A design scheme of carrying mechanism applying 6-cable-driven parallel robot is proposed based on the actual requirements of the outside wall maintenance and cleaning of a high-rise building. The spatial parallelogram structure is adopted to construct the cable-loop, and 4 motors are used to drive 6 cables, which can achieve the movement requirements of the carrying mechanism in both horizontal and vertical directions. The kinematics model of cable-loop driven parallel robot is established. The law of length variation of 6 cables is analyzed. The research lays a theoretical foundation for achieving motion control of the cable-loop parallel robot.
周莉, 李研.
空间平行四边形索环牵引并联机器人设计与仿真分析
[J]. 吉林化工学院学报, 2019, 36(11): 90-94.
ZHOU Li, LI Yan.
Design and Simulation Analysis of Spatial Parallelogram Cable-Loop Driven Parallel Robot
. Journal of Jilin Institute of Chemical Technology, 2019, 36(11): 90-94.