Three-transfer-one-shift four-degree-of-freedom heavy-load static-balance parallel motion simulation stand mechanism

Abstract

A three-transfer-one-shift four-degree-of-freedom heavy-load static-balance parallel motion simulation stand mechanism mainly comprises a basic platform, a motion platform, a load-bearing platform, four driving branches in identical structures and three balancing branches in identical structures. The four driving branches are connected with the motion platform and the basic platform to form a parallel driving mechanism. The three balancing branches are connected with the load-bearing platform and the basic platform to form a parallel balancing mechanism. The four driving branches are in uninterrupted power supply (UPS) structures and are composed of electric cylinders, first spherical hinges and universal hinges. The balancing branches are in RPS structures and are composed of balancing hydraulic cylinders or balancing air cylinders, first revolving pairs and second spherical hinges. The motion platform is connected with the load-bearing platform through a second revolving pair. The mechanism is high in bearing capacity, fast in dynamic response speed, simple to control, capable of preventing the three balancing branches from generating moments of rotation around a shaft and reducing the inertia force (moment) of a parallel load-bearing mechanism simultaneously and applicable to motion simulation of large devices, and the mechanism can be used indoors or in a field environment.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel motion simulation table mechanism. Background technique [0002] The common parallel motion simulation table has six degrees of freedom, which can drive the load to realize six-dimensional motion in space. However, in general, during the movement of equipment such as automobiles, airplanes, and ships, the ground, air currents or waves mainly affect the four degrees of freedom of pitch, roll, azimuth, and elevation of these equipment, so the motion simulation of these equipment does not need Full six degrees of freedom. Compared with the six-degree-of-freedom parallel mechanism, the less-degree-of-freedom parallel mechanism has fewer driving components, is easy to decouple, has a simple structure, and is relatively low in design, manufacturing and control costs. At present, there are relatively few related studies on parallel mechanisms with few degrees of freedom, especially t...

AI Technical Summary

Problems solved by technology

Its shortcomings are: drive branches with different structures will increase the difficulty of operation planning, and the carrying capacity is poor and the dynamic response is slow

Its disadvantages are: the dynamic response of the driver is slow, and the characteristics of the hinge point layout lead to the existence of singular positions in the mechanism.

The disadvantage is that the motion platform has two degrees of freedom but four drives, and the control is complicated. The three UPS branches connecting the middle platform and the fixed platform need to be parallel, which makes assembly and control difficult.

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