The invention relates to a manipulator mechanism driven by combination of rods and ropes, and belongs to the technical field of application of theory of mechanism The manipulator mechanism comprisesa rack, a pulley block, a reel motor, a fixed long rod, two telescopic rods, two fixed length ropes and a driving rope The rack and the rods are connected through revolute pairs, the driving rope isconnected with the reel motor through the pulley block, and it is ensured that a flexible rope is always in a tension state by controlling the length of the telescopic rods and the driving rope, so that the manipulator mechanism can change a posture The manipulator mechanism driven by the combination of the rods and the ropes has the benefits that a flexible manipulator portion is replaced by theropes, compared with a traditional rigid manipulator, plane three-degree-of-freedom motion can be met, and the advantages of low weight, small inertial force, good flexibility, good fault tolerance,foldable and the like are achieved

Manipulator mechanism driven by combination of rods and ropes

The utility model relates to the field of teaching instrument equipment, and particularly to a planar linkage demonstrator. The planar linkage demonstrator comprises the components of: connecting rods (1), length digital display devices (2), a hinge (3), a pen (4), an angle digital display device (5), fixed hinges (6) and a demonstrating board (7). The planar linkage demonstrator is characterized in that: the connecting rods (1) are respectively connected in an one-to-one manner; the length digital display device (2), the hinge (3), the pen (4) and the angle digital display device (5) are successively connected at the middle part; the left end and the right end of each horizontal connecting rod (1) are respectively connected with a fixed hinge (6); and the fixed hinges (6) are connected with the demonstrating board (7). The planar linkage demonstrator has advantages of simple structure and reasonable structure. The planar linkage demonstrator conveniently demonstrates mechanisms of double-crank mechanism, double-rocking-bar mechanism, multiple-rod mechanism, etc. Motion tracks of different points on the linkage can be drawn. A limit position angle can be read through the tracks. The arranged angle digital display device can read a transmission angle and a pressure angle. When the demonstrating mechanism is at a dead center position, the transmission angle is zero.

Mao Linfeng

Papers

Planar linkage demonstrator