CN1271340C - General loading system based on parallel connection 6 DOF platform - Google Patents
General loading system based on parallel connection 6 DOF platform Download PDFInfo
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- CN1271340C CN1271340C CN 200310108997 CN200310108997A CN1271340C CN 1271340 C CN1271340 C CN 1271340C CN 200310108997 CN200310108997 CN 200310108997 CN 200310108997 A CN200310108997 A CN 200310108997A CN 1271340 C CN1271340 C CN 1271340C
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Abstract
The present invention discloses a general loading system based on a parallel connection 6-degree of freedom platform. The present invention comprises a general loading mechanism of a parallel connection 6-degree of freedom mechanism which is composed of a fixed platform of a loading mechanism, a joint hinge, six sets of parallel connection linear actuators and a movable platform of the loading mechanism, wherein the fixed platform of the loading mechanism is arranged on the ground or other fixed plane surfaces, the upper surface of the movable platform of the loading mechanism is provided with a set of 6-axis f/t sensor, the other surface of the 6-axis f/t sensor is connected with a loading connection mechanism, the lower part of the top of a supporting frame and the loading connection mechanism are coaxially provided with a fixation mechanism for a loaded object, and the supporting frame is arranged on the ground or other fixed plane surfaces. The present invention provides a compact ideal integration scheme for a loading system which has various degrees of freedom and has a compounding torque. The present invention can be widely used in integrated tests of an aerial butt-joint mechanism, integrated fatigue tests of shell bodies, various component parts and various materials, and load simulators.
Description
Technical field
The present invention relates to loading system, particularly relate to a kind of broad sense loading system based on 6-dof parallel platform.
Background technique
Present loading system, load simulation system are that single-degree-of-freedom oil hydraulic cylinder or oil hydraulic motor load basically, and because structural reason though taked multiple compensation method, all fails fundamentally to eliminate redundant force.
Summary of the invention
The purpose of this invention is to provide a kind of broad sense loading system, for multi-freedom degree power and moment Combined Loading system provide Integrated Solution a kind of compactness, desirable based on 6-dof parallel platform.
The technical solution used in the present invention is to comprise: comprise based on overlapping the linear actuator of parallel connection and the broad sense load maintainer of the 6-dof parallel mechanism that the load maintainer movable platform is formed by load maintainer fixed platform, joint hinge, six.The load maintainer fixed platform is installed on the ground or on other fixed pan, one cover six-dimension force sensor is housed above the load maintainer movable platform, the another side of six-dimension force sensor is connected with loading bindiny mechanism, be loaded the object fixed mechanism with loading the coaxial installation of bindiny mechanism below the support frame top, support frame is installed on the ground or on other fixed pan.
Generalized force also claims space behavior power, can resolve into power Fx, Fy along coordinate X, Y, Z axle, Fz and around the moment τ of X, Y, Z axle
x, τ
y, τ
zThe present invention utilizes six-degree-of-freedom electrohydraudic servomechanism output descriptor power in parallel that the carrying object is carried out multi-freedom degree power and moment loads simultaneously, and when exporting given generalized force, the pose that loads 6-dof parallel mechanism is carried out high-precision servocontrol, can realize accurate loading synchronously.
The present invention compares with background technique, the useful effect that has is: load maintainer of the present invention adopts 6-dof parallel mechanism, can realize that broad sense loads, for multi-freedom degree power and moment Combined Loading system provide Integrated Solution a kind of compactness, desirable, and can better solve the redundant force problem, be the breakthrough to traditional loading system.And characteristics such as ouput force is big because 6-dof parallel mechanism has, mechanism's good rigidity, control accuracy height, response are fast make the present invention have better control performance index, can obtain better test effect.Can be widely used in aerial docking mechanism combined test, in the comprehensive fatigue test and load simulation device of housing, all kinds of part and material, have important real value promoting equipment preparations such as the high performance composite load emulsification of China, material testing machine.
Description of drawings
The present invention is further illustrated below in conjunction with drawings and Examples.
Accompanying drawing is a structure principle chart of the present invention.
