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In order to solve the problems of elastic deformation of ropes and complex structure in the existing rope-linkage manipulator, a precision-linkage manipulator based on bevel gear is proposed in this paper. By establishing the structural model of the manipulator, kinematics models of equal angle and non-equal angle are established, and the simulation analysis of the workspace based on MATLAB is carried out. The proposed linkage manipulator can improve the linkage accuracy and efficiency of the manipulator, and at the same time, by adjusting the diameter of the bevel gear, different linkage angles can be realized, thus changing the workspace of the manipulator.

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Analysis of Design and Kinematics of Precision Linkage Manipulator Based on Bevel Gear

  • 会议论文

  • 发表日期：

    2026年

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  • Yaxing Guo,
  • Wei Chen,
  • Zhong Chen,
  • Sheng Xie,
  • Huajin Zhang,
  • Longfei Jia,
  • Zhenhua Wang

摘要

In order to solve the problems of elastic deformation of ropes and complex structure in the existing rope-linkage manipulator, a precision-linkage manipulator based on bevel gear is proposed in this paper. By establishing the structural model of the manipulator, kinematics models of equal angle and non-equal angle are established, and the simulation analysis of the workspace based on MATLAB is carried out. The proposed linkage manipulator can improve the linkage accuracy and efficiency of the manipulator, and at the same time, by adjusting the diameter of the bevel gear, different linkage angles can be realized, thus changing the workspace of the manipulator.