Three-degree-of-freedom series-parallel rotating platform

Abstract

The invention provides a three-degree-of-freedom series-parallel rotating platform. The three-degree-of-freedom series-parallel rotating platform comprises a parallel mechanism and a gyrating device, wherein the parallel mechanism is connected with a rack and a medium movement platform through a UPS branch chain, a UPS-R-UPS combined branch chain and a constraining branch chain; the upper end and the lower end of the UPS branch chain are respectively connected with the medium movement platform and the rack through an S pair and a U pair; two UPS sub-chains in the UPS-R-UPS combined branch chain are symmetrically distributed about an axis of the R pair at the initial position; the axis of the R pair is overlapped with the axis of a constraining branch chain U pair connecting movement platform; the gyrating device comprises two RRS branch chains which have the same structure, an upper movement platform and a lower movement platform; gyring bearings are arranged between the upper movement platform and the medium movement platform and between the lower movement platform and the rack; two ends of the two RRS branch chains are respectively connected with the upper movement platform and the lower movement platform through the R pair and the S pair; the two RRS branch chains are symmetrically arranged. The three-degree-of-freedom series-parallel rotating platform is high in bearing capacity and has a good application prospect.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a three-degree-of-freedom mixed rotation platform. Background technique [0002] The three-degree-of-freedom rotating platform has great application prospects in many occasions, such as the attitude adjustment and self-stabilization of the platform on ships, vehicles and aircraft, the positioning of medical equipment, cameras and telescopes, and the orientation tracking of antennas and solar panels. . However, most of the three-degree-of-freedom rotating platforms now use a series mechanism. Although the series mechanism has a large working space and can realize a wide range of rotation, its bearing capacity is poor and it cannot bear too much load. Therefore, it is a better choice to use a series-parallel hybrid mechanism as a structural solution for a three-degree-of-freedom turntable. At present, there are a small number of three-degree-of-freedom series-parallel hybrid machine turntabl...

AI Technical Summary

Problems solved by technology

Such a structural scheme parallel mechanism only contains two driving branch chains, and the carrying capacity is small; and the slewing device is either installed above the actuating platform of the parallel mechanism, and the weight of the slewing device must also be borne by the driving device of the parallel mechanism, or it is installed on the parallel mechanism Below the moving platform, the slewing device has to bear the weight of the entire parallel mechanism, which greatly reduces the carrying capacity of the turntable.

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