CN209417964U - 3-RRR+3-PRS type six freedom-degree motion simulator executing agency - Google Patents
3-RRR+3-PRS type six freedom-degree motion simulator executing agency Download PDFInfo
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- CN209417964U CN209417964U CN201821884325.0U CN201821884325U CN209417964U CN 209417964 U CN209417964 U CN 209417964U CN 201821884325 U CN201821884325 U CN 201821884325U CN 209417964 U CN209417964 U CN 209417964U
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- connecting rod
- revolute pair
- moving platform
- sliding block
- rrr
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Abstract
3-RRR+3-PRS type six freedom-degree motion simulator executing agency, including rack, 3-RRR mechanism, 3-PRS mechanism.3-PRS mechanism is mounted in 3-RRR mechanism, 3-RRR mechanism, which may be implemented to move and turn about the Z axis three degree of freedom along X, Y-axis, to be moved, 3-PRS may be implemented to move along Z axis and rotate around X, Y-axis, and the motion simulator can complete three flat three turns of six-freedom motions.The utility model has the prominent advantages that compact overall structure, and moving platform working space is big, and can realize circumferential rotation type about the z axis.
Description
Technical field
The utility model patent is related to motion simulator field, especially 3-RRR+3-PRS type six-freedom motion and simulates
Device executing agency.
Background technique
Parallel institution is that a kind of sound platform is coupled by two or more pieces branch, there is the closed loop machine of two-freedom or more
Structure has many advantages, such as high rigidity, high-precision, high load capability and error free accumulation.Parallel institution is widely used in movement simulation
Device common are 6-UPS six freedom-degree motion simulator and 3-RPS Three Degree Of Freedom fortune function simulator.Especially 6-UPS six degree of freedom
Motion simulator has many advantages, such as that full freedom degree analog capability, rigidity are high, bearing capacity is strong, widely applies and simulates in sporting flying
Or in motor sport simulation.But its working space is small, and especially rotation space is small, and which also limits its application ranges.3-RPS
Three freedom degree motion simulator is compact-sized, at low cost, also has extensive application, but its analog capability is weaker, can not simulate responsible
Movement.The utility model has devised the structure being cascaded using two 3-freedom parallel mechanisms, so that end is flat
Platform has the ability of simulation six-freedom motion, which has high rigidity, high bearing capacity and big working space, especially
There is the ability of circumferential rotation type in rotation direction about the z axis.
Summary of the invention
The purpose of this utility model is to provide 3-RRR+3-PRS type six freedom-degree motion simulator executing agencies, solve
General six-degree-of-freedom parallel connection mechanism slewing area small problem, has the advantages that high rigidity, high-precision, big working space.
3-RRR+3-PRS type six freedom-degree motion simulator executing agency, including rack (1), 3-RRR mechanism and 3-PRS
Mechanism.
The 3-RRR mechanism is connected by first connecting rod (2), second connecting rod (3), third connecting rod (4), fourth link (5), the 5th
Bar (6), six-bar linkage (7) and the first moving platform (8) composition, first connecting rod (2) are joined by the first revolute pair (16) and rack (1)
It connects, first connecting rod (2) is coupled by the second revolute pair (19) with second connecting rod (3), and second connecting rod (3) passes through third revolute pair
(22) couple with the first moving platform (8), third connecting rod (4) is coupled by the 4th revolute pair (17) with rack (1), third connecting rod
(4) coupled by the 5th revolute pair (20) fourth link (5), fourth link (5) is dynamic flat with first by the 6th revolute pair (23)
Platform (8) connection, the 5th connecting rod (6) are coupled by the 7th revolute pair (18) with rack (1), and the 5th connecting rod (6) is dynamic by eight revolution
Secondary (21) couple with six-bar linkage (7), and six-bar linkage (7) is coupled by the 9th revolute pair (24) with the first moving platform (8).
