A folding six-degree-of-freedom parallel attitude adjustment platform
A degree of freedom and folding technology, which is applied in aerospace equipment, aerospace vehicles, aircraft, etc., can solve the problems of difficult structure, poor dynamic performance, poor dynamic performance and other problems, so as to improve the dynamic response characteristics, improved load-bearing capacity, and simplified structural design
Inactive Publication Date: 2015-09-16
YANSHAN UNIV
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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.
Method used
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[0015] exist figure 1 In the schematic diagram of the folding six-degree-of-freedom parallel attitude-adjusting platform shown, the upper platform 1 and the lower platform 7 are connected by six branches with identical structures. The six branches are divided into groups of two and evenly distributed. Each branch consists of a body branch and a linear drive branch. One end of the lower link 9 in the main body branch is connected with the lower platform through a universal hinge 8, the other end of the lower link is connected with one end of the upper link 3 through a rotating pair 10, and the other end of the upper link is connected with a spherical hinge 2. Connect with the upper platform; the universal hinge 6 in the linear drive branch is fixed on the lower platform parallel to the outer side of the main branch universal hinge, the tail of the electric cylinder 5 is connected with the universal hinge, and the telescopic rod of the electric cylinder passes through the rotat...
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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...
Claims
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IPC IPC(8): B64G1/66
Inventor 赵铁石耿明超潘秋月苏士如
Owner YANSHAN UNIV