CN203743760U - Motion platform with multiple freedom degrees - Google Patents
Motion platform with multiple freedom degrees Download PDFInfo
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- CN203743760U CN203743760U CN201420071601.7U CN201420071601U CN203743760U CN 203743760 U CN203743760 U CN 203743760U CN 201420071601 U CN201420071601 U CN 201420071601U CN 203743760 U CN203743760 U CN 203743760U
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Abstract
The utility model discloses a motion platform with multiple freedom degrees. The motion platform comprises a platform three-axis motion control mechanism and a platform posture motion control mechanism mounted on the platform three-axis motion control mechanism. The platform three-axis motion control mechanism is composed of a platform X-axis moving structure, a platform Y-axis moving structure and a platform Z-axis rotating structure, and the platform is controlled by the platform three-axis motion control mechanism to do independent X-axis motion and/or independent Y-axis motion, and/or do independent Z-axis 360-degree rotation. Platform postures comprise pitching, rolling and fluctuating, the platform posture motion control mechanism comprises a supporting shaft linkage structure and a universal joint, and the platform is controlled by the supporting shaft linkage structure and the universal joint to do pitching, or rolling or fluctuating motions. By means of the motion platform with multiple freedom degrees, X-axis linear independent motion and/or Y-axis linear independent motion with large stroke can be realized, the platform can rotate by 360 degrees around the Z axis, and good platform bearing capacity and stability can still be kept in synchronous multi-axis rotation.
Description
Technical field
The utility model relates to moving platform field, particularly a kind of multi-degree-of-freedom motion platform.
Background technique
6-dof motion platform is a Spatial Parallel motion, carry out the motion of implementation platform at space six-freedom degree by changing the length of six retractable support levers, thereby can simulate various spatial motion attitudes, be widely used in flight simulation, the various fields such as simulative automobile and aviation, notification number is the moving platform that the utility model patent of CN 202829455 U discloses a kind of six-degree-of-freedom, comprise platform, platform base and six roots of sensation electrical servo push rod, electrical servo push rod is distributed between platform and platform base, and its two ends are corresponding hinged one by one with platform and platform base by a hinged-support respectively, moving platform carrys out six basic exercises of implementation platform by the movement of six roots of sensation electrical servo push rod, but no matter be linear motion or rotatablely move, all can be subject to the travel limits of electrical servo push rod, the acceleration of different direction cannot be set while being rotated at the same time with linear specific action, in addition, cannot carry out larger linear motion stroke, when multiaxis rotates simultaneously, platform lifting capacity and stability reduce greatly.
Model utility content
Task of the present utility model is to provide a kind of multi-degree-of-freedom motion platform, can do independently X-motion and/or independently Y-motion along X axis and Y-axis, and/or independently Z axis 360 degree rotate the travel limits that is supportted axle linkage structure to solve prior art linear motion.
The utility model is to be achieved through the following technical solutions:
A kind of multi-degree-of-freedom motion platform, comprise platform stance motion control mechanism, platform three-axis moving control mechanism, platform stance motion control mechanism is arranged on platform three-axis moving control mechanism, platform three-axis moving control mechanism is by platform X axis moving structure, platform Y-axis moving structure and platform Z axis rotational structure form, platform does independently X-motion and/or independently Y-motion under the control of platform three-axis moving control mechanism, and/or independently Z axis 360 degree rotations, platform stance comprises pitch attitude, roll attitude and fluctuating attitude, platform stance motion control mechanism comprises support axle linkage structure and universal joint, platform does pitch attitude under support axle linkage structure and universal joint control, the attitude action of roll attitude or fluctuating attitude.Thus, multi-degree-of-freedom motion platform can do larger linear motion linear motion and 360 degree rotatablely move, and in the time that multiaxis rotates simultaneously, still can keep lifting capacity and the stability of platform.
