CN114346995B - Modularized rope driving mechanical arm based on 2-UR parallel mechanism - Google Patents
Modularized rope driving mechanical arm based on 2-UR parallel mechanism Download PDFInfo
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- CN114346995B CN114346995B CN202111652056.1A CN202111652056A CN114346995B CN 114346995 B CN114346995 B CN 114346995B CN 202111652056 A CN202111652056 A CN 202111652056A CN 114346995 B CN114346995 B CN 114346995B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 26
- 230000033001 locomotion Effects 0.000 claims abstract description 59
- 238000010586 diagram Methods 0.000 description 9
- 239000012636 effector Substances 0.000 description 8
- 230000008859 change Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000036544 posture Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The invention provides a modularized rope driving mechanical arm based on a 2-UR parallel mechanism, which comprises a driving module, a mechanical arm module and a base, wherein the mechanical arm module is formed by connecting a plurality of parallel modules with the same structure in series, and the mechanical arm module is fixedly connected with the driving module through the base. In the parallel module, two ends of the moving branch are respectively connected with the fixed platform and the moving platform, and the moving branch is arranged at 180-degree intervals along the circumferential direction of the fixed platform; the external rotating pair of the Hooke hinge is fixedly connected with the fixed platform, the internal rotating pair of the Hooke hinge is connected with the first end of the connecting rod, the second end of the connecting rod is connected with the first end of the rotating pair, the second end of the rotating pair is fixedly connected with the rotating platform, and the axis of the internal rotating pair of the first Hooke hinge and the axis of the internal rotating pair of the second Hooke hinge are respectively parallel to the axes of the first rotating pair and the second rotating pair. The parallel mechanism movement module has the advantages of simple structure, higher rigidity and higher flexibility, and the working range of the mechanical arm can be freely changed by adding or reducing the movement modules.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to a modularized rope driving mechanical arm based on a 2-UR parallel mechanism.
Background
The rope-driven redundant mechanical arm solves the problem of poor flexibility of the traditional serial robot, controls the movement of the mechanical arm by changing the length of the rope, and can be used in complex environments such as narrow spaces, irregular spaces and the like.
Rope-driven super-redundant robots are first industrialized and commercialized by OC Robotics in the united kingdom. The company newly develops a multipurpose Series II-X125 snake-shaped arm robot system, which is formed by connecting a plurality of joints in Series, and a driving motor is placed on a base to control the mechanical arm through power transmission of a rope, so that the light and flexible movement of the mechanical arm is realized. Both patent CN105150219a and patent CN105729498B disclose a flexible robotic arm based on rope drive. The motion module of the mechanical arm consists of a plurality of universal joints which are connected in series, the mechanical arm is driven by ropes, the flexibility is greatly enhanced, and the mechanical arm can work in a space with a complex structure and a small space.
However, the mechanical arm is formed by connecting universal joints in series, so that the mechanical arm is single in mechanism configuration, relatively poor in rigidity, small in rotation range at the joints and insufficient in bearing capacity.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a modularized rope driving mechanical arm based on a 2-UR parallel mechanism, which overcomes the defects of poor rigidity performance, small joint rotation range and the like of the traditional serial mechanical arm by modularly connecting different numbers of adjacent parallel modules in a coplanar or certain dislocation angle with the plane where a motion branch is located.
The invention provides a modularized rope driving mechanical arm based on a 2-UR parallel mechanism, which comprises a driving module, a mechanical arm module and a base, wherein the mechanical arm module is formed by connecting a plurality of parallel modules with the same structure in series, and the mechanical arm module is fixedly connected with the driving module through the base. The parallel module comprises a fixed platform, a movable platform, a first movement branch and a second movement branch, wherein the first movement branch and the second movement branch are positioned between the fixed platform and the movable platform in a crossing manner, two ends of the first movement branch and the second movement branch are respectively connected with mounting seat fixing holes of the fixed platform and the movable platform, and the first movement branch and the second movement branch are arranged at 180-degree intervals along the circumferential direction of the fixed platform; the motion branch comprises a hook joint, a revolute pair and a connecting rod, wherein the hook joint outer revolute pair is fixedly connected with a mounting seat fixing hole of the fixed platform, the hook joint inner revolute pair is connected with a first end of the connecting rod, a second end of the connecting rod is connected with a first end of the revolute pair, and a second end of the revolute pair is fixedly connected with a mounting seat fixing hole of the movable platform. The axis of the first Hooke external revolute pair and the axis of the second Hooke external revolute pair are coaxial, the axis of the first Hooke internal revolute pair and the axis of the second Hooke internal revolute pair are coaxial, the axis of the first Hooke external revolute pair and the axis of the second Hooke external revolute pair are perpendicular to the axis of the first revolute pair and the axis of the second revolute pair respectively, and the axis of the first Hooke internal revolute pair and the axis of the second Hooke internal revolute pair are parallel to the axis of the first revolute pair and the axis of the second revolute pair respectively.
