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Rope-rod hybrid driving super-redundant robot

A hybrid drive and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of increasing the inertia of moving parts, small working space, and reduced operating speed, and achieve the elimination of sliding friction, large working space, high The effect of flexibility

Active Publication Date: 2019-01-11
SHANTOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The parallel mechanism using rigid links inevitably increases the inertia of moving parts, resulting in a decrease in operating speed and an increase in energy consumption. The shortcomings of large inertia and small working space make the rigid link parallel mechanism unsatisfactory in some fields. its performance requirements

Method used

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Embodiment Construction

[0020] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0021] refer to figure 1 , figure 2 The schematic diagram of the structure is shown.

[0022] A rope-rod hybrid drive super-redundant robot in an embodiment of the present invention includes a base 1, a number of motors 2 mounted on the base, a number of rod chains 3, a number of rope chains 4, and a number of moving platforms 5 , Rope holding device 6.

[0023] Several moving platforms 5 are respectively connected by several rod-system branch chains 3 to form a series-integrated structure, and the head end is fixedly arranged on the base 1, and several rod-system branch chains 3 form a spine of the present invention.

[0024] A rope branch chain 4 is connected between some moving platforms 5 and the take-up reels 21 of the motor 2 on the base 1 , so that each...

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Abstract

The invention discloses a rope-rod hybrid driving super-redundant robot. The rope-rod hybrid driving super-redundant robot comprises a base, a plurality of motors arranged on the base, a plurality ofrod system branched chains, a plurality of rope branched chains and a plurality of movable platforms; the plurality of movable platforms are sequentially connected in series to form an integrated structure through the rod system branched chains and are connected to the base; the plurality of movable platforms are sequentially connected with a wire winding wheel disc of the motors on the base through the rope branch chains. Compared with a traditional rigid branched-chain hyper-redundant robot, has a larger working space, and is higher in flexibility and smaller in quality, low in manufacturingcost, easy to install and the like, the sliding friction between the rope and the platform is eliminated, the rope-rod hybrid driving super-redundant robot can be used for a large-range attitude adjustment, position tracking, motion simulation and the like in a high-speed / heavy-load occasion.

Description

technical field [0001] The invention relates to the fields of industrial robots, machinery manufacturing technology and the like, in particular to a rope-rod hybrid drive super-redundant robot. Background technique [0002] The rope-rod hybrid drive super-redundant robot combines the advantages of the rope drive and the rod-supported parallel mechanism. It has the characteristics of simple structure, light weight, small inertia, large working space volume ratio, high rigidity, high precision and fast response. It has good application prospects in force feedback devices and haptic devices, medical rehabilitation, sports training, aerospace and other aspects. [0003] The parallel mechanism using rigid links inevitably increases the inertia of moving parts, resulting in a decrease in operating speed and an increase in energy consumption. The shortcomings of large inertia and small working space make the rigid link parallel mechanism unsatisfactory in some fields. its performa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/00B25J9/0009
Inventor 赵永杰陈成伟宋小刚
Owner SHANTOU UNIV
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