Further, described platform stance motion control mechanism also comprises platform base, described support axle linkage structure is between platform and platform base, described platform Z axis rotational structure comprises chassis, Z axis rotating servo motor and Z axis power-transmitting unit, chassis is fixedly mounted on Z-axis direction mounting, platform base is arranged on chassis, platform base under the driving of Z axis rotating servo motor with the effect of Z axis power-transmitting unit under 360 degree rotations, described platform X axis moving structure is arranged on platform Y-axis moving structure, platform stance motion control mechanism is arranged on platform X axis moving structure by chassis, described platform X axis moving structure comprises X axis guide rail, X axis actuating motor and X axis power-transmitting unit, described platform Y-axis moving structure comprises Y-axis guide rail, Y-axis actuating motor and Y-axis power-transmitting unit, wherein platform X axis moving structure can do independently motion under the driving of Y-axis actuating motor and under the effect of Y-axis power-transmitting unit on Y-axis guide rail, independently motion can be done in chassis under X axis driven by servomotor on X axis guide rail.
Further, described platform X axis moving structure also comprises X axis mounting, X axis mounting is made up of X axis mounting curb girder and X axis mounting crossbeam, above X axis mounting curb girder, fixedly mount described X axis guide rail, X axis guide rail upper end cover has X axis slide block, X axis upper end of slide block is fixedly connected with the curb girder of Z-axis direction mounting, X axis power-transmitting unit comprises X axis Timing Belt, X axis ball screw, with the supporting X axis nut of X axis ball screw, X axis nut is fixedly connected on below the crossbeam of Z-axis direction mounting, X axis actuating motor is arranged on X axis mounting crossbeam and drives X axis Timing Belt to drive X axis ball screw, described platform Y-axis moving structure also comprises Y-axis mounting, Y-axis mounting is made up of Y-axis mounting curb girder and Y-axis mounting crossbeam, above Y-axis mounting curb girder, fixedly mount described Y-axis guide rail, on Y-axis guide rail, surface cover has Y-axis slide block, Y-axis upper end of slide block is fixedly connected with X axis mounting crossbeam, Y-axis power-transmitting unit comprises Y-axis Timing Belt, Y-axis ball screw, with the supporting Y-axis nut of Y-axis ball screw, Y-axis nut is fixedly connected on X axis mounting curb girder below, Y-axis actuating motor is fixed on Y-axis mounting crossbeam and drives Y-axis Timing Belt to drive Y-axis ball screw, described Z axis power-transmitting unit comprises the gear that is located at platform base side, and Z axis rotating servo motor drives platform base rotation by actuation gear.
Further, described platform stance motion control mechanism also comprises platform and platform base, support axle linkage structure is between described platform and platform base, described platform Z axis rotational structure comprises chassis, Z axis rotating servo motor and Z axis power-transmitting unit, chassis is fixedly mounted on Z-axis direction mounting, mountion plate base on chassis, platform base under the driving of Z axis rotating servo motor with the effect of Z axis power-transmitting unit under 360 degree rotations, described platform Y-axis moving structure is arranged on platform X axis moving structure, platform stance motion control mechanism is arranged on platform Y-axis moving structure by chassis, described platform X axis moving structure comprises X axis guide rail, X axis actuating motor and X axis power-transmitting unit, described platform Y-axis moving structure has included Y-axis guide rail, Y-axis actuating motor and Y-axis power-transmitting unit, wherein platform Y-axis moving structure can do independently motion under the driving of X axis actuating motor and under the effect of Y-axis power-transmitting unit on X axis guide rail, independently motion can be done in chassis under Y-axis driven by servomotor on Y-axis guide rail.
Further, described support axle linkage structure comprises push rod actuating motor, Z-axis direction guide rail, servo push-rod, be enclosed within Z-axis direction slide block on Z-axis direction guide rail, Z-axis direction ball screw, with the supporting Z-axis direction nut of Z-axis direction ball screw, servo push-rod one end is fixedly connected with Z-axis direction nut, the other end and platform pass through universal joint articulated, Z-axis direction upper end of slide block is fixedly connected with Z-axis direction nut, and push rod driven by servomotor Z-axis direction ball screw drives servo push-rod to move along Z axis.Thus, platform can be realized the combination that pitching, rolling and fluctuating etc. rotatablely move and move.
Further, described support axle linkage structure is at least three groups.Thus, moving platform can be realized multifreedom motion.