Preferably, in the parallel module, the axis of the first hook inner rotating pair, the axis of the second hook inner rotating pair, the axis of the first revolute pair and the axis of the second revolute pair are in the same plane, and the first connecting rod, the second connecting rod, the first hook inner rotating pair, the second hook inner rotating pair, the first revolute pair and the second revolute pair form an anti-parallelogram structure to form an anti-parallelogram.
Preferably, the movable platforms of the parallel modules are driven by three driving ropes, and the driving ropes are equally distributed at 120-degree intervals along the circumferential direction of the movable platforms.
Preferably, the number of the movable slipway, the driving rope, the rope sleeve, the fixing bolt, the driving motor, the movable slide rail and the ball screw is equal.
Preferably, in the mechanical arm module, planes of the moving branches in two adjacent parallel modules are parallel or arranged at a certain angle.
Preferably, in the mechanical arm module, the common platform connected by two adjacent parallel modules is one of a fixed platform or a movable platform.
Compared with the prior art, the invention has the following advantages:
1. the invention drives the whole mechanical arm by the rope, compared with the traditional two-degree-of-freedom mechanical arm, the body quality of the mechanical arm is obviously reduced, the whole mechanical arm is formed by connecting a plurality of parallel mechanism movement modules in series, the characteristic of high rigidity of the parallel mechanism is inherited, and meanwhile, the rotation angles of the 2UR parallel mechanism in two directions can reach more than 90 degrees, so that the flexibility is high.
2. The invention adopts a modularized design to enable the mechanical arm to correspondingly adjust the size of the mechanical arm according to task requirements.
Drawings
FIG. 1 is an overall block diagram of a modular rope driven mechanical arm based on a 2-UR parallel mechanism of the present invention;
FIG. 2 is a first block diagram of a manipulator module in a modular rope-driven manipulator based on a 2-UR parallel mechanism of the present invention;
FIG. 3 is a second block diagram of a manipulator module in a modular rope-driven manipulator based on a 2-UR parallel mechanism of the present invention;
FIG. 4 is a block diagram of a parallel module in a modular rope driven mechanical arm based on a 2-UR parallel mechanism of the present invention;
FIG. 5 is a first motion branch structure diagram of a modular rope driven mechanical arm based on a 2-UR parallel mechanism of the present invention;
FIG. 6 is a block diagram of a drive module in a modular rope drive mechanical arm based on a 2-UR parallel mechanism of the present invention;
FIG. 7 is a block diagram of a movable platform in a modular rope driven mechanical arm based on a 2-UR parallel mechanism of the present invention;
FIG. 8 is a schematic diagram of a 90 degree rotation of a robot module in a modular rope driven robot based on a 2-UR parallel mechanism of the present invention;
fig. 9 is a schematic diagram of 180 ° rotation of a mechanical arm module in a modular rope driven mechanical arm based on a 2-UR parallel mechanism.
The main reference numerals:
the mechanical arm module 2, the movable sliding table 3, the base 4, the parallel module 5, the rope sleeve 6, the driving rope 7, the fixing bolt 8, the fixed platform 9, the movable platform 10, the first hook joint 11, the first hook joint outer rotating pair R11, the first hook joint inner rotating pair R12, the first rotating pair 12, the second hook joint 13, the second hook joint outer rotating pair R21, the second hook joint inner rotating pair R22, the second rotating pair 14, the first connecting rod 15, the second connecting rod 16, the driving motor 17, the movable sliding rail 18, the rope fixing plate 19, the mounting bracket 20, the ball screw 21, the box 22, the rope fixing hole 23, the mounting seat fixing hole 24 and the public platform 25.
Detailed Description
In order to make the technical content, the structural features, the achieved objects and the effects of the present invention more detailed, the following description will be taken in conjunction with the accompanying drawings.
