Eight-degree-of-freedom flexible cable parallel robot motion simulation device

Abstract

The invention discloses an eight-degree-of-freedom flexible cable parallel robot motion simulation device, and belongs to the technical field of robots and motion simulation. The device comprises an external supporting frame, an internal frame, a sliding rail, a robot supporting frame, a posture executing mechanism, a pulley module, a flexible cable and a flexible cable driving source. The inner frame is arranged on the outer supporting frame in a transverse moving mode through the sliding rails, the robot supporting frame is arranged on the inner frame in a longitudinal moving mode through the sliding rails, and two orthogonal linear motion freedom degrees are formed. The posture executing mechanism is of a regular pentagonal inverted prism structure and is suspended in the robot supporting frame through eight flexible cables, the flexible cables are connected in a longitudinal and transverse staggered and crossed layout mode, and the flexible cables are controlled by eight flexible cable driving sources to be wound and unwound, so that the mechanism has the space six-degree-of-freedom movement capacity. According to the invention, through a 2 + 6 composite degree-of-freedom system, real physical simulation of transverse and longitudinal continuous overload and precise control of spatial attitude are realized, and the reality sense and immersion sense of high-dynamic simulation scenes such as flight and vehicles are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of robotics and motion simulation technology, specifically an eight-DOF (degrees of freedom) cable-stayed parallel robot motion simulation device. This device, through the collaboration of two orthogonal linear motion frames and the cable-stayed parallel robot, achieves a wide range of linear motion in two independent directions and precise six-DOF spatial attitude control. It is particularly suitable for high-dynamic flight simulation, vehicle simulation, and virtual reality experiences that require simulating complex composite overloads and precise displacements. Background Technology

[0002] Cable-driven parallel robots utilize the coordinated deployment and retraction of multiple cables to control the spatial pose of the end effector, offering advantages such as a large workspace, fast dynamic response, and high load capacity. However, traditional pure cable-driven systems are limited by static support frames, confining the end effector's range of motion to a fixed space. They can only simulate the sensation of infinite motion within a limited range using a "motion washout" algorithm. This results in an unrealistic sense of reset when simulating prolonged, unidirectional continuous acceleration, leading to a severe lack of immersion.

[0003] However, existing motion simulation technologies are still insufficient for complex maneuvering scenarios frequently encountered by aircraft or vehicles in actual operation, which involve continuous overload in multiple directions. They cannot physically generate and precisely control inertial forces in two or more orthogonal directions simultaneously, thus limiting their application in advanced training and high-fidelity experiences.

[0004] Therefore, there is still a need in the field for a motion simulation device with stronger motion capabilities that can more completely simulate complex inertial dynamic environments. The ideal device should retain the flexible attitude control capabilities of the cable system while introducing two independent and controllable linear motion degrees of freedom, thereby achieving further decoupling and synergy of motion functions in multiple dimensions to cover a wider range of more demanding simulation training needs. Summary of the Invention

[0005] The technical problem this invention aims to solve is to overcome the limitations of existing single six-degree-of-freedom motion simulation devices and provide an eight-degree-of-freedom flexible cable parallel robot motion simulation device. This device introduces two orthogonal and independent long-stroke linear motion degrees of freedom, deeply integrating them with a six-degree-of-freedom flexible cable parallel system to form a "2+6" composite degree-of-freedom system. This allows for the physical and simultaneous simulation of continuous overload and precise displacement in two directions, greatly expanding the realistic envelope and scene coverage of the motion simulation.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is as follows: an eight-degree-of-freedom flexible cable parallel robot motion simulation device, characterized in that it includes: an external support frame (1), an internal frame (2), a slide rail (3), a robot support frame (4), an attitude execution mechanism (41), a pulley module (7), a flexible cable (6), and a flexible cable drive source (5).

[0007] The external support frame (1) is a static main structure fixed to the foundation. The internal frame (2) is movably mounted on the external support frame (1) via a first set of slide rails (3) and an electric slider mechanism (8), and can perform large-stroke linear motion along the first horizontal direction, thus forming the first additional linear degree of freedom.

[0008] The robot support frame (4) is movably mounted on the inner frame (2) via a second set of slide rails (3) and an electric slider mechanism (8), and can perform large-stroke linear motion along a second direction orthogonal to the first horizontal direction, thus forming a second additional linear degree of freedom. Therefore, the robot support frame (4) has acquired the ability to move with two independent degrees of freedom in the horizontal plane.