Further, the number of degrees of freedom of described multi-degree-of-freedom motion platform is three or six.
Further, described Y-axis guide rail quantity is at least two, and X axis guide rail quantity is at least two.Thus, can on different X tracks or on Y track, independently acceleration be set.
The multi-degree-of-freedom motion platform that the utility model provides, can do independently linear motion and not be limited by X axis and/or Y-axis the travel limits of back shaft, and can different acceleration be set at X axis and/or Y-axis, Z axis can rotate by 360 degree, and in the time that rotating simultaneously, multiaxis still can keep good platform bearer ability and stability, platform can be realized the various attitude motions such as pitch attitude, roll attitude or fluctuating attitude, has solved traditional unrestricted motion table stroke and has been subject to the problem that back shaft limits.
Brief description of the drawings
Fig. 1 is the structural representation of a kind of mode of execution of the utility model;
Fig. 2 is the structural representation of Fig. 1 support axle linkage structure;
Fig. 3 is the local enlarged diagram of Fig. 2 support axle linkage structure;
Wherein: 1-Y-axis actuating motor, 11-Y-axis guide rail, 12-Y-axis mounting curb girder, 13-Y-axis slide block, 14-Y-axis Timing Belt, 15-Y-axis ball screw, 16-Y-axis mounting crossbeam, 17-Y-axis nut, 2-X axis actuating motor, 21-X axis guide rail, 22-X axis mounting curb girder, 23-X axis slide block, 24-X axis Timing Belt, 25-X axis ball screw, 26-X axis mounting crossbeam, 27-X axis nut, 3-Z axis rotating servo motor, 31-chassis, 32-Z-axis direction mounting, 33-gear, 34-platform, 35-platform base, 4-push rod actuating motor, 41-Z-axis direction guide rail, 42-servo push-rod, 43-Z-axis direction slide block, 44-Z-axis direction nut, 45-Z-axis direction ball screw, 46-universal joint.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
For convenience, will be called X axis nut 27, Y-axis nut 17, Z-axis direction nut 44 with three axial matching used nuts of ball screw.
Fig. 1 has schematically shown the multi-degree-of-freedom motion platform of a kind of mode of execution of the utility model, comprise platform stance motion control mechanism, platform three-axis moving control mechanism, the multi-freedom degree number of multi-freedom degree platform is six, also can be three, platform stance motion control mechanism is arranged on platform three-axis moving control mechanism, platform stance motion control mechanism comprises platform base 35, support axle linkage structure and universal joint 46, support axle linkage structure is three groups, also can be more than three groups, support axle linkage structure is between platform 34 and platform base 35, support axle linkage structure comprises push rod actuating motor 4, Z-axis direction guide rail 41, servo push-rod 42, be enclosed within the Z-axis direction slide block 43 on Z-axis direction guide rail 41, Z-axis direction ball screw 45, with the supporting Z-axis direction nut 44 of Z-axis direction ball screw 45, servo push-rod 42 one end are fixedly connected with Z-axis direction nut 44, the other end and platform 34 pass through universal joint articulated, Z-axis direction slide block 43 upper ends are fixedly connected with Z-axis direction nut 44, push rod actuating motor 4 drives Z-axis direction ball screw 45 to drive servo push-rod 42 to move along Z axis, platform 34 does pitch attitude under support axle linkage structure and universal joint 46 controls, the attitude action of roll attitude or fluctuating attitude.
Platform 34 does independently X-motion and/or independently Y-motion under the control of platform three-axis moving control mechanism, and/or independently Z axis 360 degree rotations, platform stance comprises pitch attitude, roll attitude and fluctuating attitude, platform three-axis moving control mechanism is by platform X axis moving structure, platform Y-axis moving structure and platform Z axis rotational structure form, wherein, platform Z axis rotational structure comprises chassis 31, Z axis rotating servo motor 3 and Z axis power-transmitting unit, Z axis power-transmitting unit comprises the gear 33 that is located at platform base 35 sides, chassis 31 is fixedly mounted on Z-axis direction mounting 32, mountion plate base 35 on chassis 31, platform base 35 is 360 degree rotations under the driving of Z axis rotating servo motor 3 and the effect of gear 33.
