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Three freedom degree motion simulator of pneumatic hybrid mechanism

A technology of motion simulator and hybrid mechanism, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of large working space, small working space, unsuitable for working space application fields, etc., and achieve simple mechanism, convenient control, and good flexibility Effect

Inactive Publication Date: 2009-09-23
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, the parallel mechanism lacks the characteristics of the large working space of the series mechanism, so its working space is often relatively small, which is not suitable for applications with large working space.

Method used

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  • Three freedom degree motion simulator of pneumatic hybrid mechanism
  • Three freedom degree motion simulator of pneumatic hybrid mechanism
  • Three freedom degree motion simulator of pneumatic hybrid mechanism

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Embodiment Construction

[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] The three-degree-of-freedom motion simulator of the pneumatic hybrid mechanism of the present invention includes a two-degree-of-freedom space parallel mechanism driven by a pneumatic artificial muscle, a series mechanism driven by a cylinder with a measurable stroke, and a pneumatic control mechanism; wherein, the space parallel The mechanism is composed of a first angle sensor, a second angle sensor, a cross shaft, a Hooke hinge, a pneumatic artificial muscle, an upper platform and a lower platform; The two degrees of freedom of rotation of the parallel mechanism; the length of the cross axis of the Hooke hinge is 110mm, the radius is 20mm, the length of the four L-shaped blocks of the Hooke hinge is 45mm, and the height is 95mm; the radius of the upper platform is 250mm, and the radius of the lower platform is 250mm. The lower platform sleeve ...

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Abstract

The invention belongs to the field of pneumatic technology, relates to a gas-driven motion simulator, in particular to a three freedom degree motion simulator of a pneumatic hybrid mechanism; the invention is a novel three freedom degree motion simulator of the pneumatic hybrid mechanism, which is driven by an air cylinder and a pneumatic artificial muscle in a mixing mode to realize combination of a parallel mechanism and a serial mechanism; wherein the parallel mechanism consists of a first angle sensor, a second angle sensor, a crossing shaft, a hooker hinge, a pneumatic artificial muscle, an upper platform and a lower platform, and is used for realizing the two rotational freedom degree; the serial mechanism consists of the air cylinder, a base, a linear bearing, a guiding rail and a flange, and is used for realizing the freedom degree of up-and-down movement; the serial mechanism is connected with the lower platform of the parallel mechanism by threads; and servocontrol of the three freedom degree motion simulator is realized by a pneumatic control mechanism. The invention has the advantages of simple structure, mutual independence of three freedom degree, good controllability, fast response of pneumatic control and good softness of pneumatic artificial muscle.

Description

technical field [0001] The invention relates to a gas-driven motion simulator, in particular to a three-degree-of-freedom motion simulator of a pneumatic hybrid mechanism, which is a new type of pneumatic hybrid that uses a hybrid drive of a cylinder and a pneumatic artificial muscle to realize both a parallel and a series mechanism. A three-degree-of-freedom motion simulator for mechanisms. technical background [0002] The parallel mechanism has the characteristics of high rigidity, strong bearing capacity, small self-weight-to-load ratio, fast response speed, and good dynamic performance. It is especially suitable for applications with small working space and large load. At present, the vast majority of parallel systems at home and abroad are driven by motors or hydraulic pressure. For the motor system, the motor is easy to start, and can be designed to have a low moment of inertia, and the acceleration and deceleration characteristics are good, but to obtain a large pow...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00
Inventor 彭光正张宏立申珉珉范伟
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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