Six-freedom-degree heavy load static balance parallel motion simulation table mechanism with balancing mechanism

Abstract

A six-freedom-degree heavy load static balance parallel motion simulation table mechanism with a balancing mechanism mainly comprises a moving platform, a foundation platform, a bearing platform, six driving branches exactly the same in structure and three balancing branches exactly the same in structure. The moving platform, the foundation platform and the driving branches for connecting the moving platform and the foundation platform form a parallel driving mechanism. The bearing platform, the foundation platform and the balancing branches for connecting the bearing platform and the foundation platform form a parallel balancing mechanism. The six driving branches are of a UPS structure which is composed of an electric cylinder, a first ball hinge and a first universal hinge. The three balancing branches are of a UPU structure which is composed of a balanced hydraulic cylinder or a balanced air cylinder, a second universal hinge and a third universal hinge, and the bearing platform is connected with the moving platform through the second ball hinge. The six-freedom-degree heavy load static balance parallel motion simulation table mechanism is strong in bearing capability and fast in dynamic response, the balancing mechanism has no inertia force (moment) when the moving platform rotates, the bearing platform has a vertically upward force on the moving platform, and no component in other directions exist.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel motion simulation table. Background technique [0002] Compared with the series mechanism, one of the outstanding advantages of the parallel mechanism is its strong bearing capacity and high precision, which is suitable for sports simulation, training drivers and other fields. The continuous development of large equipment such as aircraft and ships has put forward higher requirements for the carrying capacity, dynamic response and motion accuracy of the parallel motion simulation platform. However, the motor power and output torque are limited and cannot bear heavy loads. The hydraulic system can bear heavy loads, but the hydraulic oil is sensitive to temperature, which limits the application of hydraulic systems in high-precision parallel motion simulators. [0003] In order to improve the carrying capacity and motion accuracy of the parallel motion simulation table, Chinese p...

AI Technical Summary

Problems solved by technology

However, the mechanical structure is complicated, and 32 redundant drive motors are controlled at the same time, which increases the difficulty of control

Chinese patent 98102675.3 discloses a simulator with a weight-bearing actuator, which uses seven actuators to drive the platform movement and has a high load-carrying capacity, but the seven actuators form a redundant drive, and the system pressure needs to be detected in real time control, increasing the difficulty and cost of control

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