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Two-degree-of-freedom static load balancing in-parallel movement simulation platform

A technology of motion simulation and moving platform, applied in teaching models, instruments, educational appliances, etc., can solve the problems of small working space, low carrying capacity, difficult to guarantee assembly accuracy, etc., and achieve large working space, stable performance, easy installation and The effect of maintenance

Inactive Publication Date: 2013-04-10
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Chinese patent CN201010136427.6 proposes a two-degree-of-freedom rotation decoupling parallel robot mechanism, the rotation of the moving platform of this mechanism is completely decoupled, but the assembly accuracy is not easy to guarantee; Chinese patent CN201110283398.0 proposes a two Degree of freedom parallel mechanism, the invention controls the movement of the platform through a closed-loop sub-chain, which results in a smaller working space; the two-degree-of-freedom parallel mechanism proposed by Chinese patent CN201110160345.X can realize one-dimensional rotation and one-dimensional movement, and the structure is simple, but Its carrying capacity is low

Method used

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  • Two-degree-of-freedom static load balancing in-parallel movement simulation platform
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  • Two-degree-of-freedom static load balancing in-parallel movement simulation platform

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Experimental program
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Effect test

Embodiment 1

[0032] exist figure 1 and figure 2 In the schematic diagram of the structure of the two-degree-of-freedom static load balance parallel motion simulation platform shown, three first universal joints 4 of UPS drive branches with identical structures and uniform distribution are fixed on the fixed platform 5, and the three first The center of the universal joint is arranged in an equilateral triangle on the fixed platform; the tail of the electric cylinder 3 is connected with the above-mentioned first universal joint, the telescopic rod of the electric cylinder is connected with the ball joint 2, and the ball joint is connected with the moving platform 1, and the three balls The hinge centers are arranged in an equilateral triangle on the moving platform. The middle restraint branch of UP is located on the line connecting the center of the moving platform and the fixed platform. The supporting frame 11 is composed of the supporting platform and four legs fixed on the four sides...

Embodiment 2

[0034] exist image 3 and Figure 4In the schematic diagram of the structure of the two-degree-of-freedom static load balance parallel motion simulation platform shown, the middle restraint branch of UP is located on the line connecting the center of the moving platform and the fixed platform, and the support frame 11 is composed of two gate-shaped brackets perpendicularly intersecting. A square through hole is formed in the center, and the four legs of the support frame are fixedly connected with the fixed platform 5; the second universal hinge 6 is connected with the moving platform 1, the upper end of the moving pair 7 is connected with the above-mentioned second universal hinge, and the lower end is inserted into the above-mentioned support In the square through hole of the frame, the line connecting the center of the second universal joint and the center of the moving platform is perpendicular to the moving platform. Two lever support frames 14 are respectively fixed on ...

Embodiment 3

[0036] exist Figure 5 and Figure 6 In the schematic diagram of the structure of the two-degree-of-freedom static load balance parallel motion simulation platform shown, the middle restraint branch of UP is located on the line connecting the center of the moving platform and the fixed platform, and one end of the second universal joint 6 is connected to the moving platform 1, and its The other end is connected with the mobile pair 25 with spring 23 built in, the support sleeve 22 of the support frame 11 is fixed on the outside of the above-mentioned mobile pair, one end of the four legs of the support frame is fixedly connected with the above-mentioned support sleeve, and the other end is connected with the fixed sleeve. The platform is fixedly connected, and a guide sleeve 24 is provided between the upper end of the casing of the support frame and the moving pair, and the line connecting the center of the second universal joint and the center of the moving platform is perpen...

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Abstract

Provided is a two-degree-of-freedom static load balancing in-parallel movement simulation platform. The two-degree-of-freedom static load balancing in-parallel movement simulation platform comprises a movable platform, a fixed platform and four branches, wherein the four branches are used for connecting the movable platform and the fixed platform, three of the four branches are uninterrupted power supply (UPS) drive branches which are absolutely the same in structure, the other one of the four branches is a UP middle constraint branch, a first universal hinge of each UPS drive branch is fixed on the fixed platform, the tail portion of an electric cylinder is connected with the first universal hinges, and a telescopic rod of the electric cylinder is connected with a spherical hinge which is connected with the movable platform. The UP middle constraint branch is a counterweight structure of a lever or a sliding pair structure of a built-in spring or a structure of a hydraulic cylinder or an air cylinder. The four structures are connected with the movable platform through second universal hinges and connected with the fixed platform through supporting frames. The two-degree-of-freedom static load balancing in-parallel movement simulation platform is simple in occupied structure, large in working space, strong in bearing capacity and good in stability.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel platform. Background technique [0002] With the application and development of mechanism science and ground motion simulation technology, many high-cost motion simulation experiments, such as experiments and training in space, air and ocean, are carried out on land, because ground experiments greatly reduce the cost. It has the characteristics of safety and reliability, and has been widely used in recent years. The parallel motion simulation platform is used in the motion simulation of aircraft, ships, automobiles, etc. because of its advantages such as high rigidity, stable structure, strong bearing capacity, high precision, small motion inertia, difficult forward solution but easy reverse solution, etc. At present, most parallel motion simulators have six degrees of freedom. The manufacturing cost is high, the control technology is high, and the ratio of external dimensions ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G09B25/02
Inventor 赵铁石潘秋月唐启敬
Owner YANSHAN UNIV
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