The modularized rope driving mechanical arm based on the 2-UR parallel mechanism is shown in fig. 1, and comprises a driving module 1, a mechanical arm module 2 and a base 4, wherein the mechanical arm module 2 is formed by connecting a plurality of parallel modules 5 with the same structure in series, according to the practical application situation of the mechanical arm module 2, two adjacent parallel modules 5 can be connected in a coplanar mode on a plane where a moving branch is located, at the moment, the moving phases are the same, and can also be connected in a certain dislocation angle, at the moment, the moving phases are different, as shown in fig. 3, the mechanical arm module 2 is enabled to be stressed more uniformly, a public platform 25 connected with two adjacent parallel modules 5 is one of a fixed platform 9 or a movable platform 10, and the connected mechanical arm module 2 is fixedly connected with the driving module 1 through the base 4.
When mechanical arms with different lengths are needed to complete tasks, the parallel modules 5 with the same structure are added or reduced on the mechanical arms, so that the length of the mechanical arms can be adjusted. Therefore, the mechanical arm module 2 has the advantages of diversified structure, modularized structure, compact structure, no redundancy, simple and convenient control, strong joint rigidity and the like in configuration, and meanwhile, the rotation range, the movement performance and the bearing capacity of the mechanical arm joint are obviously improved.
The driving module 1, as shown in fig. 6, comprises a moving sliding table 3, a rope sleeve 6, a driving rope 7, a fixing bolt 8, a driving motor 17, a moving sliding rail 18, a rope fixing plate 19, a mounting bracket 20, a ball screw 21 and a box 22, wherein the outer shell of the driving motor 17 is connected with the outer mounting end of the box 22, the output end of the driving motor 17 is connected with the input end of the ball screw 21, the two ends of the ball screw 21 are respectively connected with the first mounting end inside the box 22 and the first mounting end of the rope fixing plate 19 through the mounting bracket 20, the moving sliding rail 18 and the ball screw 21 are installed in parallel, the two ends of the moving sliding rail 18 are respectively connected with the second mounting end inside the box 22 and the second mounting end of the rope fixing plate 19 through the mounting bracket 20, the first mounting hole and the second mounting hole of the lower end of the moving sliding table 3 are respectively connected with the working ends of the ball screw 21 and the moving sliding rail 18, the upper end of the moving sliding table 3 is connected with the first end of the driving rope 7, and the second end of the driving rope 7 sequentially passes through the rope sleeve 6 and is fixedly connected with the moving platform 10 of the parallel module 5 through the fixing bolt 8 and the rope fixing hole 23.
Specifically, the driving rope 7 is only exposed at the driven parallel module 5, the rest part of the driving rope is arranged in the rope sleeve 6, two ends of the rope sleeve 6 in the undriven parallel module 5 are respectively connected with the fixed platform 9 and the movable platform 10 of the parallel module 5, and the problem that the shape of a sleeve area is arbitrarily changed in the movement process of the mechanical arm module 2, so that the length of the driving rope 7 in the sleeve-free area is not changed, and the driving ropes 7 are not mutually related among each movement module 5 is solved. So as to realize that the length change of the rope in the non-sleeve area of the mechanical arm module 2 is irrelevant to the shape change of the sleeve area and that the driving rope 7 of each movement module has no interference.
The parallel module 5, as shown in fig. 4, comprises a fixed platform 9, a movable platform 10, a first movement branch and a second movement branch, as shown in fig. 7, rope fixing holes 23 are respectively formed in the movable platform 10 or the fixed platform 9, mounting seat fixing holes 24 are respectively formed in the middle of the first movement branch, rectangular holes are respectively formed in two ends of the first movement branch and are respectively connected with the fixed platform 9 and the first mounting seat fixing holes of the movable platform 10, two ends of the second movement branch respectively penetrate through the rectangular holes and are connected with the fixed platform 9 and the second mounting seat fixing holes of the movable platform 10, and the first movement branch and the second movement branch are placed at 180-degree intervals along the circumferential direction of the fixed platform 9.
