Folding type five-degree-of-freedom parallel connected attitude adjustment platform

Abstract

The invention discloses a folding type five-degree-of-freedom parallel connected attitude adjustment platform. The folding type five-degree-of-freedom parallel connected attitude adjustment platform comprises an upper platform, a lower platform and six branches; the six branches are used for connecting the upper platform and the lower platform; the five branches which are arranged on the periphery are driving branches with identical structures; and the rest one is a middle constraint branch. First universal hinges of the five driving hinges are connected with the lower platform; one ends of lower connecting rods are connected with the first universal hinges; the other ends of the lower connecting rods are connected with one ends of upper connecting rods through revolute pairs; the other ends of the upper connecting rods are connected with the upper platform through spherical hinges; the tail portions of electric cylinders are connected with the lower connecting rods; extensible rods of the electric cylinders are connected with the upper connecting rods; a middle connecting rod of the middle constraint branch is an extensible rod; one end of the middle connecting rod is connected with lower platform through one of the second universal hinges; the other end of the middle connecting rod is connected with the upper platform through one of the spherical hinges. The folding type five-degree-of-freedom parallel connected attitude adjustment platform has the advantages of being simple in structure, small in occupying area, low in self-weight, large in attitude adjustment space, convenient to install and maintain, being capable of achieving spatial three dimensional rotational freedom and two dimensional rotational freedom.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel attitude adjustment platform. Background technique [0002] With the development of society and the advancement of science and technology, people began to be dissatisfied with the exploration of land and ocean, and turned to yearn for the vast universe. With the continuous understanding and understanding of the universe, people shifted the development of resources from the limited ground to the vast At this time, the aerospace technology that came into being has become a new hot spot in scientific and technological research. In aerospace technology, earth observation technology is particularly important (mainly by camera). The attitude change of the spacecraft has six-dimensional coupling. When the attitude changes of the spacecraft, such as pitch, yaw, and roll, will accompany the position changes of the camera, such as advance and retreat, lateral movement, and heave, in addi...

AI Technical Summary

Problems solved by technology

Its shortcomings are: it occupies a large volume and its own weight is too large to be suitable for space environments; the patent CN102601794A proposes a high-stiffness four-degree-of-freedom parallel mechanism with attitude adjustment capabilities. This invention has the characteristics of high rigidity and fast response of the mechanism

Its shortcomings are: complex structure, small space for attitude adjustment, poor precision and difficult control; patent CN1462672A proposes a five-degree-of-freedom parallel decoupling mechanism, which can realize unconditional decoupling of three-degree-of-freedom translation and conditional two-degree-of-freedom rotation Decoupling, with the characteristics of simple structure, large working space and easy control

Its shortcomings are: the rigidity of the mechanism is small, and it occupies a large volume under the same working space

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