Three-freedom parallel mechanism driven by flexible rope

A cable-driven, degree-of-freedom technology, applied to manipulators, manufacturing tools, etc., can solve problems such as limited working space and range of motion, large component mass and moment of inertia, and difficulty in achieving high-speed motion, reducing quality and power consumption Low, simple structure effect

Inactive Publication Date: 2003-02-19
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In the existing parallel robot mechanisms, most of them use rigid components as the transmission mechanism, and the mass and moment of inertia of the componen

Method used

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  • Three-freedom parallel mechanism driven by flexible rope
  • Three-freedom parallel mechanism driven by flexible rope
  • Three-freedom parallel mechanism driven by flexible rope

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0015] Example 1

[0016] Such as figure 1 As shown, the parallel mechanism of the present invention is composed of three sets of drive units and a motion platform 8, wherein: each drive unit includes a base 1, a reel 2 mounted with a motor, a column 5, a counterweight 6, an upper, The fixed pulleys 7, 3 and the wire rope 4 are set down, and the column 5 is vertically fixed on the machine base 1. There is a fixed pulley on the top and the bottom. The wire rope 4 is wound on the reel 2 with spiral grooves. 2 When rotating forward and backward, the wire rope 4 can be rolled in or out; the wire rope 4 drawn from the reel 2 is connected to the lower part of the counterweight 6 through the lower fixed pulley 3, and the wire rope 4 drawn from the upper part of the counterweight 6 goes around The upper fixed pulley 7 is connected to the moving platform 8; the wire ropes 4 from the three sets of drive units are all connected to the moving platform 8. The position of the connection point ...

Example Embodiment

[0020] Example 2

[0021] Such as figure 2 As shown, the difference between the present invention and Embodiment 1 is: the drum 2 installed with the motor is fixed at a high place, and six fixed pulleys are omitted. The drum 2 is wound with 5 wire ropes 4 side by side, and one end of the wire rope 4 It is connected to the moving platform 8 and the other end is connected to the counterweight 6. The friction force between the drum 2 and the steel wire rope 4 is used to transmit movement and power. The driving principle is similar to that of an elevator; three groups of drive units are used to adjust the length of the three steel wire ropes. The moving platform 8 can realize pitching, rolling and moving in the vertical direction.

[0022] The movement platform 8 in this embodiment forms a triangle that is an equilateral triangle.

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Abstract

A flexible cable driven three-freedom parallel mechanism is composed of three drive units and moving platform. The said driven unit comprises base, reel installed along with motor and vertical column. The steel wire cable wound on the said reel passes through lower static pulley, counterweight and upper static pulley and then fixed to the moving platform. The steel wire cables for threed drive units are all fixed to the moving platform to form a triangle. Its advantages are big working space and high stressing performance and speed.

Description

technical field [0001] The invention relates to a parallel robot mechanism, in particular to a cable-driven three-degree-of-freedom parallel mechanism. technical background [0002] In the existing parallel robot mechanisms, most of them use rigid components as the transmission mechanism, and the mass and moment of inertia of the components are large, so it is difficult to achieve high-speed movement. In addition, due to the small range of joint rotation, its working space and range of motion are limited. Contents of the invention [0003] In order to overcome the insufficiency of the parallel mechanism with rigid components and make the parallel mechanism with less degrees of freedom meet wider application requirements, the purpose of the present invention is to provide an The three-degree-of-freedom parallel mechanism is driven by a flexible cable with one-dimensional translation. [0004] The technical solution of the present invention is: it is composed of three grou...

Claims

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Application Information

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IPC IPC(8): B25J3/00B25J11/00
Inventor 赵明扬王洪光房立金陈书宏徐志刚郭立新
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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