The 3-PRS mechanism is by the first sliding block (9), the second sliding block (10), third sliding block (11), seven-link assembly (12),
Eight connecting rods (13), the 9th connecting rod (14) and the second moving platform (15) composition, the first sliding block (9) pass through first movement secondary (25) and the
One moving platform (8) connection, the first sliding block (9) are coupled by the tenth revolute pair (28) with seven-link assembly (12), seven-link assembly (12)
Coupled by the first flexural pivot (31) with the second moving platform (15), the second sliding block (10) is dynamic flat with first by the second prismatic pair (26)
Platform (8) connection, the second sliding block (10) are coupled by the 11st revolute pair (29) with the 8th connecting rod (13), and the 8th connecting rod (13) passes through
Second flexural pivot (32) couples with the second moving platform (15), and third sliding block (11) passes through third prismatic pair (27) and the first moving platform
(8) couple, third sliding block (11) is coupled with the 9th connecting rod (14) by the 12nd revolute pair (30), and the 9th connecting rod (14) passes through the
Three flexural pivots (33) couple with the second moving platform (15).
First revolute pair (16), the 4th revolute pair (17) and the 7th revolute pair (18) are coaxial.
The utility model has the prominent advantages that:
1, there is big working space to turn with complete cycle about the z axis for 3-RRR+3-PRS type six freedom-degree motion simulator executing agency
Dynamic ability.
Detailed description of the invention
Fig. 1 is that 3-RRR+3-PRS type six freedom-degree motion simulator executing agency described in the utility model first structure is shown
It is intended to.
Fig. 2 is that second structure of 3-RRR+3-PRS type six freedom-degree motion simulator executing agency described in the utility model is shown
It is intended to.
Specific embodiment
The technical solution of the utility model is described further with reference to the accompanying drawings and embodiments.
Comparative diagram 1 and Fig. 2,3-RRR+3-PRS type six freedom-degree motion simulator executing agency, including rack (1), 3-
RRR mechanism and 3-PRS mechanism.
The 3-RRR mechanism is connected by first connecting rod (2), second connecting rod (3), third connecting rod (4), fourth link (5), the 5th
Bar (6), six-bar linkage (7) and the first moving platform (8) composition, first connecting rod (2) are joined by the first revolute pair (16) and rack (1)
It connects, first connecting rod (2) is coupled by the second revolute pair (19) with second connecting rod (3), and second connecting rod (3) passes through third revolute pair
(22) couple with the first moving platform (8), third connecting rod (4) is coupled by the 4th revolute pair (17) with rack (1), third connecting rod
(4) coupled by the 5th revolute pair (20) fourth link (5), fourth link (5) is dynamic flat with first by the 6th revolute pair (23)
Platform (8) connection, the 5th connecting rod (6) are coupled by the 7th revolute pair (18) with rack (1), and the 5th connecting rod (6) is dynamic by eight revolution
Secondary (21) couple with six-bar linkage (7), and six-bar linkage (7) is coupled by the 9th revolute pair (24) with the first moving platform (8).
The 3-PRS mechanism is by the first sliding block (9), the second sliding block (10), third sliding block (11), seven-link assembly (12),
Eight connecting rods (13), the 9th connecting rod (14) and the second moving platform (15) composition, the first sliding block (9) pass through first movement secondary (25) and the
One moving platform (8) connection, the first sliding block (9) are coupled by the tenth revolute pair (28) with seven-link assembly (12), seven-link assembly (12)
Coupled by the first flexural pivot (31) with the second moving platform (15), the second sliding block (10) is dynamic flat with first by the second prismatic pair (26)
Platform (8) connection, the second sliding block (10) are coupled by the 11st revolute pair (29) with the 8th connecting rod (13), and the 8th connecting rod (13) passes through
Second flexural pivot (32) couples with the second moving platform (15), and third sliding block (11) passes through third prismatic pair (27) and the first moving platform
(8) couple, third sliding block (11) is coupled with the 9th connecting rod (14) by the 12nd revolute pair (30), and the 9th connecting rod (14) passes through the
Three flexural pivots (33) couple with the second moving platform (15).