Platform X axis moving structure is arranged on platform Y-axis moving structure, platform stance motion control mechanism is arranged on platform X axis moving structure by chassis 31, platform X axis moving structure comprises X axis guide rail 21, X axis actuating motor 2, X axis power-transmitting unit and X axis mounting, wherein, X axis mounting is made up of X axis mounting curb girder 22 and X axis mounting crossbeam 26, X axis mounting curb girder 22 fixedly mounts X axis guide rail 21 above, X axis guide rail 21 numbers are two, also can be greater than two, X axis guide rail 21 upper end covers have X axis slide block 23, X axis slide block 23 upper ends are fixedly connected with the curb girder of Z-axis direction mounting 32, X axis power-transmitting unit comprises X axis Timing Belt 24, X axis ball screw 25, with the supporting X axis nut 27 of X axis ball screw 25, X axis nut 27 is fixedly connected on below the crossbeam of Z-axis direction mounting 32, X axis actuating motor 2 is arranged on X axis mounting crossbeam 22 and drives X axis Timing Belt 24 to drive X axis ball screw 25, like this, the platform stance moving structure being fixedly connected with X axis nut 27 by the crossbeam of Z-axis direction mounting 32 just can do self-movement along X direction guiding rail 21.Platform Y-axis moving structure comprises Y-axis guide rail 11, Y-axis actuating motor 1, Y-axis power-transmitting unit and Y-axis mounting, wherein, Y-axis mounting is made up of Y-axis mounting curb girder 12 and Y-axis mounting crossbeam 16, Y-axis mounting curb girder 22 fixedly mounts Y-axis guide rail 21 above, Y-axis guide rail number is two, also can be greater than two, on Y-axis guide rail 11, surface cover has Y-axis slide block 13, Y-axis slide block 13 upper ends are fixedly connected with X axis mounting crossbeam 26, Y-axis power-transmitting unit comprises Y-axis Timing Belt 14, Y-axis ball screw 15, with the supporting Y-axis nut 17 of Y-axis ball screw 15, Y-axis nut 17 is fixedly connected on X axis mounting curb girder 22 belows, Y-axis actuating motor 1 is fixed on Y-axis mounting crossbeam 16, by driving Y-axis Timing Belt 14 to drive Y-axis ball screw 15, like this, the platform X axis moving structure being fixedly connected with Y-axis nut 17 by X axis mounting curb girder 22 is along doing independently and move on Y-axis guide rail 11.
Also platform Y-axis moving structure can be arranged on platform X axis moving structure, platform stance motion control mechanism is arranged on platform Y-axis moving structure by chassis 31, platform Y-axis moving structure comprises Y-axis guide rail 11, Y-axis actuating motor 1, Y-axis power-transmitting unit and Y-axis mounting, wherein, Y-axis mounting is made up of Y-axis mounting curb girder 12 and Y-axis mounting crossbeam 16, Y-axis mounting curb girder 12 fixedly mounts Y-axis guide rail 11 above, Y-axis guide rail 11 numbers are two, also can be greater than two, Y-axis guide rail 11 upper end covers have Y-axis slide block 13, Y-axis slide block 13 upper ends are fixedly connected with the curb girder of Z-axis direction mounting 32, Y-axis power-transmitting unit comprises Y-axis Timing Belt 14, Y-axis ball screw 15, with the supporting Y-axis nut 17 of Y-axis ball screw 15, Y-axis nut 17 is fixedly connected on below the crossbeam of Z-axis direction mounting 32, Y-axis actuating motor 1 is arranged on Y-axis mounting crossbeam 12 and drives Y-axis Timing Belt 14 to drive Y-axis ball screw 15, like this, the platform stance moving structure being fixedly connected with Y-axis nut 17 by the crossbeam of Z-axis direction mounting 32 just can do self-movement along Y-direction guide rail 11.Platform X axis moving structure comprises X axis guide rail 22, X axis actuating motor 2, X axis power-transmitting unit and X axis mounting, wherein, X axis mounting is made up of X axis mounting curb girder 22 and X axis mounting crossbeam 26, X axis mounting curb girder 22 fixedly mounts X axis guide rail 21 above, X axis guide rail number is two, also can be greater than two, on X axis guide rail 21, surface cover has X axis slide block 23, X axis slide block 23 upper ends are fixedly connected with Y-axis mounting crossbeam 16, X axis power-transmitting unit comprises X axis Timing Belt 24, X axis ball screw 25, with the supporting X axis nut 27 of X axis ball screw 25, X axis nut 27 is fixedly connected on Y-axis mounting curb girder 22 belows, X axis actuating motor 2 is fixed on X axis mounting crossbeam 26, by driving X axis Timing Belt 24 to drive X axis ball screw 25, like this, the platform Y-axis moving structure being fixedly connected with X axis nut 27 by Y-axis mounting curb girder 12 is along doing independently and move on X axis guide rail 21.
