A dual-parallel pan-tilt with space zipline with coarse and fine adjustment of pose

Abstract

The invention relates to a spatial sliding cable double-parallel cradle head with a rough and fine position and attitude regulation function, and belongs to a spatial sliding cable double-parallel cradle head. Motors with pulley blocks are fixedly arranged on a triangular fixed platform, wherein upright posts are fixedly arranged in the three corners of the fixed platform respectively; the pulley blocks are fixedly arranged on the two sides of the top ends of the upright posts respectively; six sliding cables are wound to the pulley blocks at the top ends of the upright posts from an output shaft of the motor respectively, and are connected with hooks on the upper surface of the upper plane of the cradle head; the upper and lower planes of the cradle head are connected through electric cylinders; the electric cylinders are connected with the upper plane through spherical hinges, and are fixedly connected with the lower plane of the cradle head through cylinder seats. The spatial sliding cable double-parallel cradle head has the advantages that the spatial sliding cable double-parallel cradle head is novel in structure; the position and the attitude are roughly and finely regulated, so that the movement requirements of a mechanism are met, the system working space is enlarged, and the system positioning accuracy and reliability are effectively improved.

Description

technical field [0001] The invention belongs to a space sliding cable double-parallel cloud platform. Background technique [0002] Compared with the traditional series mechanism, the parallel mechanism has the advantages of high rigidity, adjustable position and attitude, and large load of the system. However, with the in-depth research on the parallel mechanism, it also has its own shortcomings and weaknesses, such as the system determines the geometric center Difficulty, low motion precision, small working space, and insufficient reliability. The vast majority of research today revolves around the design of mechanism configurations, the solution of workspaces, and kinematic modeling problems. In terms of configuration design, most literatures are single-layer parallel mechanisms. Harbin Engineering University has designed a free and variable parallel metamorphic platform, application number 201410087943.2, and the designed mechanism realizes variable degrees of freedom....

AI Technical Summary

Problems solved by technology

[0002] Compared with the traditional series mechanism, the parallel mechanism has the advantages of high rigidity, adjustable position and attitude, and large load of the system. However, with the in-depth research on the parallel mechanism, it also has its own shortcomings and weaknesses, such as the system determines the geometric center Difficult, low motion precision, small working space, insufficient reliability, etc.

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