[0009] The attitude actuator (41) is located inside the robot support frame (4) and is suspended and controlled by multiple flexible cables (6). The attitude actuator (41) itself is driven by the flexible cables (6) to have a motion capability with six degrees of freedom in space.

[0010] Preferably, the attitude actuator (41) adopts a regular pentagonal anti-rhomboid polyhedron structure, which is enclosed by a regular pentagon on the top and bottom surfaces and ten equilateral triangles around it. This geometry provides a stable and symmetrical set of vertices for connecting the flexible cable (6).

[0011] The number of the flexible cable drive sources (5) is eight, preferably symmetrically arranged at the top and bottom of the robot support frame (4). Each flexible cable drive source (5) is provided with a winding reel (51) for precisely winding and unwinding the flexible cable (6).

[0012] The number of pulley modules (7) is eight, corresponding to the eight vertices of the robot support frame (4). Each pulley module (7) includes a pulley (72) and a rotary joint (71). The pulley (72) is mounted on the rotary joint (71), so that the pulley (72) can rotate freely according to the direction of the tension of the flexible cable (6), ensuring the smooth guidance of the flexible cable (6).

[0013] The eight flexible cables (6) are connected in a staggered, cross-shaped arrangement. Specifically, the flexible cable (6) connected to the left pulley at the top of the robot support frame (4) has its other end connected to the left connection point at the bottom of the attitude actuator (41); the flexible cable (6) connected to the pulley at the bottom of the robot support frame (4) has its other end connected to the corresponding connection point at the top of the attitude actuator (41). This cross-shaped arrangement increases the lever arm, which is beneficial for the attitude actuator (41) to obtain a wider range of rotational motion. The ends of the flexible cables (6) are hinged to the connection points on the attitude actuator (41) via rotatable buckles (411). The attitude actuator (41) is equipped with a cockpit (42) and a scene virtual interface (43).

[0014] Through the above design, this device constitutes a "2+6" composite degree-of-freedom system: the robot support frame (4) can perform a wide range of planar motion with two degrees of freedom relative to the ground; at the same time, the attitude actuator (41) suspended inside it can perform spatial motion with six degrees of freedom under the drive of eight flexible cables (6). These two levels of subsystems are integrated and controlled in an integrated manner through a cooperative control algorithm.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. It realizes the physical simulation of multi-dimensional overload: the two orthogonal linear motion degrees of freedom can independently or synthesize horizontal inertial forces in any direction, which can realistically simulate the overload generated by complex compound maneuvers such as "acceleration + sideslip" of fighter jets and "braking + turning" of vehicles, completely getting rid of the limitations of algorithm simulation.

[0017] 2. Further decoupling of motion functions leads to greater performance potential: Macroscopic displacement tasks in the plane are assigned to two linear motion units, while fine spatial attitude adjustment tasks are assigned to the flexible cable system. This deep decoupling allows for more targeted design of each subsystem, potentially improving the overall system's bandwidth, accuracy, and load-bearing capacity.

[0018] 3. Comprehensive Expansion of Application Scenarios: The two orthogonal linear motion degrees of freedom provided by this invention enable the device to physically simulate continuous overload and precise displacement in any direction within a plane. This is particularly suitable for scenarios with extremely high requirements for simulating multi-directional composite inertial forces, such as: simulating the complex transition maneuvers of helicopters between hovering, side-flying, and forward movement; the precise cornering attitude and forces of racing cars in a series of consecutive curves; and the precise adjustment of relative posture with multiple degrees of freedom during the docking process of spacecraft, thereby greatly expanding the technical boundaries and application scope of high-dynamic motion simulation. Attached Figure Description

[0019] Figure 1This is a schematic diagram of the overall structure of the eight-degree-of-freedom flexible cable parallel robot motion simulation device described in this invention.

[0020] Figure 2 for Figure 1 The diagram shows the structure of a six-degree-of-freedom flexible cable parallel robot inside the device.

[0021] Figure 3 This is a partial structural schematic diagram of the motion simulation device of the present invention.

[0022] Figure 4 This is a schematic block diagram illustrating the working principle of Embodiment 1 of the present invention.

[0023] Figure 5 This is a schematic block diagram illustrating the working principle of Embodiment 2 of the present invention.