Above-described is only mode of executions more of the present utility model; for the person of ordinary skill of the art; not departing under the prerequisite of the utility model creation design, can also make some distortion and improvement, these all belong to protection domain of the present utility model.
Claims (8)
1. a multi-degree-of-freedom motion platform, it is characterized in that: described multi-degree-of-freedom motion platform comprises platform stance motion control mechanism, platform three-axis moving control mechanism, platform stance motion control mechanism is arranged on platform three-axis moving control mechanism, platform three-axis moving control mechanism is by platform X axis moving structure, platform Y-axis moving structure and platform Z axis rotational structure form, platform (34) does independently X-motion and/or independently Y-motion under the control of described platform three-axis moving control mechanism, and/or independently Z axis 360 degree rotations, described platform stance comprises pitch attitude, roll attitude and fluctuating attitude, platform stance motion control mechanism comprises support axle linkage structure and universal joint (46), platform (34) does pitch attitude under support axle linkage structure and universal joint (46) control, the attitude action of roll attitude or fluctuating attitude.
2. multi-degree-of-freedom motion platform according to claim 1, it is characterized in that: described platform stance motion control mechanism also comprises platform base (35), described support axle linkage structure is positioned between platform (34) and platform base (35), described platform Z axis rotational structure comprises chassis (31), Z axis rotating servo motor (3) and Z axis power-transmitting unit, chassis (31) is fixedly mounted on Z-axis direction mounting (32), platform base (35) is arranged on chassis (31), platform base (35) under the driving of Z axis rotating servo motor (3) with the effect of Z axis power-transmitting unit under 360 degree rotations,
Described platform X axis moving structure is arranged on platform Y-axis moving structure, platform stance motion control mechanism is arranged on platform X axis moving structure by chassis (31), described platform X axis moving structure comprises X axis guide rail (21), X axis actuating motor (2) and X axis power-transmitting unit, described platform Y-axis moving structure comprises Y-axis guide rail (11), Y-axis actuating motor (1) and Y-axis power-transmitting unit, wherein platform X axis moving structure can do independently motion under the driving of Y-axis actuating motor (1) and under the effect of Y-axis power-transmitting unit on Y-axis guide rail (11), independently motion can be done in chassis (31) under X axis actuating motor (2) drives on X axis guide rail (21).
3. multi-degree-of-freedom motion platform according to claim 2, it is characterized in that: described platform X axis moving structure also comprises X axis mounting, X axis mounting is made up of X axis mounting curb girder (22) and X axis mounting crossbeam (26), X axis mounting curb girder (22) fixedly mounts described X axis guide rail (21) above, X axis guide rail (21) upper end cover has X axis slide block (23), X axis slide block (23) upper end is fixedly connected with the curb girder of Z-axis direction mounting (32), X axis power-transmitting unit comprises X axis Timing Belt (24), X axis ball screw (25), with the supporting X axis nut (27) of X axis ball screw (25), X axis nut (27) is fixedly connected on below the crossbeam of Z-axis direction mounting (32), X axis actuating motor (2) is arranged on X axis mounting crossbeam (22) above and drives X axis Timing Belt (24) to drive X axis ball screw (25),
Described platform Y-axis moving structure also comprises Y-axis mounting, Y-axis mounting is made up of Y-axis mounting curb girder (12) and Y-axis mounting crossbeam (16), Y-axis mounting curb girder (12) is fixed described installation Y-axis guide rail (11) above, the upper surface cover of Y-axis guide rail (11) has Y-axis slide block (13), Y-axis slide block (13) upper end is fixedly connected with X axis mounting crossbeam (26), Y-axis power-transmitting unit comprises Y-axis Timing Belt (14), Y-axis ball screw (15) and with the supporting Y-axis nut (17) of Y-axis ball screw (15), Y-axis nut (17) is fixedly connected on X axis mounting curb girder (22) below, Y-axis actuating motor (1) is fixed on Y-axis mounting crossbeam (16) above and drives Y-axis Timing Belt (14) to drive Y-axis ball screw (15),
Described Z axis power-transmitting unit comprises the gear (33) that is located at platform base (35) side, and Z axis rotating servo motor (3) drives platform base (35) rotation by actuation gear (33).
