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Symmetrically-arranged full-decoupling two-axis swing mechanism

A technology of symmetrical arrangement and swing mechanism, applied in simulators, simulation devices and instruments of space navigation conditions, etc., can solve the problems of restricting the attitude control performance of motion simulators, difficult dynamic control, mechanism motion failures, etc., and achieve light weight. , Easy and reliable installation, symmetrical structure

Active Publication Date: 2020-11-10
YANSHAN UNIV
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  • Description
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  • Application Information

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Problems solved by technology

The multi-cylinder parallel motion mechanism is bulky, the two-axis motion is coupled with each other, the control is complex, and the motion space is limited, which restricts the attitude control performance of the motion simulator
Redundant parallel mechanism branch chain drive redundancy, the number of mechanism drives is greater than the number of degrees of freedom of the mechanism, and there is a strong coupling phenomenon between the branch chains when the mechanism is moving, which brings great trouble to the motion control of the mechanism. Once the movement is uncoordinated, it will cause The movement of the mechanism is faulty. Secondly, when solving the kinematics and dynamics of the mechanism, the equation has multiple solutions or no solution, which makes the dynamic control of the mechanism very difficult.

Method used

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  • Symmetrically-arranged full-decoupling two-axis swing mechanism

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Embodiment Construction

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

[0025] It should be noted that in the description of the present invention, the terms "upper", "lower", "top", "bottom", "side", "other side", "left", "right" etc. indicate The orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplification of the description, and does not mean that devices or elements must have a specific orientation, be constructed and operated in a s...

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Abstract

The invention relates to a symmetrically-arranged full-decoupling two-axis swing mechanism. The mechanism comprises a base, a three-way cross shaft mechanism, a swing platform and a linear driving device. The two-axis swing action of the mechanism is controlled by controlling stretching and retracting of the two sets of linear driving devices correspondingly, and the angular speed and angular displacement of the mechanism are controlled by controlling the speed and displacement of driving rods of the linear driving devices. According to the mechanism, full decoupling of two-axis swing motion is achieved through the structure of the mechanism, front-back pitching and left-right transverse rolling actions can be completed without mutual interference, the mechanism can be widely applied to aircraft and ship simulators for motion simulation, and in addition, the mechanism has the advantages of being compact in spatial arrangement, light in weight, fast in dynamic response, simple in motioncontrol and the like.

Description

technical field [0001] The invention relates to the technical field of multi-degree-of-freedom rotating mechanisms, in particular to a fully decoupled two-axis swing mechanism with symmetrical arrangement. Background technique [0002] At present, with the rapid development of aircraft and ship simulation technology, the two-axis swing mechanism is widely used in aircraft and ship simulators to realize the forward and backward pitch and left and right tilt of the simulator, which has broad application prospects. [0003] The existing two-axis swing mechanism mostly adopts the form of a multi-cylinder parallel kinematic mechanism or a redundant parallel mechanism. The multi-cylinder parallel motion mechanism is bulky, the two-axis motion is coupled with each other, the control is complex, and the motion space is limited, which restricts the attitude control performance of the motion simulator. Redundant parallel mechanism branch chain drive redundancy, the number of mechanis...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G09B9/20G09B9/06
CPCG09B9/06G09B9/20
Inventor 刘涛韩炎俞涛李浩
Owner YANSHAN UNIV
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