Dynamic isotropic generalized Stewart fault-tolerant parallel mechanism and design method thereof
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An isotropic, design method technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the inability to guarantee the intrinsic safety of the system
Inactive Publication Date: 2013-04-03
HARBIN INST OF TECH
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[0004] In order to solve the problem that the existing non-redundant parallel mechanism cannot guarantee the intrinsic safety of its system after one leg or several legs fail, the present invention further proposes a design method for a dynamic isotropic generalized Stewart fault-tolerant parallel mechanism
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specific Embodiment approach 1
[0016] Specific implementation mode one: combine figure 1 with figure 2 Describe this embodiment, the dynamic isotropic generalized Stewart fault-tolerant parallel mechanism described in this embodiment includes a lower platform 1, an upper platform 2, a first outrigger, a second outrigger, a third outrigger, a third outrigger, a fifth outrigger Legs, sixth leg, seventh leg, eighth leg, eight upper hinge assemblies 3 and eight lower hinge assemblies 4, the upper end of the first leg, the upper end of the third leg, the fifth leg The upper end of the upper end and the upper end of the seventh leg are respectively installed on the upper platform 2 through an upper hinge assembly 3 with a radius of r a1 On the circumference of the first upper hinge circle, the lower end of the first leg, the lower end of the third leg, the lower end of the fifth leg, and the lower end of the seventh leg are respectively installed on the lower platform 1 through a lower hinge assembly 4 radius ...
specific Embodiment approach 2
[0017] Specific implementation mode two: combination figure 1 with figure 2 To illustrate this embodiment, the lower hinge component 4 of the dynamic isotropic generalized Stewart fault-tolerant parallel mechanism described in this embodiment is a spherical hinge, Hooke hinge or elastic hinge, and the upper hinge component 4 is a spherical hinge, Hooke hinge or elastic hinge. Other components and connections are the same as those in the first embodiment.
specific Embodiment approach 3
[0018] Specific implementation mode three: combination figure 1 with figure 2 Describe this embodiment, the first leg, the second leg, the third leg, the fourth leg, the fifth leg, the sixth leg, Both the seventh leg and the eighth leg are servo hydraulic cylinder linear brakes or servo electric cylinder linear brakes. Other components and connections are the same as those in the first embodiment.
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Abstract
The invention discloses a dynamic isotropic generalized Stewart fault-tolerant parallel mechanism and a design method thereof, and relates to a parallel mechanism and a design method thereof, in particular to the dynamic isotropic generalized Stewart fault-tolerant parallel mechanism and the design method thereof. The invention aims to solve the problem that the conventional non-redundant parallel mechanism cannot ensure the essential safety of the system after one or more supporting legs are in failure. According to the invention, the upper end of a second supporting leg, the upper end of a fourth supporting leg, the upper end of a sixth supporting leg and the upper end of an eighth supporting leg are mounted on the periphery of a second upper hinge circle with a radius ra2 on an upper platform through an upper hinge assembly respectively, and the lower end of the second supporting leg, the lower end of the fourth supporting leg, the lower end of the sixth supporting leg, and the lower end of the eighth supporting leg are mounted on the periphery of a second lower hinge circle with a radius rb2 on a lower platform through a lower hinge assembly respectively. The invention is used in the field of aviation and aerospace.
Description
technical field [0001] The invention relates to a parallel mechanism and a design method thereof, in particular to a dynamic isotropic generalized Stewart fault-tolerant parallel mechanism and a design method thereof. Background technique [0002] In order to meet precision and pointing requirements such as spacecraft relay, high-resolution observation, airborne lasers, and micro-manipulation robots, the applied precision positioning and pointing system must have precise pointing accuracy, high-response vibration isolation and vibration suppression capabilities. The Stewart parallel mechanism has the characteristics of high rigidity, stable structure, strong bearing capacity, high precision and good dynamic characteristics. It can isolate and suppress the disturbance in the direction of 6 degrees of freedom, and has developed into a new technology for precision positioning and pointing applications. [0003] The widely used standard Stewart parallel mechanism has kinematics ...
Claims
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