Spatial three-degree-of-freedom suspension platform controlled through parallel flexible cables

Abstract

The invention discloses a spatial three-degree-of-freedom suspension platform controlled through parallel flexible cables. The spatial three-degree-of-freedom suspension platform controlled through the parallel flexible cables comprises an upper platform body, a movable platform body, a lower platform body, two dragging systems, an X-axis and Y-axis linear motor system and a Z-axis linear motor system, wherein the three platform bodies are in linkage through the flexible cables and pulleys, an upper hinge point and a lower hinge point of the movable platform body are symmetrical about a local coordinate system of the movable platform body, the distance between the upper hinge point of the movable platform body and the original point is equal to the distance between the lower hinge point of the movable platform body and the original point, the two flexible cables located on the same hinge point of the movable platform body form the corresponding dragging circulating system, and the two dragging circulating systems are formed by all the flexible cables. According to the spatial three-degree-of-freedom suspension platform controlled through the parallel flexible cables, the calculation process of a forward parallel mechanism and the calculation process of a reverse parallel mechanism are simplified, swinging of the platform is achieved by controlling the displacement of the flexible cables, actual calculation can be faster, and actual control can be easier; a ball linear motor can drive the flexible cables to move with small driving force; a counterweight system is additionally arranged on the whole platform, the driving force of the Z-axis linear motor system is reduced greatly, and the working efficiency of equipment is improved; meanwhile, holes are formed in the middle of the upper platform body, the middle of the movable platform body and the middle of the lower platform body respectively, and the swinging space of the equipment is enlarged.

Description

technical field [0001] The invention relates to a space three-degree-of-freedom suspension platform controlled by parallel flexible cables, which is especially suitable for simulating the three-degree-of-freedom working condition simulation of a marine elevator in roll, pitch and heave space. Background technique [0002] The parallel mechanism has: no cumulative error and high precision; the driving device can be placed on the upper platform, so that the moving part is light in weight, high in speed and good in dynamic response; compact in structure, high in rigidity, and large in carrying capacity; completely symmetrical parallel mechanism It has the characteristics of good isotropy and small working space. It is widely used in fields that require high rigidity, high precision or large load without requiring a large working space. It appears in many fields such as industry and military. [0003] The parallel mechanism is affected by factors such as the constraints of kinem...

AI Technical Summary

Problems solved by technology

In the implementation process, the kinematics forward and inverse calculations are very complicated, and there are coupling phenomena in the movement process of the six hydraulic cylinders. The control algorithm is complex, and the power of the hydraulic pump station is large, which affects the reliability and stability of the hydraulic cylinders' cooperative operation. As a result, the response speed of the equipment is slow, and the action completion time is long; the structure of the six-degree-of-freedom parallel mechanism is complex, the cost of equipment is high, and the workload of equipment installation and debugging is large; the working space of the six-degree-of-freedom parallel mechanism is small

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