Design of A Cable-locking Device for Cable-driven Manipulators

摘要

In this paper, a kind of cable-locking device is proposed, which replaces the motor driving device of the former cable-driving manipulator, and makes the cable-driving manipulator become a passive manipulator which can be applied in limited space, has larger workspace and has larger load-carrying capacity. The device has the characteristics of compact structure, good adaptability and strong versatility. The Integral structure and each part of this device are introduced. As the key part of this device, the detail structure and working principle of the cable-locking unit are proposed in this paper. Mechanical calculation of the force amplificatory structure is proposed in this paper to ensure that sufficient locking force can be provided.