A three-degree-of-freedom high-stretch-ratio translational parallel manipulator based on tape springs

Abstract

The invention discloses a three-degree-of-freedom large expansion ratio translational parallel mechanical arm based on a tape measure spring, which includes two W-shaped tape measure movement units, a telescopic connection hub and a bottom working platform; the W-type tape measure movement unit is connected through the connecting rod contained therein. The telescopic communication hub is connected with the bottom working platform so that the bottom working platform can move horizontally along a certain direction. In the present invention, the two W-shaped measuring tape movement units are space-staggered and vertically distributed, and cooperate with the telescopic connection hinge to make the bottom platform have a three-dimensional working space with three degrees of freedom, which can realize telescopic, left-right and front-back translation, and adopts automatic shrinkage The flexible tape spring is used as the link arm, which has a simple structure and small mass, which not only meets the rigidity requirements of the mechanical arm, but also its flexible scalability and the expansion and contraction characteristics of the connecting hub make the expansion ratio of the mechanical arm extremely large. After the mechanical arm is fully retracted, the The occupied volume is very small, which is easy to carry or carry out operations.

Description

technical field [0001] The invention relates to the technical field of scalable flexible mechanical arms, in particular to a three-degree-of-freedom large expansion ratio translational parallel mechanical arm based on a tape measure spring. Background technique [0002] Due to the needs of society, the daily life environment sometimes requires the assembly of robotic arms to complete operations, such as drones equipped with robotic arms to complete the grasping of targets and salvage of falling objects. This kind of mechanical arm must have certain rigidity, simple structure, easy to carry, strong adaptability and so on. [0003] Today, except for traditional robotic arms using RV and some gearboxes, the flexibility can be ignored, and other robotic arms can be called flexible robotic arms. The flexibility of the flexible manipulator is mainly manifested in the flexibility of the joints and the flexibility of the connecting rod. Due to the difficulty in handling the flexibi...

AI Technical Summary

Problems solved by technology

[0005] 1) The functions of the manipulator cannot be taken into account. The dual-degree-of-freedom manipulator is generally simple in structure but can only move on a certain plane, and the overall working space is relatively small; Suitable for carrying operations such as drones;

[0006] 2) Using too flexible material as the link arm, the stability is not good and the rigidity is not enough

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