一种基于绳索驱动的模块化串联三轴云台关节
By using modular serial three-axis gimbal joints, and employing rope-driven turntables for each joint, combined with figure-eight and double figure-eight winding winch drive mechanisms, the complexity and stiffness limitations of rope-driven redundant degree-of-freedom parallel mechanisms and traditional three-axis gimbal joints are solved, achieving high-precision, safe, and flexible motion control.
CN116677880BActive Publication Date: 2026-07-17TSINGHUA SHENZHEN INTERNATIONAL GRADUATE SCHOOL
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- TSINGHUA SHENZHEN INTERNATIONAL GRADUATE SCHOOL
- Filing Date
- 2023-06-08
- Publication Date
- 2026-07-17
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Figure CN116677880B_ABST
Abstract
本发明公开了一种基于绳索驱动的模块化串联三轴云台关节，包括由绳索驱动各自的关节转盘进行转动的俯仰轴模块、滚转轴模块和偏航轴模块，其中，所述俯仰轴模块的关节转盘与所述滚转轴模块通过第一连接支架相连，所述滚转轴模块的关节转盘与所述偏航轴模块通过第二连接支架相连。本发明通过绳索驱动各自的关节转盘进行转动的俯仰轴模块、滚转轴模块和偏航轴模块的设置，提升本发明模块化串联三轴云台关节的运动控制性能，具有一定的传动比且较为精确，而且在保证减少空间体积的情况下实现扭矩的传递，更优于传统减速机构的驱动方式，即可解决传统云台负载较低的问题。模块化连接的简约性提升了结构的稳定性，刚柔耦合特性保证人机交互的安全性。
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