High/low-frequency composite driving six-degree-of-freedom parallel movement platform

Abstract

The invention discloses a high / low-frequency composite driving six-degree-of-freedom parallel movement platform. The high / low-frequency composite driving six-degree-of-freedom parallel movement platform mainly comprises a target movement platform, a basic mounting frame and six high / low-frequency composite driving branches which are connected with the target movement platform and the basic mounting frame and are of the same structure, wherein each high / low-frequency composite driving branch comprises a composite driving unit and a transmission strut; each composite driving unit is composed of a planar five-rod mechanism comprising two moving pairs (a high-frequency low-amplitude driver and a low-frequency high-amplitude driver) and three rotary pairs; high-frequency low-amplitude driving and low-frequency high-amplitude driving can be independently input; each composite driving unit is connected with the corresponding transmission strut through a universal hinge. The high / low-frequency composite driving six-degree-of-freedom parallel movement platform has the advantages that by separating high-frequency driving from low-frequency driving, the system output frequency bandwidth and the amplitude range are expanded; by virtue of the combination of double-driving different input forms, high / low-frequency high / low-amplitude six-dimensional movement output in various forms can be obtained; the environmental suitability is higher, and the application space is wide.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel motion platform. Background technique [0002] With the development of aerospace and national defense industry, higher requirements are put forward for space-borne, ship-borne, vehicle-mounted and other equipment. It is difficult to achieve high-precision attitude adjustment and vibration isolation for the series mechanism due to the limitation of size and inherent characteristics of the mechanism. Due to its relatively small occupation, uniform drive output, high rigidity, and easier introduction of vibration isolation links in the drive, the parallel mechanism is more suitable as an attitude-adjusting vibration isolation device for future vehicles. In the process of manufacturing and developing high-end instruments and equipment, it is necessary to carry out dynamic environment simulation tests to simulate the working conditions of the test pieces and equipment in the real fi...

AI Technical Summary

Problems solved by technology

[0004] At present, there are many similar inventions. Chinese patent CN101281088A proposes a three-axis six-degree-of-freedom vibration test device, which can simulate the X, Y, Z three-axis six-degree-of-freedom compound vibration environment in a real environment. This invention only has a single excitation Functional vibration device cannot perform large-scale spatial movement on a specific degree of freedom; Chinese patent CN1587739A proposes a six-degree-of-freedom giant magnetostrictive active vibration control platform to achieve micro-frequency and low-amplitude six-degree-of-freedom active vibration isolation and vibration reduction effects About 98%, but limited by the stroke of the driver, the adjustment range cannot reach the level of attitude adjustment; Chinese patent CN102865328A proposes a five-dimensional vibration isolation platform based on a hybrid mechanism. The movement and rotation of the mechanism are completely decoupled and easy to control. The vibration isolation performance is good, but the hybrid mechanism makes the top mechanism become the load of the bottom mechanism, which increases the driving burden; Chinese patent CN101476611A proposes a six-degree-of-freedom large-amplitude vibration active isolation platform to achieve six-degree-of-freedom high-frequency large-amplitude active Vibration isolation, but limited attitude adjustment ability; Chinese patent CN102601794A proposes a high-stiffness four-degree-of-freedom parallel mechanism with attitude adjustment ability, which can realize fast feed, but the working space is small, and the mechanism has no vibration isolation function; Chinese patent CN1614376A proposes a three-degree-of-freedom mechanical vibration environment test platform, which is suitable for three-degree-of-freedom vibration environment tests in the laboratory, but only has the function of vibration simulation

Chinese patents CN102601786A, CN102350697A, CN102825600A, and CN102601784A proposed two-degree-of-freedom parallel mechanisms including RRPPR closed-loop sub-chains, 5R closed-loop sub-chains, RRRR closed-loop sub-chains, and RRR closed-loop sub-chains respectively. The disadvantage that the drive cannot be connected to the frame at the same time. All the active rods are connected to the frame, and the dynamic performance is good. The essence of the above four inventions is to introduce a plane five-bar mechanism in the branch, but the plane where the five-bar mechanism is located level, which limits the carrying capacity of the mechanism, and the input number of the mechanism is equal to the number of output degrees of freedom, which is still a single-drive mechanism, and generally can only achieve one of high-frequency or low-frequency motion

The invention of Chinese patent CN103495973A proposes a plane three-degree-of-freedom parallel mechanism driven by three straight lines. The nature of motor output

[0005] To sum up, existing equipment generally can only realize one of high-frequency and low-amplitude vibrations or low-frequency and high-amplitude conventional motions; the introduction of branches into closed-loop sub-chains does not reduce the number of constraints imposed by branches on the mechanism, and the required drive input The number is equal to the number of degrees of freedom of the mechanism, which belongs to the single-drive mechanism

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