Folding type six-freedom-degree parallel connection posture adjusting platform

Abstract

A folding type six-freedom-degree parallel connection posture adjusting platform mainly comprises an upper platform, a lower platform and six branches which are used for connecting the two platforms and are completely the same in structure. Each two branches form one group. The six branches are distributed evenly. Each branch comprises a main branch and a straight line driving branch. One end of a lower connecting rod of each main branch is connected with the lower platform through a universal hinge, and the other end of the lower connecting rod is connected with one end of an upper connecting rod through a rotating pair. The other end of the upper connecting rod is connected with the upper platform through a spherical hinge. A universal hinge in one straight line driving branch is fixed on the lower platform parallel to the outer side of the universal hinge of each main branch. The tail portion of an electric cylinder is connected with each universal hinge. A telescopic rod of the electric cylinder is connected with one portion of one upper connecting rod through a rotating pair. The folding type six-freedom-degree parallel connection posture adjusting platform is simple in structure, capable of being folded, large in bearing capacity due to the fact that a mechanism has large rigidity, and good in dynamic performance.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel attitude adjustment platform. Background technique [0002] TDI-CCD is based on multiple exposures to the same target, and through the method of delayed integration, the collection of light energy is greatly increased. Satellite cameras using TDI-CCD devices as focal plane detectors are widely used in space exploration, aerospace remote sensing, low-light night vision detection and other fields. The exposure of multi-level TDI-CCD satellite cameras to the same target on the ground is equivalent to prolonging the integration time. In order to obtain a clear image, it must be synchronized for a long time. The satellite camera is in a space micro-vibration environment, and the attitude change, attitude stability and flutter of the satellite platform will cause the blurring of the image, so it is of great significance to the attitude control of the satellite camera. The general se...

AI Technical Summary

Problems solved by technology

The widely used stewart mechanism, because its driving pair is a moving pair, and its structural form is not easy to achieve folding

The driving pair of 6-RUS and 6-URS is a revolving pair, but because the drive is directly installed on the joint of the branch, the dynamic performance is poor

However, the six branches of the patent are RUS structures, which use the rotating pair as the drive, and the rotating pair is located on the lower platform. Compared with the parallel platform driven by the moving pair, the dynamic performance of the mechanism is poor.

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