A coupled four-degree-of-freedom motion simulation platform with closed-loop sub-chains

Abstract

A coupled four-DOF motion simulation platform comprising a closed-loop subchain mainly comprises an upper platform, a lower platform, four main branches and a middle restraint branch, wherein the main braches and the middle restraint branch are the same in structure and are used for connecting the two platforms. One end of a lower link in every main branch is connected to the lower platform, the other end of the lower link is connected with one end of an upper link, and the other end of the upper link is connected with the upper platform. A motor base in a drive branch of each main branch is fixedly connected to the lower platform, a motor and a reducer are fixedly connected to the motor base, a crank disc is connected with the reducer, a slider is fixed on the outside of the crank disc, and the slider is connected with the corresponding lower link. One end of a lower link in the middle restraint branch is connected with the lower platform, the other end of the lower link is connected with one end of an upper link, the other end of the upper link is connected with the upper platform, and a spring is fitted outside an upper link of a prismatic pair of the middle restraint pair. The coupled four-DOF motion simulation platform is available for two-directional coupled motions and also available for truly simulating multi-dimensional vibration of vehicles and vessels.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a motion simulation platform. Background technique [0002] Multidimensional vibration is a universal phenomenon. During the movement of ships or vehicles, multi-dimensional vibrations will be generated due to external environmental factors. The main motion forms are up and down translation vibration, pitch rotation vibration, roll rotation vibration and translation vibration in the forward direction. Multi-dimensional vibrations adversely affect personnel and equipment, causing a variety of different damages. For example, the multi-dimensional vibration of an ambulance will aggravate the suffering of patients, and the multi-dimensional vibration of a ship will affect the precision of its precision equipment and reduce the service life of the equipment. Simulating the multi-dimensional vibration of vehicles is of great significance to the study of vibration reduction in vehicles, and th...

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Problems solved by technology

Patents 02137859.2, 02137858.4, and 02137856.8 all propose a parallel mechanism with two-dimensional translation and two-position rotation. This mechanism has a simple structure and a large working space; these mechanisms also have strict requirements on positional relationships and are not easy to process and assemble.

Patent ZL200420102722.X proposes a parallel mechanism with two-dimensional movement and two-dimensional rotation. This mechanism has simple structure, good rigidity, easy control, and good dynamic performance; Mechanism movement is easy to realize crawling

Patent CN200620056937.1 proposes a parallel mechanism with two-dimensional movement and two-dimensional rotation. The mechanism is composed of four identical branches and one RPU constrained branch. Since the universal hinge of the constrained branch of the mechanism is on the moving platform, the mechanism is Large coupling movement cannot be generated while rotating, and the multi-dimensional vibration of vehicles, ships, etc. cannot be truly simulated

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