The first movement branch, as shown in fig. 5, comprises a first hook joint 11, a first rotating pair 12 and a first connecting rod 15, wherein the first hook joint outer rotating pair R11 is fixedly connected with a first mounting seat fixing hole of the fixed platform 9, the first hook joint inner rotating pair R12 is connected with a first end of the first connecting rod 15, a second end of the first connecting rod 15 is connected with a first end of the first rotating pair 12, and a second end of the first rotating pair 12 is fixedly connected with a first mounting seat fixing hole of the movable platform 10; the second motion branch comprises a second hook hinge 13, a second revolute pair 14 and a second connecting rod 16, wherein the second hook hinge outer revolute pair R21 is fixedly connected with a second mounting seat fixing hole of the fixed platform 9, the second hook hinge inner revolute pair R22 is connected with a first end of the second connecting rod 16, a second end of the second connecting rod 16 is connected with a first end of the second revolute pair 14, and a second end of the second revolute pair 14 is fixedly connected with a second mounting seat fixing hole of the movable platform 10.
Further, in order to better exert the movement performance of the parallel module 5, the axis of the first hook external revolute pair R11 and the axis of the second hook external revolute pair R21 are coaxial, the axis of the first hook internal revolute pair R12 and the axis of the second hook internal revolute pair R22 are coaxial, the axis of the first hook external revolute pair R11 and the axis of the second hook external revolute pair R21 are perpendicular to the axis of the first revolute pair 12 and the axis of the second revolute pair 14, respectively, and the axis of the first hook internal revolute pair R12 and the axis of the second hook internal revolute pair R22 are parallel to the axis of the first revolute pair 12 and the axis of the second revolute pair 14, respectively.
In a preferred embodiment of the present invention, the axis of the first hook inner revolute pair R12, the axis of the second hook inner revolute pair R22, the axis of the first revolute pair 12 and the axis of the second revolute pair 14 are in the same plane, and the first link 15, the second link 16, the first hook inner revolute pair R12, the second hook inner revolute pair R22, the first revolute pair 12 and the second revolute pair 14 form an antiparallel structure.
Specifically, the motion branch group of each parallel module 5 is composed of two motion branches which are arranged in a crossing mode and have the same structure, the movable platform 10 is driven by three driving ropes 7, the driving ropes 7 are evenly distributed at intervals of 120 degrees along the circumferential direction of the movable platform 10, and the three driving ropes 7 cannot twist, intersect and interfere in the motion process.
The number of the movable slipway 3, the driving rope 7, the rope sleeve 6, the fixing bolt 8, the driving motor 17, the movable slide rail 18 and the ball screw 21 are equal.
The invention relates to a modularized rope driving mechanical arm based on a 2-UR parallel mechanism, which is further described in the following embodiment:
in this embodiment, the mechanical arm module 2 is formed by connecting 4 motion modules 5 with the same structure in series, the fixed platform 9 of the lowest parallel module 5 is connected with the base 4, and is connected with the driving module 1 through the base 4, and the specific implementation process is as follows:
embodiment one:
as shown in fig. 8, the mechanical arm module 2 is composed of four identical parallel modules 5, the movement branch group of each parallel module 5 is composed of two movement branches which are arranged in a crossing manner and have the same structure, and the movement of the movable platform 10 is driven by three driving ropes 7, the driving ropes 7 are equally distributed at 120 ° intervals along the circumferential direction of the movable platform 10, and the first movement branch and the second movement branch are positioned between two adjacent driving ropes 7.
Firstly, in order to realize that the movable platform of the parallel connection module 5 at the tail end in the mechanical arm module 2 executes 90-degree rotation, the driving motor 17 in the driving module 1 moves to drive the ball screw 21 to rotate, and the rotation of the ball screw 21 controls the corresponding movable sliding table 3 to slide on the movable sliding rail 18, so that the length of the driving rope 7 corresponding to the control parallel connection module 5 is changed.
Then on the basis of the control method, the driving motors 17 corresponding to the three driving ropes 7 of the end parallel module 5 are started to move, so that the lengths of the three driving ropes 7 are changed, the lengths of the driving ropes 7 at the two sides of the second movement branch are ensured to be larger than the lengths of the third driving rope 7 in control, the lengths of the driving ropes 7 at the two sides of the second movement branch are enabled to be equal, and therefore the first hook joint rotating pair R12 and the second hook joint inner rotating pair R22 of the end parallel module 5 rotate, and the posture of the end parallel module 5 is changed.
Finally, the multidirectional bending movement of the mechanical arm module 2 can be realized, so that the movement of the end parallel module 5 is controlled to realize 90-degree rotation of the end effector.
