Space four freedom mechanism for realizing three rotating and one moving

Abstract

The present invention discloses one kind of four-freedom spatial structure realizing three rotation freedoms and one translation freedom. There are four driving branch chains, each of which has upper joint connected between one corner of the upper platform and the upper end of one linear motion executor, and lower joint connected between one corner of the lower platform and the lower end of the linear motion executor, and one driven branch chain, which has upper joint connected between the upper platform and the upper end of the driven branch member and lower end member connected to the lower platform vertically. The present invention can realize the rotation of the upper platform around three spatial coordinate axes and one transition along one axis. The present invention is used in various stably tracking platform, motion simulator, shuttle butt connector, etc.

Description

technical field [0001] The invention relates to a space parallel multi-degree-of-freedom mechanism, in particular to a space four-degree-of-freedom mechanism realizing three rotations and one movement. Background technique [0002] The parallel mechanism has a series of advantages such as high rigidity, strong bearing capacity, small error, high precision, fast response, and small mass-to-power ratio. It is widely used in simulation platforms, robots, machine tools, and spacecraft docking mechanisms. [0003] Moving carriers (vehicles, ships, aircraft, etc.) high-quality satellite communication in motion, missile launches in motion, stable aiming and tracking shooting of combat vehicles such as tanks and self-propelled artillery, and attitude stabilization of sonar arrays, etc. etc. are of great significance, which requires the isolation of the yaw, roll, pitch and heave motion of the carrier. [0004] At present, mechanisms that can realize three-degree-of-freedom rotation...

AI Technical Summary

Problems solved by technology

The advantages of this mechanism are large structural rigidity, strong bearing capacity, and fast system response; the disadvantage is that the working space is small and the dexterity is poor; and because the six-degree-of-freedom platform is a virtual axis structure, its angular attitude control accuracy is also higher than that of the three-axis turntable Low, even when there is no motion command for a certain axis, due to the structural error and control error of the platform, the motion of other degrees of freedom will cause the rotation error on this axis; and when the six-degree-of-freedom platform is used as a three-degree-of-freedom turntable, Extra degrees of freedom are actually a waste of resources

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