Full-domain constant-balance overload six-degree-of-freedom parallel mechanism

Abstract

Provided is a full-domain constant-balance overload six-degree-of-freedom parallel mechanism. The full-domain constant-balance overload six-degree-of-freedom parallel mechanism comprises a moving platform, a fixing platform, a weight-bearing platform, six driving branches of a same structure and three weight-bearing branches of a same structure. The six driving branches are connected with the moving platform and the fixing platform to form a parallel driving mechanism, the three weight-bearing branches are connected with the weight-bearing platform and the fixing platform to form a parallel balancing mechanism, and the center of the weight-bearing platform is connected with the moving platform through a second spherical hinge. The six driving branches are of a UPS structure, each driving branch is composed of an electric cylinder, a first omni-directional hinge and a first spherical hinge. The three weight-bearing branches of a PRUR structure, each weight-bearing branch is composed of a balance hydraulic cylinder or balance air cylinder, a first rotating pair, a second omni-directional hinge and a second rotating pair. On the condition that a input force of the balancing mechanism is maintained to be constant, all poses in the whole space, namely, full-domain constant-balance overload six-degree-of-freedom parallel mechanism achieves a constant gravity balance performance in full domains, and the full-domain constant-balance overload six-degree-of-freedom parallel mechanism is high in the weight-bearing capacity and the positioning accuracy, and simple to control.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a heavy-duty parallel mechanism. Background technique [0002] Parallel mechanism has been widely used because of its advantages of high positioning accuracy, high rigidity and strong bearing capacity. Because the six-degree-of-freedom parallel mechanism can realize three-dimensional motion in space, it is widely used in various simulated motions, such as the motion simulation of aircraft, tanks, and ships. The driving mechanism of the existing large-scale six-degree-of-freedom parallel mechanism is mostly controlled by an electric cylinder or a hydraulic cylinder. The electric cylinder has high precision, good reliability, convenient maintenance and operation, and low cost, but it cannot bear heavy loads. The hydraulic system has a strong bearing capacity. However, the hydraulic system is more complicated, and it is more difficult to use and maintain. [0003] In order to improve the ca...

AI Technical Summary

Problems solved by technology

The driving mechanism of the existing large-scale six-degree-of-freedom parallel mechanism is mostly controlled by an electric cylinder or a hydraulic cylinder. The electric cylinder has high precision, good reliability, convenient maintenance and operation, and low cost, but it cannot bear heavy loads. The hydraulic system has a strong bearing capacity. However, the hydraulic system is more complicated, and it is more difficult to use and maintain

[0003] In order to improve the carrying capacity of

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