In order to realize 90-degree rotation of the end effector, the plurality of parallel modules 5 can be controlled to rotate by different angles, and finally the same rotation of the end effector is realized, but the integral postures of the mechanical arms and the positions of the end effector in different control modes are different, so that the postures of the mechanical arms can be changed by using different control modes according to different working requirements and working environments, and more working occasions of the mechanical arms can be realized.
Embodiment two:
as shown in fig. 9, in order to implement 180 ° rotation of the movable platform 10 of the end parallel module 5 in the mechanical arm module 2, but 180 ° is beyond the rotation range of the movable platform 10 of the single parallel module 5, so in order to implement 180 ° rotation of the end effector, we need to control the movement of at least two parallel modules 5 by the control manner described above to implement the target rotation range.
First, 180 ° rotation of the end effector is accomplished by controlling the simultaneous movement of the four parallel modules 5. Then, by controlling the length change of the driving ropes 7 in each parallel module 5, the driving motors 17 corresponding to the length change of the three driving ropes 7 in each parallel module 5 are started, thereby changing the length of each driving rope 7.
Finally, the lengths of the driving ropes 7 at the two sides of the second movement branch of each parallel module 5 are controlled to be larger than the lengths of the third driving rope 7, and the lengths of the driving ropes 7 at the two sides of the second movement branch are equal, so that the first Hooke hinge rotating pair R12 and the second Hooke hinge inner rotating pair R22 of each parallel module 5 rotate, the four parallel modules 5 rotate in the same direction, and finally the end effector can rotate 180 degrees. If a larger rotation angle is required for operation, each parallel module 5 needs to be controlled to rotate, and the rotation range is enlarged, so that the end effector can realize the larger rotation angle.
The whole mechanical arm module has the advantages of compact body, light weight, high rigidity, high modularization degree and the like, and meanwhile, the rotation angles of the 2UR parallel mechanism in two directions can reach more than 90 degrees, so that the flexibility is high.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (3)
1. The modularized rope driving mechanical arm based on the 2-UR parallel mechanism comprises a driving module, a mechanical arm module and a base, wherein the mechanical arm module is formed by connecting a plurality of parallel modules with the same structure in series, the mechanical arm module is fixedly connected with the driving module through the base,
two adjacent parallel modules are connected at a certain dislocation angle, and the motion phases are different at the moment;
the parallel module comprises a fixed platform, a movable platform, a first movement branch and a second movement branch, wherein the first movement branch and the second movement branch are positioned between the fixed platform and the movable platform in a crossing manner, two ends of the first movement branch and the second movement branch are respectively connected with mounting seat fixing holes of the fixed platform and the movable platform, and the first movement branch and the second movement branch are arranged at 180-degree intervals along the circumferential direction of the fixed platform; the first movement branch comprises a first hook joint, a first rotating pair and a first connecting rod, the second movement branch comprises a second hook joint, a second rotating pair and a second connecting rod, the outer rotating pairs of the first hook joint and the second hook joint are fixedly connected with the mounting seat fixing holes of the fixed platform, the inner rotating pair of the first hook joint is connected with the first end of the first connecting rod, the second end of the first connecting rod is connected with the first end of the first rotating pair, and the second end of the first rotating pair is fixedly connected with the mounting seat fixing holes of the movable platform; the inner rotating pair of the second hook hinge is connected with the first end of the second connecting rod, the second end of the second connecting rod is connected with the first end of the second rotating pair, and the second end of the second rotating pair is fixedly connected with the mounting seat fixing hole of the moving platform;
the public platform connected with two adjacent parallel modules is one of the fixed platform or the movable platform;
the driving module comprises a movable sliding table, a rope sleeve, a driving rope, a fixing bolt, a driving motor, a movable sliding rail, a rope fixing plate, a mounting bracket, a ball screw and a box body, wherein a shell of the driving motor is connected with a mounting end outside the box body, an output end of the driving motor is connected with an input end of the ball screw, two ends of the ball screw are respectively connected with a first mounting end inside the box body and a first mounting end of the rope fixing plate through the mounting bracket, the movable sliding rail and the ball screw are mounted in parallel, two ends of the movable sliding rail are respectively connected with a second mounting end inside the box body and a second mounting end of the rope fixing plate through the mounting bracket, a first mounting hole and a second mounting hole at the lower end of the movable sliding table are respectively connected with a working end of the ball screw, an upper end of the movable sliding table is connected with a first end of the driving rope, and a second end of the driving rope sequentially penetrates through the rope sleeve and is fixedly connected with the rope fixing plate through the fixing bolt;
the axis of the first Hooke external revolute pair and the axis of the second Hooke external revolute pair are coaxial, the axis of the first Hooke internal revolute pair and the axis of the second Hooke internal revolute pair are parallel, the axis of the first Hooke external revolute pair and the axis of the second Hooke external revolute pair are perpendicular to the axis of the first revolute pair and the axis of the second revolute pair respectively, and the axis of the first Hooke internal revolute pair and the axis of the second Hooke internal revolute pair are parallel to the axis of the first revolute pair and the axis of the second revolute pair respectively;
in the parallel module, the axle center of the first Hooke's rotating pair, the axle center of the second Hooke's rotating pair, the axle center of the first revolute pair and the axle center of the second revolute pair are in the same plane, and the first connecting rod, the second connecting rod, the first Hooke's rotating pair, the second Hooke's rotating pair, the first revolute pair and the second revolute pair form an anti-parallelogram structure.
