Folding type four-degree-of-freedom parallel connected stable platform

Abstract

The invention discloses a folding type four-degree-of-freedom parallel connected stable platform. The folding type four-degree-of-freedom parallel connected stable platform comprises a flexible platform, a fixed platform and four branches; the four branches are used for connecting the flexible platform and the fixed platform; structures of the first branch and the third branch are identical, symmetrically arranged and are formed by spherical hinges, RRS upper connecting rods, first revolute pairs, lower connecting rods and second revolute pairs; structures of the second branch and the fourth branch are identical, symmetrically arranged and are formed by spherical hinges, RUS upper connecting rods, universal hinges, lower connecting rods and second revolute pairs; the four spherical hinges which are respectively connected with the flexible platform are arranged in a isosceles trapezoid shape; the four second revolute pairs which are respectively connected with the fixed platform are arranged in a square shape. The folding type four-degree-of-freedom parallel connected stable platform has the advantages of being simple in structure, small in occupying area, large in working space, rapid in dynamic response and easy to control.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel stable platform. Background technique [0002] With the development of society and the progress of science and technology, all kinds of high-precision equipment emerge as the times require, and the corresponding environmental requirements for high-precision equipment are becoming more and more stringent. At this time, the stable platform has become a new hot spot in this field of research. Stabilized platforms are divided into three types: ship-borne, vehicle-mounted and airborne. However, most of the stabilized platforms studied at present are serially rotating platforms with two or three degrees of freedom, which cannot meet the multi-dimensional stability requirements. Compared with the series mechanism, the parallel mechanism has the characteristics of large rigidity, stable structure, strong bearing capacity, high precision, small moment of inertia, difficult positive solut...

AI Technical Summary

Problems solved by technology

Its shortcomings are: complex structure, large occupied volume, large moment of inertia; a four-degree-of-freedom double-action platform parallel mechanism proposed by patent CN102642205A, the invention has the characteristics of large carrying capacity, compact structure and fast response speed.

Its shortcomings are: the four freedoms have strong coupling and are not easy to control; the patent CN1462671A proposes a four-degree-of-freedom parallel decoupling mechanism, which can realize unconditional decoupling of four-degree-of-freedom translation, and has a simple structure and a large working space. Large and easy to control features

Its shortcomings are: the rigidity of the mechanism is small, and it occupies a large volume under the same working space

Patent CN201573206U proposes a four-degree-of-freedom parallel mechanism with two movements and two rotations. This mechanism has the characteristics of simple structure and high rigidity. The disadvantages are: the hydraulic drive control accuracy is poor and the dynamic performance is low

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