A Variable Structure High and Low Frequency Mixed Output Parallel Three-dimensional Motion Platform

Abstract

A high-and-low frequency mixed output parallel three-dimensional motion table with a variable structure mainly comprises the components of a motion output platform, a basic frame and three double-input hybrid kinematic chains with same structure forms. The motion output platform is connected with the basic frame through the three double-input hybrid kinematic chains. Each double-input hybrid kinematic chain is obtained through serially connecting a double-input closed loop unit and a transmission closed loop unit. One end of the double-input closed loop unit is connected with the basic frame, thereby forming a lower closed loop planar five-rod mechanism which comprises three revolute pairs and two moving pairs. The bottom of the transmission closed loop unit is connected with the driving output rod of the double-input closed loop unit. Two ends of each of the a first transmission rod and a second transmission rod are respectively connected with a transmission rod connecting board and the motion output platform through sphere pairs. The high-and-low frequency mixed output parallel three-dimensional motion table can realize multi-freedom and multi-frequency-mixing-form motion output and can be used for simulating complicated hybrid dynamics environments of vehicle, ship, aerial vehicle, etc.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel three-dimensional motion platform. Background technique [0002] With the development of automobiles, aerospace, national defense and other industries, higher requirements are put forward for related equipment. In the process of equipment development and manufacturing, dynamic environment simulation experiments are required. Parallel mechanism is widely used in equipment vibration simulation experiments because of its high precision, strong bearing capacity, and small footprint. The target equipment is generally in the environment of conventional low-frequency high-amplitude motion and high-frequency vibration mixed output, and the vibration degrees of freedom required by each target equipment are often different. The existing single-drive mechanism cannot provide such a complex motion environment. In order to To make the dynamics simulation experiment of the target equipment ...

AI Technical Summary

Problems solved by technology

The target equipment is generally in the environment of conventional low-frequency high-amplitude motion and high-frequency vibration mixed output, and the vibration degrees of freedom required by each target equipment are often different. The existing single-drive mechanism cannot provide such a complex motion environment. In order to To make the dynamic simulation experiment of the target equipment more realistic, it is necessary to find a parallel kinematic platform with variable structure and high and low frequency mixed output

[0003] The patent with the publication number CN104458169A proposes a high-low frequency composite drive parallel two-dimensional rotating platform, which can only perform two-dimensional rotation, and the working space is limited by the restraint branches; the patent with the publication number CN104390755A proposes a high-low frequency The compound drive is connected in parallel with the three-degree-of-freedom motion platform. This invention can realize high and low frequency motion output, and can adjust the posture in a large range. However, only one transmission rod is used to connect the compound drive unit and the target motion table, which requires high rigidity and is difficult to carry. Guarantee; the patent with the publication number of CN 104308838A proposes a high-low frequency composite drive six-degree-of-freedom parallel motion platform. This invention needs to add twelve drives, and the platform with less degrees of freedom needs fewer drives. The control is simple and energy saving

After the configuration of the three patents mentioned above is determined, the nature of the degree of freedom is uniquely determined, and more degrees of freedom cannot be achieved by changing the structure, providing more possibilities for the use of the platform

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