4. multi-degree-of-freedom motion platform according to claim 1, it is characterized in that: described platform stance motion control mechanism also comprises platform base (35), support axle linkage structure is positioned between described platform (34) and platform base (35), described platform Z axis rotational structure comprises chassis (31), Z axis rotating servo motor (3) and Z axis power-transmitting unit, chassis (31) is fixedly mounted on Z-axis direction mounting (32), the upper mountion plate base (35) in chassis (31), platform base (35) under the driving of Z axis rotating servo motor (3) with the effect of Z axis power-transmitting unit under 360 degree rotations,
Described platform Y-axis moving structure is arranged on platform X axis moving structure, platform stance motion control mechanism is arranged on platform Y-axis moving structure by chassis (31), described platform X axis moving structure comprises X axis guide rail (21), X axis actuating motor (2) and X axis power-transmitting unit, described platform Y-axis moving structure comprises Y-axis guide rail (11), Y-axis actuating motor (1) and Y-axis power-transmitting unit, wherein platform Y-axis moving structure can do independently motion under the driving of X axis actuating motor and under the effect of Y-axis power-transmitting unit on X axis guide rail (21), independently motion can be done in chassis (31) under Y-axis actuating motor (1) drives on Y-axis guide rail (11).
5. multi-degree-of-freedom motion platform according to claim 1, it is characterized in that: described support axle linkage structure comprises push rod actuating motor (4), Z-axis direction guide rail (41), servo push-rod (42), be enclosed within the Z-axis direction slide block (43) on Z-axis direction guide rail (41), Z-axis direction ball screw (45), with the supporting Z-axis direction nut (44) of Z-axis direction ball screw (45), servo push-rod (42) one end is fixedly connected with Z-axis direction nut (44), the other end and platform (34) are hinged by universal joint (46), Z-axis direction slide block (43) upper end is fixedly connected with Z-axis direction nut (44), push rod actuating motor (4) drives Z-axis direction ball screw (45) to drive servo push-rod (42) to move along Z axis.
6. according to the multi-degree-of-freedom motion platform described in claim 1-5 any one claim, it is characterized in that: described support axle linkage structure is at least three groups.
7. according to the multi-degree-of-freedom motion platform described in claim 6 any one claim, it is characterized in that: the number of degrees of freedom of described multi-degree-of-freedom motion platform is three or six.
