Six-freedom-degree parallel mechanism with reversible moving platform

Abstract

The invention relates to a six-freedom-degree parallel mechanism with a reversible moving platform. The six-freedom-degree parallel mechanism comprises a fixed platform, a moving platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain. One end of each of the three branched chains is connected to the moving platform with a sliding groove, and the other end of each branched chain is connected to the fixed platform; and one end of the rest branched chain is connected to the fixed platform in an annular structure, the other end of the rest branched chain is connected to the moving platform through a spherical hinge, and the whole branched chain can rotate around the moving platform and other branched chains without interference. The six-freedom-degree parallel mechanism with the reversible moving platform has the advantages that the relative position of the branched chains is changed through the compound motion of each branched chain, the function of overturning the moving platform is realized, and the upper surface and the lower surface of the moving platform can alternately work, such that the working space is enlarged, and the working mode of the mechanism is enriched; and the four branched chains are used for controlling the mechanism to maintain six degrees of freedom, the number of the branched chains is reduced on the premise of ensuring the working performance, the structure is simplified, and the assembly is simpler and more convenient. The six-freedom-degree parallel mechanism with the reversible moving platform can be applied to working environments such as flight simulation which need multiple degrees of freedom and high precision.

Description

technical field [0001] The invention belongs to the technical field of parallel mechanisms, in particular to a six-degree-of-freedom parallel mechanism with a reversible movable platform. Background technique [0002] The six-degree-of-freedom parallel mechanism has been deeply studied in the field of parallel mechanisms because of its high flexibility and good stability. application prospects. For example, the classic Stewart platform is used in the design of virtual axis machine tools and the development of flight simulators. [0003] In order to simulate more realistic environmental effects, such as the flipping motion of aerobatics, the working space of the mechanism and the pose of the moving platform need to be greatly improved. Due to the large number of branches and complex structure of the existing six-degree-of-freedom parallel mechanism, there are great restrictions on the rotational freedom of the moving platform. As a result, the six-degree-of-freedom parallel...

AI Technical Summary

Problems solved by technology

Due to the large number of branch chains and complex structure of the existing six-degree-of-freedom parallel mechanism, there are great restrictions on the rotational freedom of the moving platform. As a result, six-degree-of-freedom parallel mechanisms with the function of turning the moving platform are extremely rare.

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