[0024] In the diagram: 1. External support frame; 2. Internal frame; 3. Slide rail; 4. Robot support frame; 41. Attitude actuator; 411. Ring buckle; 42. Cockpit; 43. Virtual scene interface; 5. Flexible cable drive source; 51. Winding reel; 6. Flexible cable; 7. Pulley module; 71. Rotary joint; 72. Pulley; 8. Electric slider mechanism; Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Example 1

[0026] like Figure 4 As shown, this embodiment demonstrates the working state of the eight-DOF flexible cable parallel robot motion simulation device in a combined longitudinal downward and lateral rightward motion mode. The external support frame (1) is fixedly installed on the foundation, serving as the static foundation of the entire device. The internal frame (2) is connected to the matching electric slider mechanism (8) through the first set of slide rails (3) set on the transverse column of the external support frame (1), allowing the internal frame (2) to perform large-stroke linear motion in the transverse direction (to the right in the figure), thereby constituting the first additional linear motion degree of freedom (i.e., transverse translational degree of freedom) of the device.

[0027] The robot support frame (4) is connected to another electric slider mechanism (8) via a second set of slide rails (3) set on the longitudinal column of the inner frame (2), allowing the robot support frame (4) to perform large-stroke linear motion in the longitudinal direction (downward in the figure), constituting the second additional linear motion degree of freedom (i.e., longitudinal translational degree of freedom) of the device. Thus, the robot support frame (4) has two independent and orthogonal linear motion capabilities in the horizontal plane.

[0028] The attitude actuator (41) is suspended within the internal space of the robot support frame (4) by eight flexible cables (6). The eight flexible cables (6) are guided by pulley modules (7) installed at the eight vertices of the robot support frame (4), and the end of each flexible cable (6) is hinged to the corresponding connection point on the attitude actuator (41) through a rotatable ring (411). The eight flexible cable drive sources (5) – preferably servo motors driving winding discs (51) – are symmetrically arranged at the top and bottom of the robot support frame (4). By coordinating the extension and retraction lengths of each flexible cable (6), the attitude actuator (41) can be precisely driven to achieve six degrees of freedom (three translational degrees of freedom and three rotational degrees of freedom) in space.

[0029] In this embodiment, by coordinating the rightward lateral movement of the internal frame (2) and the downward longitudinal movement of the robot support frame (4), while simultaneously controlling the flexible cable drive source (5) to adjust the attitude of the attitude actuator (41), this device can physically simulate, for example, the combined inertial force environment of a fighter jet simultaneously performing a right-turn sideslip maneuver during a dive, or a race car simultaneously turning right into a corner on a downhill section, experiencing both longitudinal negative overload (dive / downhill) and lateral positive overload (right turn). This "2+6" degree-of-freedom collaborative working mode directly generates a continuous and realistic inertial force sensation through physical displacement, overcoming the problem of insufficient reset and immersion caused by the traditional pure flexible cable system relying on the "motion washout" algorithm, significantly improving the realism of the simulation and the user's immersive experience. Example 2

[0030] like Figure 5 As shown, this embodiment demonstrates the working state of the device in a combined longitudinal upward and lateral leftward motion mode. The outer support frame (1) remains fixed. The inner frame (2) moves to the left along the lateral slide rail (3) on the outer support frame (1). The robot support frame (4) moves upward along the longitudinal slide rail (3) on the inner frame (2).

[0031] The attitude actuator (41) performs six-degree-of-freedom attitude motion under the traction of eight flexible cables (6). The flexible cables (6) are arranged in a staggered longitudinal and lateral cross connection: specifically, the flexible cable (6) connected to the pulley module (7) on the top left of the robot support frame (4) is connected at the other end to the ring (411) on the bottom left of the attitude actuator (41); correspondingly, the flexible cable (6) connected to the bottom pulley module (7) is connected to the corresponding ring on the top of the attitude actuator (41). This cross arrangement increases the lever arm, which is beneficial for the attitude actuator to obtain a wider range of rotational torque. Each flexible cable drive source (5) independently controls the extension and retraction of the corresponding flexible cable.

