Five-degree-of-freedom parallel mechanism with double-acting platform and ship-borne stabilized platform

Abstract

The invention discloses a five-degree-of-freedom parallel mechanism with a double-acting platform and a six-degree-of-freedom ship-borne stabilized platform based on the parallel mechanism. The ship-borne stabilized platform comprises a five-degree-of-freedom parallel mechanism with double movable platforms and a rotary table system; the parallel mechanism comprises a base, a movable platform and three branch mechanisms connected between the movable platform and the base, and a first branch comprises a sub-movable platform and three sub-branch mechanisms which are completely the same and are symmetrically distributed on the sub-movable platform in a central rotation mode; the second branch and the third branch are symmetrically arranged relative to the movable platform, the parallel mechanism can achieve three degrees of freedom of movement and two degrees of freedom of rotation, the rotary table system is installed on the movable platform, and the rotary table has the degree of freedom of vertical rotation, so three-dimensional movement and three-dimensional rotation of the ship-borne stabilized platform are achieved. The six-degree-of-freedom jolting motion compensation device has the advantages of being large in attitude space, high in rigidity, high in bearing capacity, high in precision and the like, and various ship-borne stability requirements can be met.

Description

technical field [0001] The invention relates to the technical fields of offshore wind power generation, transportation of personnel and materials at sea, observation at sea, and medical treatment at sea, in particular to a five-degree-of-freedom parallel mechanism with a double-moving platform and a shipboard stable platform. Background technique [0002] Due to the influence of wind, waves, currents, tides and other harsh environments and the characteristics of the hull itself, it is impossible to maintain balance during navigation, and rolling, pitching, yaw, sway, surge and heave will inevitably occur. Random motion with four degrees of freedom. Especially in harsh sea conditions, the movement of the hull will interfere with the normal work of shipboard equipment. The shipboard stabilization platform can isolate the stabilized object from the influence of the ship's motion and attitude under the action of interference, maintain the stability of the controlled object, and...

AI Technical Summary

Problems solved by technology

[0003] The existing shipborne attitude aiming mechanism is also a kind of shipboard stabilized platform, but these attitude aiming systems mainly use 2-3 axis series mechanisms, which have problems such as low rigidity and poor load capacity, and cannot realize the position and attitude of the stable platform. Complete control, not suitable for heavy load occasions

Compared with the series mechanism, the parallel mechanism has the advantages of high rigidity and large load capacity. Using the parallel mechanism to develop a heavy-duty ship stabilized platform has great advantages. At present, there are few shipborne stable platforms developed by using the parallel mechanism, mainly based on Stewart et al. The multi-branch six-degree-of-freedom mechanism still has the disadvantages of easy interference between branches and small posture space caused by the large number of branch chains connected to the same moving platform.

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