2. The modular rope drive mechanical arm based on a 2-UR parallel mechanism as recited in claim 1, wherein the moving platforms of the parallel modules are each driven by three drive ropes equally distributed at 120 ° intervals along the circumference of the moving platforms.
3. The modular rope drive mechanical arm based on a 2-UR parallel mechanism according to claim 1 or 2, wherein the number of the moving ramp, the drive rope, the rope bushing, the fixing bolt, the drive motor, the moving slide and the ball screw is equal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111652056.1A CN114346995B (en) | 2021-12-30 | 2021-12-30 | Modularized rope driving mechanical arm based on 2-UR parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111652056.1A CN114346995B (en) | 2021-12-30 | 2021-12-30 | Modularized rope driving mechanical arm based on 2-UR parallel mechanism |
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| CN114346995A CN114346995A (en) | 2022-04-15 |
| CN114346995B true CN114346995B (en) | 2024-04-09 |
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| CN205363953U (en) * | 2016-03-08 | 2016-07-06 | 山东科技大学 | Flexible mechanical arm of pneumatic rope accuse load type |
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| CN109955281A (en) * | 2019-04-26 | 2019-07-02 | 哈尔滨工业大学（深圳） | Two degrees of freedom big corner flexible machine person joint, robot based on rope driving |
| CN110125978A (en) * | 2019-05-20 | 2019-08-16 | 燕山大学 | A kind of wire saws robot based on parallel connection platform driving |
| CN110480676A (en) * | 2019-09-02 | 2019-11-22 | 哈尔滨工业大学（深圳） | A kind of big corner flexible joint and robot based on rope driving |
| CN113370198A (en) * | 2021-06-28 | 2021-09-10 | 燕山大学 | Bionic cross fishbone-shaped continuum robot mechanical arm |
| CN113733067A (en) * | 2021-09-23 | 2021-12-03 | 湖南大学 | Large-load long-distance radiation-resistant high-precision snake-shaped arm |
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2021
- 2021-12-30 CN CN202111652056.1A patent/CN114346995B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205363953U (en) * | 2016-03-08 | 2016-07-06 | 山东科技大学 | Flexible mechanical arm of pneumatic rope accuse load type |
| CN106426096A (en) * | 2016-10-25 | 2017-02-22 | 浙江理工大学 | Large turning angle two-rotation-and-one-movement parallel mechanism |
| CN109955281A (en) * | 2019-04-26 | 2019-07-02 | 哈尔滨工业大学（深圳） | Two degrees of freedom big corner flexible machine person joint, robot based on rope driving |
| CN110125978A (en) * | 2019-05-20 | 2019-08-16 | 燕山大学 | A kind of wire saws robot based on parallel connection platform driving |
| CN110480676A (en) * | 2019-09-02 | 2019-11-22 | 哈尔滨工业大学（深圳） | A kind of big corner flexible joint and robot based on rope driving |
| CN113370198A (en) * | 2021-06-28 | 2021-09-10 | 燕山大学 | Bionic cross fishbone-shaped continuum robot mechanical arm |
| CN113733067A (en) * | 2021-09-23 | 2021-12-03 | 湖南大学 | Large-load long-distance radiation-resistant high-precision snake-shaped arm |
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| Publication number | Publication date |
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| CN114346995A (en) | 2022-04-15 |
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