Three-rotational-freedom series-parallel driving mechanism

Abstract

Provided is a three-rotational-freedom series-parallel driving mechanism. One two-rotational-freedom parallel mechanism and a 360-degree-rotational-freedom mechanism are in series connection to form the three-rotational-freedom series-parallel driving mechanism. The two-rotational-freedom parallel mechanism comprises a static platform, a movable platform located above the static platform, a restraining branched chain and two driving branched chains, wherein the restraining branched chain and the two driving branched chains are connected between the static platform and the movable platform. Each driving branched chain is composed of a guide mechanism, a moving pair, a Hooke hinge, a connecting rod and a spherical hinge. The three-rotational-freedom series-parallel driving mechanism is simple in structure. Due to the fact that driving motors of the two driving branched chains are fixedly connected with the static platform, moving mass of the three-rotational-freedom series-parallel driving mechanism is small, and high speed is achieved easily. Due to the fact that the connecting rods of the two driving branched chains are two-force rods, the three-rotational-freedom series-parallel driving mechanism is high in bearing capacity. If used for driving a flight simulation control cabin to move, compared with a Stewan parallel mechanism, the three-rotational-freedom series-parallel driving mechanism can greatly reduce production and maintenance cost of a flight simulator and has wide application prospect.

Description

technical field [0001] The invention belongs to the field of hybrid mechanisms, in particular to a three-rotation-degree-of-freedom hybrid drive mechanism formed by connecting a parallel mechanism with two degrees of freedom and a mechanism in series with one degree of freedom. Background technique [0002] The cockpit on a full-mission flight simulator is usually driven by a Stewart parallel mechanism, which can realize six-degree-of-freedom movement in space. However, the disadvantages of this mechanism are small working space, difficult motion solution, complex structural design, and high price. With the opening of China's low-altitude field, general aviation will develop rapidly, so the demand for training pilots of helicopters and private jets and the demand for flight simulators will also increase rapidly. If the flight simulation cockpit has only three rotational degrees of freedom, the pilot can still feel the change of the aircraft attitude. [0003] For this reaso...

AI Technical Summary

Problems solved by technology

[0003] For this reason, Chinese Invention Patent Application No. 200610102017.3 discloses a spatially asymmetric two-degree-of-freedom rotating parallel mechanism, which uses two UPS branch chains with the same structure (U stands for Hooke hinge, P stands for moving pair, S Represents the spherical joint) to drive the moving platform, and this driving method needs to fix the motor on the kinematic branch chain, thus increasing the quality of the kinematic branch chain, so it is not conducive to the high-speed movement of the mechanism

Images