[0032] This embodiment is applicable to simulating complex scenarios such as a fighter jet performing a left-turn roll maneuver during a climb, or a vehicle turning left into a curve while accelerating uphill. The device physically generates a combined continuous overload in the lateral and longitudinal directions by translating the internal frame (2) to the left and the robot support frame (4) to the upward. At the same time, combined with the six-degree-of-freedom fine attitude control of the attitude actuator (41) by the flexible cable system, it realizes the synchronous and realistic reproduction of multi-directional inertial forces and complex attitude changes in highly dynamic complex motion scenarios. Other implementation methods

[0033] The motion simulation device described in this invention is not limited to the specific combination of motion directions in the above embodiments. By independently driving the electric slider mechanism (8) on the internal frame (2) and the robot support frame (4) of the control system, the composite motion of two linear motion degrees of freedom in any direction and amplitude in the horizontal plane can be realized. At the same time, by coordinating the control of eight flexible cable drive sources (5), the attitude actuator (41) can be adjusted arbitrarily in six degrees of freedom in space. By integrating and decoupling the two motion levels (two-dimensional translation in the plane and six degrees of freedom attitude in space) through the upper-level integrated control algorithm, this device can cover a wider range of high-dynamic composite motion simulation needs, including but not limited to: complex dogfighting maneuvers of fixed-wing aircraft, hovering and skimming flight of helicopters, continuous cornering of racing cars on complex tracks, relative attitude adjustment of spacecraft during docking, and other training and experience scenarios that require simultaneous simulation of multi-directional continuous overload and precise spatial attitude.

[0034] The above embodiments are not intended to limit the scope of protection of this invention. Commonly known technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of this invention, and these should also be considered within the scope of protection of this invention. These modifications and improvements will not affect the effectiveness of the invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A motion simulation device for an eight-degree-of-freedom flexible cable parallel robot, characterized in that, It includes an external support frame (1), an internal frame (2), a slide rail (3), a robot support frame (4), a posture actuator (41), a pulley module (7), a flexible cable (6), and a flexible cable drive source (5); The inner frame (2) is movable on the outer support frame (1) in the first horizontal direction via the first set of slide rails (3); The robot support frame (4) is movable on the inner frame (2) via the second set of slide rails (3) along a second horizontal direction orthogonal to the first horizontal direction; The attitude actuator (41) is suspended inside the robot support frame (4) by eight flexible cables (6); The flexible cable (6) is connected to the attitude actuator (41) and the pulley module (7) by a longitudinal and lateral staggered cross layout; There are eight flexible cable drive sources (5), which are respectively located at the top and bottom of the robot support frame (4).

2. The eight-degree-of-freedom flexible cable parallel robot motion simulation device according to claim 1, characterized in that, The internal frame (2) is laterally movable and longitudinally suspended and fixed on the external support frame (1).

3. The eight-degree-of-freedom flexible cable parallel robot motion simulation device according to claim 1, characterized in that, The slide rail (3) is horizontally arranged on the horizontal column of the external support frame (1); the slide rail (3) is longitudinally arranged on the longitudinal column of the internal frame (2).

4. The eight-degree-of-freedom flexible cable parallel robot motion simulation device according to claim 1, characterized in that, The robot support frame (4) is longitudinally and movably fixed on the inner frame (2).

5. The eight-degree-of-freedom flexible cable parallel robot motion simulation device according to claim 1, characterized in that, The attitude actuator (41) is a regular pentagonal inverted rhombus shape, consisting of a regular pentagon on the top and bottom surfaces and ten equilateral triangles around it.

6. The eight-degree-of-freedom flexible cable parallel robot motion simulation device according to claim 1, characterized in that, There are eight flexible cable drive sources (5), four of which are located on the top of the robot support frame (4) and four are located on the bottom of the robot support frame (4).

7. The eight-degree-of-freedom flexible cable parallel robot motion simulation device according to claim 1, characterized in that, The flexible cable (6) connecting the top left pulley module (7) of the robot support frame (4) is connected to the left ring (411) at the bottom of the attitude actuator (41). The flexible cable (6) connected to the pulley module (7) at the bottom left of the robot support frame (4) is connected to the top left of the attitude actuator (41). The same applies to the right side, forming a longitudinal and transverse staggered cross connection layout.

8. The eight-degree-of-freedom flexible cable parallel robot motion simulation device according to claim 1, characterized in that, The device has eight degrees of freedom, including a lateral movement degree of freedom provided by the internal frame (2), a longitudinal movement degree of freedom provided by the robot support frame (4), and six spatial degrees of freedom provided by the posture actuator (41).

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