CN206697128U - Connection in series-parallel motion simulator - Google Patents

Abstract

The utility model provides a kind of connection in series-parallel motion simulator, including 3 UPU parallel connection platforms, the lower platform of 3 UPU parallel connection platforms is the translation platforms that motion simulator pedestal, upper mounting plate are annular, outer shroud turntable is provided with by outer shroud rotating shaft in translation platform, middle ring turntable is provided with by middle ring rotating shaft in outer shroud turntable, inner ring turntable is provided with by inner ring rotating shaft in middle ring turntable, outer shroud rotating shaft, middle ring rotating shaft, inner ring rotating shaft are driven by outer shroud rotary driver, middle ring rotary driver, inner ring rotary driver respectively.The utility model can be used for the motions such as space flight, aviation, navigation, battlebus simulation, also act as recreational facilities, and dual-machine linkage can be additionally used in space tracking and be tested with docking technique.

Description

Series Parallel Motion Simulator

technical field

The utility model relates to a simulator, in particular to a series-parallel motion simulator.

Background technique

The motion simulator can truly reproduce the spatial motion state of an object and reflect its kinematics and dynamics characteristics, and plays an increasingly important role in the fields of aviation, aerospace and navigation. In 1986, Tsai proposed a 3-UPU translation mechanism (Kinematics of A Three-Dof Platform with Three Extensible Limbs. Recent Advances in Robot Kinematics, 1996: 401-410.), and gave the conditions for the 3-UPU to maintain translation. Among the existing parallel motion simulators, the six-degree-of-freedom parallel platform is widely used in various motion simulators. However, due to the characteristics of the six-degree-of-freedom parallel platform, there are many shortcomings, such as its position Difficult to solve, the position and orientation coupling of the moving platform, especially the difficulty in manufacturing high-precision spherical joints in industrial manufacturing, resulting in the failure to achieve the expected accuracy when using a six-degree-of-freedom parallel platform.

Contents of the invention

The purpose of the utility model is to provide a series-parallel motion simulator.

The purpose of this utility model is achieved in that it comprises a 3-UPU parallel platform, the lower platform of the 3-UPU parallel platform is a motion simulator base, and the upper platform is an annular translation platform, and the translation platform is set by an outer ring rotating shaft There is an outer ring turntable, the outer ring turntable is provided with a middle ring turntable through the middle ring rotating shaft, and the inner ring turntable is arranged in the middle ring turntable through the inner ring rotating shaft, and the outer ring rotating shaft, the middle ring rotating shaft and the inner ring rotating shaft respectively pass through the outer ring rotating driver and the middle ring rotating driver , The inner ring is driven by a rotary driver.

The utility model also includes such structural features:

1. Both the outer ring turntable and the middle ring turntable are ring structures, and the inner ring turntable is a working cabin.

Compared with the prior art, the beneficial effects of the utility model are: the purpose of the utility model is to provide a motion simulation system that uses three-dimensional translation and three-axis rotation to simulate real motion. Realized by the 3-UPU parallel platform, the mobile 3-UPU parallel platform is connected to the base by three connecting rods, and each connecting rod includes a universal pair (U), a mobile pair (P), and a universal pair (U); at the same time The outer, middle and inner rings (working cabins) of the three-axis turntable rotate around their axes, allowing the working cabins to fully achieve any attitude in space. The utility model is a series-parallel structure, which is convenient for control and maintenance.

Description of drawings

Fig. 1 is a structural representation of the utility model.

detailed description

Below in conjunction with accompanying drawing and specific embodiment the utility model is described in further detail.

In conjunction with Fig. 1, the utility model includes: a motion simulator base 1, a drive link 2 between the base and the translation platform, a translation platform 3, an outer ring turntable 4, a middle ring turntable 5, and an inner ring turntable (working cabin) 6 , the connecting rod driver 7, the outer ring rotation driver 8, the middle ring rotation driver 9, the inner ring rotation driver 10, and the base and the connecting rod, the translation platform and the connecting rod are all general secondary connections. The utility model is composed of a mobile 3-UPU parallel platform and a series three-axis turntable. The serial three-axis turntable is mounted on the translation platform of the mobile 3-UPU parallel platform through a cylindrical hinge. The movement of the six degrees of freedom of the working cabin is decoupled, the 3-UPU parallel platform is moved to control the translation of the three degrees of freedom of the working cabin, and the three-axis turntable is connected in series to control the rotation of the three degrees of freedom of the working cabin. The translation platform composed of 3-UPU parallel platforms is the bracket of the three-axis turntable in series, and the spatial position of the inner ring of the three-axis turntable is controlled by controlling the elongation of the three connecting rods. The series-connected three-axis turntable is composed of an outer ring turntable, a middle ring turntable and an inner ring turntable (work cabin) connected in series through cylindrical hinges, so that the work cabin can move in any posture in space.

The mechanism of the utility model can realize the system of simulating the real movement through the movement of six degrees of freedom in space. It is composed of a control device, a power device, a rotating platform, and a translation platform. Rotation at any angle in the interior; the control device is composed of a key switch and a program-controlled single-chip computer, and is installed in the inner ring (working cabin); the power device is composed of a hydraulic drive device, a motor, a gear and a rack guide rail; The translation platform is composed of three connecting rods respectively connected with the base and the platform with a universal pair (mobile 3-UPU parallel platform); Turntable configuration.

The driving link 2 completes the translation of the three degrees of freedom in the translational motion under the action of the link driver 8 . The outer ring turntable 4, the middle ring turntable 5, and the inner ring turntable (working cabin) 6 rotate around each rotating shaft under the sequential drive of the outer ring rotation driver 8, the middle ring rotation driver 9, and the inner ring rotation driver 10, so as to realize the arbitrary movement of the working cabin .

In summary, the utility model "serial-parallel motion simulator" relates to a motion simulation system that uses three-dimensional translation and three-axis rotation to simulate real motion, and belongs to the field of mechanics. The purpose is to provide a motion simulation system that uses three-dimensional translation and three-axis rotation to simulate real motion. The translation in three directions can send the inner ring (working cabin) of the three-axis turntable to a certain position in the space; at the same time, the three-axis The outer, middle and inner parts of the turntable rotate around the axis, allowing the working cabin to completely achieve any attitude in the space. The utility model can be used for motion simulation of spaceflight, aviation, navigation, chariot, etc., and can also be used as an entertainment facility, and the two-machine linkage can also be used for space tracking and docking technology experiments.

Claims (2)

1. connection in series-parallel motion simulator, including 3-UPU parallel connection platforms, it is characterised in that：The lower platform of 3-UPU parallel connection platforms is fortune Dynamic simulator pedestal, upper mounting plate are the translation platforms of annular, and translation platform is interior to be provided with outer shroud turntable, outer shroud by outer shroud rotating shaft Middle ring turntable is provided with by middle ring rotating shaft in turntable, middle ring turntable is interior to be provided with inner ring turntable by inner ring rotating shaft, and outer shroud turns Axle, middle ring rotating shaft, inner ring rotating shaft are driven by outer shroud rotary driver, middle ring rotary driver, inner ring rotary driver respectively.

2. connection in series-parallel motion simulator according to claim 1, it is characterised in that：The outer shroud turntable, middle ring turntable are equal It is loop configuration, the inner ring turntable is work chamber.