A six-degree-of-freedom parallel mechanism loading system and method thereof

Abstract

The invention discloses a six-degree-of-freedom parallel mechanism loading system and a method thereof, comprising a gantry, a servo actuator (3), a six-degree-of-freedom loading mechanism and a servo actuator control system; the six-degree-of-freedom loading mechanism includes a movable platform , the upper hinge assembly, the lower hinge assembly, six parallel platform servo actuators (6) and their fixed platforms, the fixed platform of the six-degree-of-freedom loading mechanism is fixedly installed on the foundation, and the servo actuators (6) on each platform Force sensors are installed on the top to measure the output force of each platform servo actuator (6) in the loading system; the servo actuator (3) is installed in the vertical direction, and one end of the servo actuator is fixed on the gantry frame through the connector The base is hinged, and the other end is connected to the loaded object; the servo actuator (3) has a built-in displacement sensor, which is used to measure the displacement of the hydraulic cylinder of the servo actuator in real time, and then determine 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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