8. according to the multi-degree-of-freedom motion platform described in claim 1-5 any one claim, it is characterized in that: described Y-axis guide rail (11) quantity is at least two, X axis guide rail (21) quantity is at least two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420071601.7U CN203743760U (en) | 2014-02-19 | 2014-02-19 | Motion platform with multiple freedom degrees |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420071601.7U CN203743760U (en) | 2014-02-19 | 2014-02-19 | Motion platform with multiple freedom degrees |
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| Publication Number | Publication Date |
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| CN203743760U true CN203743760U (en) | 2014-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420071601.7U Expired - Fee Related CN203743760U (en) | 2014-02-19 | 2014-02-19 | Motion platform with multiple freedom degrees |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104535283A (en) * | 2014-12-25 | 2015-04-22 | 温州职业技术学院 | Precise electronically-controlled non-contact excitation experimental platform |
| CN104575623A (en) * | 2014-12-30 | 2015-04-29 | 北京航空航天大学 | Two-degree-of-freedom parallel connection rotating platform based on flexible rolling contact theory |
| CN105417433A (en) * | 2015-12-23 | 2016-03-23 | 大连理工大学 | Six-degree-of-freedom lifting platform car |
| CN105552554A (en) * | 2015-12-11 | 2016-05-04 | 哈尔滨工业大学 | Three-degree-of-freedom posture adjustment device and posture adjustment method applicable for edge block of radar antenna |
| CN105715926A (en) * | 2016-04-26 | 2016-06-29 | 北京时代奥视科技股份有限公司 | Three-dimensional adjusting device |
| CN107144301A (en) * | 2017-04-17 | 2017-09-08 | 北京航天控制仪器研究所 | A kind of simulation testing environment of multiple degrees of freedom aggregate motion simulation |
| CN107272320A (en) * | 2017-08-09 | 2017-10-20 | 广州色咖信息科技有限公司 | The hemisphere face camera chain and method of rotating-table apparatus, the adjustable centre of sphere and height |
| CN108090983A (en) * | 2017-12-29 | 2018-05-29 | 新开普电子股份有限公司 | A kind of device of registering based on recognition of face |
| CN109625166A (en) * | 2018-12-07 | 2019-04-16 | 天津大学 | A kind of simulation system of offshore floating type structure motion |
| CN113146619A (en) * | 2021-03-16 | 2021-07-23 | 行星算力(深圳)科技有限公司 | Self-stabilization objective table control method, objective table and mobile device |
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2014
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104535283A (en) * | 2014-12-25 | 2015-04-22 | 温州职业技术学院 | Precise electronically-controlled non-contact excitation experimental platform |
| CN104575623A (en) * | 2014-12-30 | 2015-04-29 | 北京航空航天大学 | Two-degree-of-freedom parallel connection rotating platform based on flexible rolling contact theory |
| CN104575623B (en) * | 2014-12-30 | 2017-01-18 | 北京航空航天大学 | Two-degree-of-freedom parallel connection rotating platform based on flexible rolling contact theory |
| CN105552554A (en) * | 2015-12-11 | 2016-05-04 | 哈尔滨工业大学 | Three-degree-of-freedom posture adjustment device and posture adjustment method applicable for edge block of radar antenna |
| CN105552554B (en) * | 2015-12-11 | 2018-07-03 | 哈尔滨工业大学 | A kind of Three Degree Of Freedom posture adjusting device and attitude-adjusting method suitable for radar antenna side block |
| CN105417433A (en) * | 2015-12-23 | 2016-03-23 | 大连理工大学 | Six-degree-of-freedom lifting platform car |
| CN105715926B (en) * | 2016-04-26 | 2018-01-02 | 北京时代奥视科技股份有限公司 | Three-dimensional regulating mechanism |
| CN105715926A (en) * | 2016-04-26 | 2016-06-29 | 北京时代奥视科技股份有限公司 | Three-dimensional adjusting device |
| CN107144301A (en) * | 2017-04-17 | 2017-09-08 | 北京航天控制仪器研究所 | A kind of simulation testing environment of multiple degrees of freedom aggregate motion simulation |
| CN107272320A (en) * | 2017-08-09 | 2017-10-20 | 广州色咖信息科技有限公司 | The hemisphere face camera chain and method of rotating-table apparatus, the adjustable centre of sphere and height |
| CN108090983A (en) * | 2017-12-29 | 2018-05-29 | 新开普电子股份有限公司 | A kind of device of registering based on recognition of face |
| CN109625166A (en) * | 2018-12-07 | 2019-04-16 | 天津大学 | A kind of simulation system of offshore floating type structure motion |
| CN113146619A (en) * | 2021-03-16 | 2021-07-23 | 行星算力(深圳)科技有限公司 | Self-stabilization objective table control method, objective table and mobile device |
| CN113146619B (en) * | 2021-03-16 | 2023-12-29 | 行星算力(深圳)科技有限公司 | Self-stabilization objective table control method, objective table and moving device |
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