Side-vertical cross-bar parallel mechanism 6-DOF spacecraft motion simulation platform

Abstract

The invention provides a side-standing crossed-rod parallel-mechanism six-degree-of-freedom spacecraft motion simulation platform and belongs to the technical field of simulation and space motion simulation. The platform is characterized in that a mounting face is fixed at the upper end of each mounting support, the upper parts of variable-length drive rods are connected with a movable platform, and the lower parts of the variable-length drive rods are connected with a fixed platform; and the centers of all fixed-platform hooke joints on the fixed platform are distributed on the same planar circumference, and the centers of all movable-platform hooke joints on the movable platform are distributed on two planar circumferences at intervals, so that the six variable-length drive rods are distributed crosswise. The invention designs the high-bearing-capacity high-precision motion platform which can be applied while standing on the side thereof, has a series of advantages such as high rigidity, multiple degrees of motion freedom, high bearing capacity, high precision, small size and small deadweight-load ratio, can serve as a motion simulation bearing platform for space docking and alignment motion of a spacecraft and aiming of a weapon system and can also meet the requirements of users on physical / semi-physical simulation of large-sized motion systems.

Description

technical field [0001] The invention relates to a six-degree-of-freedom spacecraft motion simulation platform of a side-standing cross-bar parallel mechanism, belonging to the technical field of simulation and space motion simulation. Background technique [0002] In the field of space technology, in order to complete tasks such as tracking, capturing, and rendezvous and docking of space targets by spacecraft, it is often necessary to conduct ground physical / semi-physical simulation experiments to verify the effectiveness of tracking, aiming, docking, and alignment of targets. programs and strategies. The sensors and end effectors that realize these simulation functions often need to be installed on a carrying platform, and the movement of the platform realizes the tracking, docking and alignment of poses and other movements. The platform should have motion capability and load capacity with multiple degrees of freedom in space. [0003] Traditional alignment and docking be...

AI Technical Summary

Problems solved by technology

[0005] However, due to the limited rotation space of the parallel mechanism of the Stewart platform, when horizontal work such as docking, alignment and tracking is required, only the side vertical installation method can be used

However, when the existing Stewart platform mechanism works sideways, the force distribution on its six driving rods is extremely uneven. Some rods may bear little force, while some rods may bear most of the load, resulting in rigidity and load-carrying capacity. decline

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