Octahedral truss element variable geometry truss integrated active rod and main node

Abstract

The invention discloses an octahedral truss unit variable geometry truss integrated active bar and a main node, including an active bar and a main node connected with the active bar; the main node includes an active bar seat, a main node frame, and a U-shaped seat , cross shaft connector, U-shaped passive rod connector, flat head expansion nut, active rod end connecting bolt, first ball bearing, second ball bearing, first sliding washer, second sliding washer, third sliding washer, sliding Bearing; the active rod includes a micro-driver, a ball screw nut, a ball screw, a carbon fiber reinforced composite material tube, a first rod end nut, a second rod end nut, a micro-travel switch, a micro-travel switch contact, a micro-travel switch seat, Screw limit nut. The invention can realize high stretch rate, light weight, simplicity, high rigidity, high precision, low power, no motion redundancy, small size, and small impact, and can be applied to space expandable mechanisms, manipulating mechanisms, tracking mechanisms, and industrial control mechanism.

Description

technical field [0001] The invention relates to a variable geometry truss active rod and a main node, in particular to an octahedral truss unit variable geometry truss active rod and a main node, belonging to the technical field of structural mechanism engineering. Background technique [0002] The octahedral truss unit consists of 12 rods and 6 nodes to form a space-definite system, which has neither hyperstatic indetermination nor internal mechanism. Therefore, the octahedral truss unit is an effective basis for constructing large-scale and complex structural systems, spatial extension mechanisms, and control mechanisms. Truss unit. When the sides and edges of an octahedral truss unit are equal in length, it is called a regular octahedral truss unit. The six side edges of the octahedral truss unit are equipped with actuators as active rods. This is the famous Stewart platform. The active rods can be stretched at a low speed and stretched at a large scale or quickly and sl...

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Problems solved by technology

[0011] These studies all show that the octahedral truss element variable geometry truss active rod has the disadvantages of small expansion ratio, complex structure, and low precision.

[0012] The authorized patent number is 201310150753.6, the Chinese patent "octahedral truss unit variable geometry truss active rod", but its motor size is large, the structure is complex, the power is large, the thrust is small, the nodes are large, and the impact is large

[0013] Application No. 201410223230.4 of the Chinese patent "An Octahedral truss element variable geometry truss active rod", but it is still relatively independently connected to the main node, the overall length is large, and it is difficult to miniaturize and increase the shrinkage ratio

[0014] The Chinese patent "Octahedral truss element variable geometry truss active node" with authorized patent number 201310153044.3 discloses an octahedral truss element variable geometry truss active node, but the node is kinematically coupled with the parts connected by the upper and lower passive rods, resulting in passive There are irregularities and singular points in the movement of the rod, and there are many parts

[0015] The application number is 201410217693.X Chinese patent "octahedral truss element variable geometry truss active node", but the eccentric connection of the passive rod leads to inaccurate dynamic model, and there is a rotation redundancy, and the relatively independent connection with the active rod uses Difficulty in miniaturization and improvement of shrinkage ratio, low degree of integration

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