First revolute pair (16), the 4th revolute pair (17) and the 7th revolute pair (18) are coaxial.
First revolute pair (16), the 4th revolute pair (17), the 7th revolute pair (18), first movement secondary (25), second
Prismatic pair (26) and third prismatic pair (27) are driving pair, the first revolute pair (16), the 4th revolute pair (17) and the 7th revolute pair
(18) moving along X, movement Y-axis translation and turned about the Z axis, first for the first moving platform (8) of 3-RRR mechanism can be achieved in movement
The second moving platform (15) of 3-PRS mechanism can be achieved in the movement of dynamic pair (25), the second prismatic pair (26) and third prismatic pair (27)
Around X, Y-axis rotation and along the translation of Z-direction.
Finally movement is six-freedom motion to second moving platform (15).
Claims (1)
1.3-RRR+3-PRS type six freedom-degree motion simulator executing agency, including rack (1), 3-RRR mechanism and 3-PRS machine
Structure, it is characterised in that:
The 3-RRR mechanism is by first connecting rod (2), second connecting rod (3), third connecting rod (4), fourth link (5), the 5th connecting rod
(6), six-bar linkage (7) and the first moving platform (8) composition, first connecting rod (2) are joined by the first revolute pair (16) and rack (1)
It connects, first connecting rod (2) is coupled by the second revolute pair (19) with second connecting rod (3), and second connecting rod (3) passes through third revolute pair
(22) couple with the first moving platform (8), third connecting rod (4) is coupled by the 4th revolute pair (17) with rack (1), third connecting rod
(4) coupled by the 5th revolute pair (20) fourth link (5), fourth link (5) is dynamic flat with first by the 6th revolute pair (23)
Platform (8) connection, the 5th connecting rod (6) are coupled by the 7th revolute pair (18) with rack (1), and the 5th connecting rod (6) is dynamic by eight revolution
Secondary (21) couple with six-bar linkage (7), and six-bar linkage (7) is coupled by the 9th revolute pair (24) with the first moving platform (8),
The 3-PRS mechanism is connected by the first sliding block (9), the second sliding block (10), third sliding block (11), seven-link assembly (12), the 8th
Bar (13), the 9th connecting rod (14) and the second moving platform (15) composition, the first sliding block (9) are dynamic by first movement secondary (25) and first
Platform (8) connection, the first sliding block (9) are coupled by the tenth revolute pair (28) with seven-link assembly (12), and seven-link assembly (12) passes through
First flexural pivot (31) couples with the second moving platform (15), and the second sliding block (10) passes through the second prismatic pair (26) and the first moving platform
(8) couple, the second sliding block (10) is coupled with the 8th connecting rod (13) by the 11st revolute pair (29), and the 8th connecting rod (13) passes through the
Two flexural pivots (32) couple with the second moving platform (15), and third sliding block (11) passes through third prismatic pair (27) and the first moving platform (8)
Connection, third sliding block (11) are coupled by the 12nd revolute pair (30) with the 9th connecting rod (14), and the 9th connecting rod (14) passes through third
Flexural pivot (33) couples with the second moving platform (15),
First revolute pair (16), the 4th revolute pair (17) and the 7th revolute pair (18) are coaxial.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821884325.0U CN209417964U (en) | 2018-11-16 | 2018-11-16 | 3-RRR+3-PRS type six freedom-degree motion simulator executing agency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821884325.0U CN209417964U (en) | 2018-11-16 | 2018-11-16 | 3-RRR+3-PRS type six freedom-degree motion simulator executing agency |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209417964U true CN209417964U (en) | 2019-09-20 |
Family
ID=67934110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821884325.0U Active CN209417964U (en) | 2018-11-16 | 2018-11-16 | 3-RRR+3-PRS type six freedom-degree motion simulator executing agency |
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| Country | Link |
|---|---|
| CN (1) | CN209417964U (en) |
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2018
- 2018-11-16 CN CN201821884325.0U patent/CN209417964U/en active Active
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