Six-freedom-degree series-parallel gravity compensation mechanism

Abstract

Provided is a six-freedom-degree series-parallel gravity compensation mechanism. The six-freedom-degree series-parallel gravity compensation mechanism mainly comprises a basic platform, four balance cylinders, a first motion platform, a second motion platform, three constraint branches which are identical in structure, four universal balls and a load connecting block, wherein the tail portions of the balance cylinders are fixedly connected with the basic platform, the end portions of telescopic rods of the balance cylinders are fixedly connected with the first motion platform, the first motion platform and the second motion platform are connected through the three constraint branches which are identical in structure, each constraint branch comprises a first rotary arm, a second rotary arm, a first rotary pair, a second rotary pair and a third rotary pair, bases of the universal balls are fixedly connected with the second motion platform, a ball body of each universal ball makes contact with the first motion platform, and the load connecting block is connected with the second motion platform through a universal hinge. The six-freedom-degree series-parallel gravity compensation mechanism is good in bearing capacity. When a load is arranged at any position of a space, the six-freedom-degree series-parallel gravity compensation mechanism can provide vertically upward thrust for the load to compensate the gravity of the load, and cannot produce additional force or additional torque in other directions.

Description

technical field [0001] The invention relates to a hybrid structure, in particular to a gravity compensation mechanism. Background technique [0002] With the rapid development of national defense, aerospace and transportation industries, the volume, quality and carrying capacity of combat vehicles, transport vehicles, aircraft, ships and other carriers have been continuously increased, and at the same time, higher requirements have been placed on their performance. Therefore, it is particularly important to conduct motion simulation tests on these carriers during the research and development process, and to measure their various performance indicators. However, due to the limited force (torque) and power of the driver, the development of motion simulators in the direction of large load, high speed and high acceleration is subject to certain constraints. By compensating the gravity of the load, the load of the driver can be reduced, thereby improving the driving capability o...

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Problems solved by technology

Chinese patent 03150629.1 discloses a high-pressure pneumatic gravity balance space motion simulator. The gravity balance device in the mechanism only works when the load moves with a large value of heave. When the load moves with other five degrees of freedom, the gravity balance device cannot balance load gravity

Chinese patent 200610098165.2 discloses a three-dimensional air-floating platform and a pneumatic gravity compensation method. The platform compensates for gravity through the support force of the cylinder piston rod, and has a poor load-carrying capacity. At the same time, the cylinder, the air-floating pad, and two pairs of rotating shafts together form a six-degree-of-freedom motion simulation The main function of the device is motion simulation, and it is a series structure with low load-carrying capacity

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