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Spring structure type multiple free degree parallel mechanism generalized force and force moment testing device

A spring structure and testing device technology, which is applied in the field of generalized force and moment testing devices for multi-degree-of-freedom parallel mechanisms, can solve the problems of high machining accuracy and installation accuracy, large measurement errors, and complex mechanisms, and achieve high precision and low motion inertia. The effect of small, broad application prospects

Inactive Publication Date: 2007-09-19
ZHEJIANG UNIV
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Problems solved by technology

In the research of generalized force and moment test device, the commonly used generalized force and moment test device with Stewart platform structure adopts spherical pair form or elastic spherical joint, or improves its structure. Structural form, complex mechanism, high requirements for machining accuracy and installation accuracy, and expensive
And other forms of generalized force and moment test devices for three vertical rib structures, cylindrical, double ring, four vertical rib structures, box structures, cross structures, cylindrical, double-headed, three beam structures, and eight vertical rib structures or The mechanism is complex, or the measurement error is large

Method used

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  • Spring structure type multiple free degree parallel mechanism generalized force and force moment testing device
  • Spring structure type multiple free degree parallel mechanism generalized force and force moment testing device
  • Spring structure type multiple free degree parallel mechanism generalized force and force moment testing device

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Embodiment Construction

[0014] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0015] As shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, comprise multi-degree-of-freedom parallel mechanism 1, connecting mechanism 6 is rigidly movable connected with the measured activity platform 2 of multi-degree-of-freedom parallel mechanism 1 (connection mechanism 6 and measured activity There is no relative movement between the platforms 2, but the two are connected as a whole for free movement), the base 3 of the multi-degree-of-freedom parallel mechanism 1 is fixedly connected with the ground, and the fixed outer frame 4 and the base 3 have no relative movement (the fixed outer frame The outer cylindrical surface of 4 is rigidly and fixedly connected with the external object, wherein the external object is fixedly connected with the earth) The included angle projected by the three horizontal springs 7 on the horizontal plane is 120°, and one end o...

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Abstract

The present invention discloses a generalized force and force moment measuring device of the multiple-degree-of-freedom parallel mechanism in a spring structure format. The measuring device includes a multiple-degree-of-freedom parallel mechanism, a transverse spring, a diagonal drawn spring, a fixed external frame and a connection mechanism; the fixed external frame does not move relatively to the base of the parallel mechanism, and the connection mechanism is connected to the moveable platform of the multiple-degree-of-freedom parallel mechanism in a rigid and moveable mode and is connected to the fixed external frame through a plurality of springs. The present invention provides a compact, ideal and succinct measuring device of force and force moment, and the device can be used for measuring the generalized force and force moment of all kinds of multiple-degree-of-freedom platforms and for loading.

Description

technical field [0001] The invention relates to force and moment testing equipment, in particular to a generalized force and moment testing device of a multi-degree-of-freedom parallel mechanism in the form of a spring structure. Background technique [0002] The current generalized force and torque test device is basically a six-dimensional force sensor test. In the research of generalized force and moment test device, the commonly used generalized force and moment test device with Stewart platform structure adopts spherical pair form or elastic spherical joint, or improves its structure. The structural form and mechanism are complicated, the processing accuracy and installation accuracy are high, and the price is expensive. And other forms of generalized force and moment test devices for three vertical rib structures, cylindrical, double ring, four vertical rib structures, box structures, cross structures, cylindrical, double-headed, three beam structures, and eight verti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/04
Inventor 傅新王伟邹俊谢海波
Owner ZHEJIANG UNIV
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