same cable-exiting point. The present invention It has low stiffness to absorb or buffer the energy generated by the collision, thereby reducing or avoiding damage to people or products; at the same time, it has high stiffness when the robot is working to improve the working accuracy or load capacity.
Description
technical field [0001] The invention relates to the technical field of cable-driven parallel robots, in particular to a cable-driven parallel device with adjustable stiffness. Background technique [0002] With the rapid development of robot technology and the continuous improvement of social needs, the integration and collaborative operation of robots and humans will become the essential characteristics of the next generation of robots, and it is also a hot issue for current scholars. Working together in the same natural workspace, humans and machines can give full play to human subjective initiative, effectively combining human dexterous operations and intelligent decision-making capabilities with machine precision, strength, repetition, working time and environmental tolerance. , which can not only greatly improve the efficiency and quality of operations, reduce production costs, but also liberate staff from repetitive and heavy work. However, in the process of human-mac...
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IPC IPC(8): B25J9/00B25J9/10
CPCB25J9/00B25J9/104
Inventor 唐晓强崔志伟侯森浩孙海宁季益中唐敏学王禹衡
Owner TSINGHUA UNIV