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Title:
DYNAMICS MODELING METHOD FOR ROPE DRIVEN LINKAGE TYPE MECHANICAL ARM, AND TENSION OPTIMIZATION METHOD FOR ROPES OF ROPE DRIVEN LINKAGE TYPE MECHANICAL ARM
Document Type and Number:
WIPO Patent Application WO/2020/259132
Kind Code:
A1
Abstract:
A dynamics modeling method for a rope driven linkage type mechanical arm, comprising: a mechanical arm is equivalent to the formation of a rigid part (10), two driving ropes (20), and four linkage ropes (30), the rigid part (10) comprises three rotary joints (11) and three connecting rods (12), and the three connecting rods (12) are connected to each other by means of the rotary joints (11) in sequence; one ends of the two driving ropes (20) are respectively fixed onto the connecting rods (12) on the tail end, and the other ends sequentially penetrate through the connecting rods (12) and are then controlled by a driver; every two of the four linkage ropes (30) respectively wind around adjacent rotary joints (11) to be connected to the connecting rods (12) in a crossed manner; a dynamics equation of the mechanical arm is built. According to the method, rope tension optimization in a motion process of the mechanical arm is achieved, and the method can be applied in trajectory planning, vibration control and other aspects of the rope driven mechanical arm. The present invention also relates to a rope tension optimization method.

Inventors:
MENG DESHAN (CN)
LIANG BIN (CN)
WANG XUEQIAN (CN)
LI YANAN (CN)
LIU YU (CN)
WANG TIANSHU (CN)
Application Number:
PCT/CN2020/091146
Publication Date:
December 30, 2020
Filing Date:
May 20, 2020
Export Citation:
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Assignee:
TSINGHUA SHENZHEN INT GRADUATE SCHOOL (CN)
International Classes:
B25J9/16
Foreign References:
CN110271002A2019-09-24
CN103955611A2014-07-30
CN109543264A2019-03-29
CN109325315A2019-02-12
JP2015150625A2015-08-24
Attorney, Agent or Firm:
CHINA TRUER IP (CN)
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