The invention discloses a rope-driven four-degree-of-freedom parallel robot end effector, and belongs to the technical field of parallel robots. A rope-driven four-degree-of-freedom parallel robot end effector comprises a positioning plate, a ball joint is universally connected to the center of the lower end of the positioning plate, a transmission connecting rod is fixed to the ball joint, a clamping jaw fixing platform is fixed to the lower end of the transmission connecting rod, and two soft clamping jaws are fixed to the lower end of the clamping jaw fixing platform; six retractable ropes are arranged on the positioning plate, and four ropes penetrate through the positioning plate and are respectively fixed with four corners of the clamping jaw fixing platform; the other two ropes penetrate through the positioning plate and the clamping jaw fixing platform, then penetrate through the two soft clamping jaws respectively and are fixed to the tail ends of the soft clamping jaws.
本发明公开一种绳索驱动的四自由度并联机器人末端执行器,属于并联机器人技术领域;一种绳索驱动的四自由度并联机器人末端执行器,包括定位板,定位板的下端中心位置万向连接有球关节,球关节上固定有传动连杆,传动连杆的下端固定有夹爪固定平台,夹爪固定平台的下端固定有两个软体夹爪;所述定位板上设置有六个能够收放的绳索,其中四个绳索穿过定位板并分别与夹爪固定平台的四个边角固定;另外两个绳索穿过定位板和夹爪固定平台,再分别贯穿两个软体夹爪,并与软体夹爪的末端固定。
Rope-driven four-degree-of-freedom parallel robot end effector
一种绳索驱动的四自由度并联机器人末端执行器
2024-03-08
Patent
Elektronische Ressource
Chinesisch
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