Kinematics Modeling of Rigid and Flexible Parallel Joint Mechanisms Driven by Rope

摘要

Rope-driven rigid-flexible parallel joints are driven by flexible ropes, combining the advantages of both rigid parallel and rope-driven parallel mechanisms. This paper firstly proposes a rope-driven 4SPS-1U rigid-flexible parallel joint mechanism with a flexible spring. Then, the joint mechanism is modeled with forward/inverse position. Secondly, the position solution is numerically analyzed. The work space was simulated and Adams simulation software was used to verify the correctness of the numerical calculation method. The results of this study confirm that the rope-driven rigid-flexible parallel joint mechanism can achieve a variety of movement patterns, which provides a new idea for the innovative design of the robot mechanism.