Supporting type plane-position follow-up tracking system based on series double-rod mechanism and with low disturbing force

A dual-rod mechanism, plane position technology, applied in the field of follow-up tracking system, low-interference force-supported plane position follow-up tracking system, can solve problems such as large motion error, achieve rich means, ensure accuracy and referability Effect

Active Publication Date: 2018-10-19
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to solve the problem that the existing microgravity compensation system used on the ground that can realize the movement of the current object in the three-dimensional space will introduce a large inertia to the target object, resulting in a large movement error except for the movement in the direction of gravity, and further proposes Low-disturbance supported planar position follow-up tracking system based on series double-rod mechanism

Method used

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  • Supporting type plane-position follow-up tracking system based on series double-rod mechanism and with low disturbing force
  • Supporting type plane-position follow-up tracking system based on series double-rod mechanism and with low disturbing force
  • Supporting type plane-position follow-up tracking system based on series double-rod mechanism and with low disturbing force

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specific Embodiment approach 1

[0013] Specific implementation mode one: combine Figure 1 to Figure 3 Describe this embodiment, the low-interference support type plane position follow-up tracking system based on the series double-rod mechanism described in this embodiment includes a series double-rod mechanism 1, a two-dimensional motion platform 2, a control system 3, a first encoder 17, The second encoder 18 and the horizontal two-dimensional force sensor 19, the series double-bar mechanism 1 is installed on the two-dimensional motion platform 2, the first encoder 17, the second encoder 18 and the horizontal two-dimensional force sensor 19 are installed on the series double-bar On the mechanism 1, the control system 3 is connected to the first encoder 17, the second encoder 18, and the force level two-dimensional force sensor 19 on the series double-bar mechanism 1 through cables.

specific Embodiment approach 2

[0014] Specific implementation mode two: combination Figure 1 to Figure 3 Describe this embodiment, the series double-bar mechanism 1 of the low-interference support type plane position follow-up tracking system based on the series double-bar mechanism in this embodiment includes a root flange 11, a root shaft 12, four connecting rods 13, a middle The shaft 14, the outer shaft 15 and the outer shaft joint 16, the root shaft 12, the middle shaft 14, and the outer shaft 15 are arranged in a triangle, the root shaft 12 is connected with the middle shaft 14 through two connecting rods 13 arranged side by side from top to bottom, and the outer The shaft 15 is connected to the central shaft 14 through two connecting rods 13 arranged side by side from top to bottom, the lower end of the root shaft 12 is connected to the root flange 11 , and the upper end of the outer shaft 15 is connected to the outer shaft joint 16 . The first encoder 17 is installed on the upper end of the root sh...

specific Embodiment approach 3

[0015] Specific implementation mode three: combination Figure 1 to Figure 3 To illustrate this embodiment, the two-dimensional motion platform 2 of the low-interference supporting planar position follow-up tracking system based on the series double-rod mechanism in this embodiment includes a support frame 21, two Y-direction linear guide rails 22, two Y-direction Mobile platform 23, first reducer 24, two first synchronous pulleys 25, X-direction linear guide rail 27, X-direction mobile platform 28, second reducer 29 and two second synchronous pulleys 210, two Y-direction The linear guide rails 22 are respectively installed on the two long straight sides 21-1 of the support frame 21, and the center line of the Y-direction linear guide rail 22 along its length direction is parallel to the long straight sides 21-1, and the two Y-direction mobile platforms 23 are respectively Installed on two Y-direction linear guide rails 22, and the Y-direction moving platform 23 can move back ...

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Abstract

The invention relates to a follow-up tracking system, in particular to a supporting type plane-position follow-up tracking system based on a series double-rod mechanism and with low disturbing force.The follow-up tracking system solves the problem of larger errors in motion except the motion in the direction of gravity due to the fact that an existing microgravity compensation system used by theground can realize the motion in the three-dimensional space of a current object and can introduce large inertia to a target object. The follow-up tracking system comprises the series double-rod mechanism, a two-dimensional motion platform, a control system, a first encoder, a second encoder and a horizontal two-dimensional force sensor, wherein the series double-rod mechanism is installed on thetwo-dimensional motion platform, the first encoder, the second encoder and the horizontal two-dimensional force sensor are installed on the series double-rod mechanism, and the control system is connected with the first encoder, the second encoder and the horizontal two-dimensional force sensor on the series double-rod mechanism through cables. The invention belongs to the field of ground microgravity simulation.

Description

technical field [0001] The invention relates to a follow-up tracking system, in particular to a low-interference support type plane position follow-up tracking system based on a series double-rod mechanism, which belongs to the field of ground microgravity simulation. Background technique [0002] With the in-depth development of my country's aerospace industry, the demand for astronauts' low-gravity training on the ground is gradually increasing. In order to better train astronauts for extravehicular operations, it is necessary to simultaneously perform low-gravity simulations on multiple astronauts and simulated cabins. test. The currently commonly used micro-low gravity compensation methods can be attributed to the potential water float method, the air flotation platform method, the free fall method and the suspension gravity compensation method. Among them, the suspension gravity compensation method is easy to meet the three-dimensional motion tracking of the test object...

Claims

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Application Information

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IPC IPC(8): B64G7/00
CPCB64G7/00
Inventor 高海波刘振史尧家于海涛丁亮李楠邓宗全
Owner HARBIN INST OF TECH
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