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 the parallel mechanism, the patent 200820004705.0 discloses a large-load six-degree-of-freedom electric platform, which is driven by an electric cylinder, and the cylinder is used for auxiliary support. Part of the gravity of the platform, but because the cylinder moves passively with the movement of the upper platform, the component force (or moment) generated by the thrust of the cylinder in directions other than the vertical direction will lead to an increase in the load of the electric cylinder

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