Spherical attitude adjusting platform based on 3RRR-3UPS parallel mechanism

Abstract

The invention relates to a spherical attitude adjusting platform based on a 3RRR-3UPS parallel mechanism, the spherical attitude adjusting platform comprises a fixed platform, unloading ball arc support plates, a driving branch and a tail end platform, the unloading ball arc support plates are uniformly distributed and arranged around the middle part of the fixed platform, and the tail end platform is arranged above the fixed platform; a supporting frame ball head at the bottom of an unloading supporting frame in the tail end platform is in point contact with an unloading ball arc supporting plate, and driving branches are evenly distributed between the fixed platform and the tail end platform. In the driving branch, the first end of an upper spherical rod is rotationally connected with the first end of a lower spherical rod, the first end of an electric push rod shaft is connected with a lower end face spherical pair of the lower spherical rod, the second end of the electric push rod shaft is connected with an electric push rod seat moving pair, and the lower end of an electric push rod seat is connected with a universal pair of a universal hinge base. The second end of the upper spherical rod is rotationally connected with the upper supporting plate, and the second end of the lower spherical rod is rotationally connected with the fixed platform. The device has the advantages of being high in reliability, large in bearing capacity, high in rigidity, easy to control and the like.

Description

technical field [0001] The invention belongs to the technical field of parallel stabilization mechanisms, in particular to a spherical attitude adjustment platform based on a 3RRR-3UPS parallel mechanism. Background technique [0002] Aeronautical machinery and its mounted equipment are inevitably disturbed by high-speed airflow during the flight of the aircraft, and during the flight, the active control generated to adapt to the change of the route will also cause the body to change its attitude. These attitude changes make it difficult to obtain a stable working area in the cabin, which will have a certain impact on some aviation manual operations, special material transportation and high-precision instruments, and even endanger the safety of some people and property. The traditional 3RRR spherical mechanism is a more classic three-rotational degree of freedom parallel mechanism, which contains 9 rotating joints and has 6 constraint redundancy. The spherical branch chain ...

AI Technical Summary

Problems solved by technology

Due to the characteristics of the scissor mechanism, the spherical branch chain of the 3RRR parallel mechanism has poor load-bearing capacity and mechanical rigidity, and it is difficult to obtain ideal results when dealing with large load-bearing problems.

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