Embodiment
As shown in drawings, the present invention includes based on overlapping the linear actuator 6 of parallel connection and the broad sense load maintainer 5 of the 6-dof parallel mechanism that load maintainer movable platform 9 is formed by load maintainer fixed platform 7, joint hinge 8, six.Load maintainer fixed platform 7 is installed on the ground or on other fixed pan, one cover six-dimension force sensor 4 is housed above the load maintainer movable platform 9, the another side of six-dimension force sensor 4 is connected with loading bindiny mechanism 3, be loaded object fixed mechanism 2 with loading bindiny mechanism's 3 coaxial installations below support frame 1 top, support frame 1 is installed on the ground or on other fixed pan.
Working principle of the present invention is as follows:
The present invention will be loaded object 10 and be fixed on the support frame 1 by being loaded object fixed mechanism 2, the pose that the carrying acting surface that six cover linear actuator, the 6 driving load maintainer movable platforms 9 that are installed in parallel with joint hinge 8 on the broad sense load maintainer 5 moved to and be loaded object 10 adapts, the carrying acting surface that is loaded object 10 is connected with loading bindiny mechanism 3, six cover linear actuator, 6 load maintainer movable platform 9, the output descriptor power of driving in parallel.Broad sense load maintainer 5 can carry out the broad sense loading to being loaded object when keeping load maintainer movable platform 9 for any pose, and can be when exporting given generalized force, pose to load maintainer movable platform 9 carries out high-precision servocontrol, accurately follow the motion that is loaded object 10, realize that dynamic synchronization loads.The six-dimension force sensor 4 detection broad sense load maintainers 5 that are installed on the load maintainer movable platform 9 are applied to the generalized force that is loaded on the object 10, carry out force servo control.And attitude transducer is installed to constitute the big closed loop of pose on load maintainer movable platform 9, is realized being loaded the synchronous loading of object 10.During static the loading, specify load maintainer movable platform 9 to move to a certain pose state as required, export given generalized force then and carry out load test being loaded object 10; When dynamic synchronization loads, be loaded object 10 active movements, load maintainer movable platform 9 is accurately followed and is loaded object 10 motions, and output descriptor power loads simultaneously.
Claims (1)
1, a kind of broad sense loading system based on 6-dof parallel mechanism comprises based on overlapping the linear actuator (6) of parallel connection and the broad sense load maintainer (5) of the 6-dof parallel mechanism that load maintainer movable platform (9) is formed by load maintainer fixed platform (7), joint hinge (8), six; It is characterized in that: load maintainer fixed platform (7) is installed on the ground or on other fixed pan, one cover six-dimension force sensor (4) is housed above the load maintainer movable platform (9), the another side of six-dimension force sensor (4) is connected with loading bindiny mechanism (3), be loaded object fixed mechanism (2) in support frame (1) top below with loading the coaxial installation of bindiny mechanism (3), support frame (1) installation is on the ground or on other fixed pan.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310108997 CN1271340C (en) | 2003-11-29 | 2003-11-29 | General loading system based on parallel connection 6 DOF platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310108997 CN1271340C (en) | 2003-11-29 | 2003-11-29 | General loading system based on parallel connection 6 DOF platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1546875A CN1546875A (en) | 2004-11-17 |
| CN1271340C true CN1271340C (en) | 2006-08-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200310108997 Expired - Fee Related CN1271340C (en) | 2003-11-29 | 2003-11-29 | General loading system based on parallel connection 6 DOF platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1271340C (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100348961C (en) * | 2005-07-25 | 2007-11-14 | 浙江大学 | Stepless lifting type six dimension force sensor caliberating device |
| CN101262086B (en) * | 2008-04-21 | 2012-08-08 | 上海大学 | Parallel antenna structure system |
| CN102866030B (en) * | 2012-09-20 | 2014-12-10 | 北京航空航天大学 | Five-axis linkage loading test device and loading test method for machine tool |
| CN104596752B (en) * | 2015-01-20 | 2018-01-02 | 中国矿业大学 | A kind of six-degree-of-freedom parallel connection mechanism loading system and its method |
| CN110844117A (en) * | 2019-11-14 | 2020-02-28 | 沈阳航空航天大学 | Generalized butt joint test system based on multi-degree-of-freedom parallel mechanism |
| CN112986009B (en) * | 2021-02-23 | 2022-03-15 | 中国科学院武汉岩土力学研究所 | Rock mass structural plane six-degree-of-freedom shear test device and test method thereof |
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2003
- 2003-11-29 CN CN 200310108997 patent/CN1271340C/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN1546875A (en) | 2004-11-17 |
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