Six-degree of freedom parallel mechanism loading system and method

Abstract

The invention discloses a six-degree of freedom parallel mechanism loading system and method. The six-degree of freedom parallel mechanism loading system comprises a portal frame, a servo actuator (3), a six-degree of freedom loading mechanism and a servo actuator control system; the six-degree of freedom loading mechanism comprises a movable platform, an upper hinge component, a lower hinge component, six parallel platform servo actuators (6) and fixing platforms thereof, the fixing platforms of the six-degree of freedom loading mechanism are firmly arranged on a foundation, and each platform servo actuator (6) is provided with a power sensor for measuring the output power of each platform servo actuator (6) in the loading system; the servo actuator (3) is arranged in the vertical direction, and one end of the servo actuator is hinged to a pedestal fixed at the portal frame through a connector while the other end is connected with a loaded object; a displacement sensor is arranged in the servo actuator (3) for measuring the displacement of a hydraulic cylinder of the servo actuator in real time so as to confirm the pose of the loaded object and realize closed-loop control.

Description

technical field [0001] The invention relates to a mechanism loading system, in particular to a six-degree-of-freedom parallel mechanism loading system and a method thereof. Background technique [0002] The parallel mechanism has the advantages of high rigidity, strong bearing capacity, relatively simple structure, high precision, no error accumulation, and easy control. It has important application environments in modern defense and industrial fields. The six-degree-of-freedom parallel mechanism loading system is a typical application of parallel mechanisms, which can reproduce various loads on the test piece during use in the laboratory environment, and can reproduce the real mechanical performance of large-scale load structures. The ability of the tested piece to maintain the original performance under the action of loading force provides reliable test data for the promotion of new technologies, and then conducts design, development and experimental research on the tested...

AI Technical Summary

Problems solved by technology

However, when the loading system performs high-precision loading tests, it needs to follow the rapid movement of the load-bearing object. The movement of the load-bearing object will cause redundant forces in the loading system, and the existence of redundant forces will seriously affect the dynamic loading accuracy and system response bandwidth of the loading system.

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