Self-balanced parallel movement simulator of two-freedom degree closed loop

Abstract

The invention discloses a self-balanced parallel movement simulator of a two-freedom degree closed loop. The self-balanced parallel movement simulator mainly comprises a moveable platform, a fixed platform and four sub branches connected with the two platforms, wherein three sub branches are SRU driving sub branches witch are the same in structure, and the other sub branch is a UP middle restraint sub branch; each group of two first universal hinges of each SRU driving sub branch is fixedly arranged on the fixed platform, one first universal hinge is connected with a driving pair, the other first universal hinge is connected with an electric cylinder, the driving pair is connected with a spherical hinge, and the spherical hinge is connected with the moveable platform; the lower end of a moveable pair of a spring arranged in the UP middle branch is fixedly arranged on the center of the fixed platform, and the upper end of the moveable pair is connected with a second universal hinge; the second universal hinge is connected with the moveable platform; and the center of the second universal hinge is at the center of a triangular externally connecting circle consisting of branch spherical hinges. The self-balanced parallel movement simulator is simple in structure, small in occupation size and large in work space; through static load of the middle branch, the load capacity of the platforms is increased, and the torque and the power of a motor are reduced; and the self-balanced parallel movement simulator can be widely applied to stabilizing a ship-based device and a vehicle-carried device and simulating movement.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel platform. Background technique [0002] With the continuous development of human technology, the field of human exploration is also expanding. Aerospace technology and marine technology are in constant progress. In the exploration of the sea and the sky, it is inevitable that there will be various equipment and equipment working in extreme environments. The cost of these devices will be very expensive, so a large number of simulation experiments must be done before practical application to meet safety standards. With the continuous improvement of ground simulation technology, many sky and ocean experiments are carried out on land. The well-known parallel mechanism has the characteristics of high rigidity, stable mechanism, strong bearing capacity, high precision, small motion inertia, and simple anti-solution control. At present, the parallel simulation motion platform is wi...

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Problems solved by technology

Patent CN 102626919 A ​​proposes a symmetrical two-turn-one-shift parallel mechanism with no axis intersection. The branches of the invention have no axis intersection, which greatly reduces the difficulty of manufacturing. However, due to the scattered branches, the mechanism is large in size and relatively small in working space. Small; the two-degree-of-freedom parallel mechanism proposed in patent CN102147046 A can realize decoupling two-degree-of-freedom motion, with excellent motion performance and easy control, but the arrangement of the drive motor results in poor dynamic performance of the system, large inertial force, and low load-carrying capacity

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