Parallel mechanism with spring damping in closed-loop branch

Abstract

The invention relates to a parallel mechanism with spring damping in a closed-loop branch. The parallel mechanism includes a moving platform, a fixed platform as well as two groups of driving branches and one group of load-bearing branches which are connected with the moving platform and the fixed platform; the first group of driving branches include four PSS branches of the same structure, wherein the four PSS branches are symmetrically and vertically arranged in a vertical plane in pairs; in each PSS branch, a first actuator is connected with the fixed platform and a first pull rod, and the first pull rod is connected with a connection bridge arm, and the connection bridge arm is connected with the moving platform, and a spring damper is connected with a hinge seat and a bearing seat; the second group of driving branches includes two PSS driving branches of the same structure, wherein the PSS driving branches are located below the moving platform and are horizontally fixed at the center of the fixed platform; the one group of load-bearing branches includes four load-bearing branches of the same structure; and upright columns in the load-bearing branches are arranged symmetrically; and pull springs are connected with first pull rings fixed on the upper ends of the upright columns and second pull rings fixed at two sides of the upper platform of the moving platform. The parallel mechanism of the invention has the advantages o high load bearing capacity, high safety performance, energy conservation and environmental protection. With the parallel mechanism adopted, vibration and movement can be simulated according to different needs.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel simulation platform. Background technique [0002] The parallel simulation platform has the advantages of high rigidity and strong bearing capacity. In recent decades, the six-degree-of-freedom parallel simulation platform has been the most researched in the parallel motion simulation platform, which is used for the training of automobile and aircraft pilots. Due to structural limitations, the high-frequency compound motion simulation often does not achieve the desired effect, or due to high hardware investment and control costs, the popularization and demand-oriented applications of motion simulators are subject to various restrictions. For example, when simulating field road conditions and conventional road conditions, and when ambulances are driving for medical rescue and other occasions that require high vibration frequencies, the full-drive six-degree-of-freedom parallel si...

AI Technical Summary

Problems solved by technology

[0002] The parallel simulation platform has the advantages of high rigidity and strong bearing capacity. In recent decades, the six-degree-of-freedom parallel simulation platform has been the most researched in the parallel motion simulation platform, which is used for the training of automobile and aircraft pilots. Structural limitations often fail to achieve ideal results for high-frequency compound motion simulations. Due to high hardware investment and control costs, the popularization of motion simulators and demand-oriented applications are subject to various restrictions.

For example, when simulating field road conditions and conventional road conditions, and when ambulances are driving for medical rescue and other occasions that require high vibration frequencies, the full-drive six-degree-of-freedom parallel simulation platform represented by the STEWART mechanism will produce strong rigid shocks. It has an adverse effect on the life and safety of the entire mechanism, and because of the arrangement of the drive branches of the mechanical part of the motion simulator, the U-shaped frame is often at a very high position, which brings potential stability and safety problems, and is also subject to cost With the limitation of the output frequency of the driver, there is no product that can meet the popular application requirements

Invention patent CN104258569A proposes a three-degree-of-freedom detachable dynamic racing game motion simulator driven by a motor, but it is limited to three degrees of freedom, and can only simulate motion, and cannot simulate the high-frequency vibration accompanying the motion process; the invention Patent CN104778897A proposes a driving efficacy experimental device based on a six-degree-of-freedom motion simulation platform. The traditional STWART parallel mechanism is used to simulate the six-degree-of-freedom motion, which also cannot simulate the high-frequency vibration accompanying the car during motion, and the U The frame is at a higher position, which has stability and safety issues;

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