Mechanism design of steel band parallel robot with six degree of freedom

ZU Shunjiang, AI Qinglin, XV Fang
(The Ministry of Education Key Laboratory of Special Purpose Equipment and Advanced Processing Technology,
Zhejiang University of Technology, Hangzhou 310014, China)

Abstract: A newstyle steel band parallel robot with six degree of freedom was developed to overcome the common problems and broaden the application of traditional parallel robots. The structure and the working principle of steel band parallel robot, especially the design and implementation of the major parts in the parallel robot including steel band planar pair, reel device and compound spherical pair, were introduced. The functions, existing problems and applied prospect were analyzed and the conclusion that the steel band with circular arc crosssection can bear pressure loads was presented. The research results show that, steel band parallel robot involves some characteristics not only in the rodsupported parallel manipulator but also in wiredriven parallel manipulator, and possesses an extensive prospect of application.
Key words: steel band parallel robot; steel band planar pair; reel device; circular arc crosssection