Passive decoupling mechanism for joint movement of tandem rope-driven manipulator
A joint motion and manipulator technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of joint motion coupling of serial rope-driven manipulators, and achieve the effects of less wear, less breakage, and simplified design
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[0036] The present invention is described in detail below in conjunction with accompanying drawing:
[0037] refer to figure 1 , the passive decoupling mechanism for the joint motion of the serial rope-driven manipulator according to the present invention includes a base system 1, a decoupling module 4, a No. 1 decoupling rope 5, a No. 1 arm system 7, a No. 2 arm 8, and a No. 2 solution Coupling rope 11, No. 2 driving rope 13 and No. 1 driving rope 15;
[0038] refer to figure 2 and image 3 , the base system 1 includes No. 1 guide wheel set 2, No. 2 driving wheel 14, No. 1 driving wheel 16, No. 1 pin 17, 2 No. 3 pins 18, No. 2 pin 20, base Plate 31, 2 No. 6 pins 32 with the same structure, No. 2 guide wheel group 33, No. 3 guide wheel group 37 and No. 4 guide wheel group 38.
[0039] Described No. 1 guide wheel set 2 is made up of two small pulleys 30, and two small pulleys 30 are vertically stacked and installed, and their centerlines coincide. The small pulley 30 is d...
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