CN209417965U - 3-RRR+3-RPS type six freedom-degree motion simulator executing agency - Google Patents
3-RRR+3-RPS type six freedom-degree motion simulator executing agency Download PDFInfo
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- CN209417965U CN209417965U CN201821884329.9U CN201821884329U CN209417965U CN 209417965 U CN209417965 U CN 209417965U CN 201821884329 U CN201821884329 U CN 201821884329U CN 209417965 U CN209417965 U CN 209417965U
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- telescopic rod
- revolute pair
- moving platform
- connecting rod
- rrr
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Abstract
3-RRR+3-RPS type six freedom-degree motion simulator executing agency, including rack, 3-RRR mechanism, 3-RPS mechanism.3-RPS 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-RPS 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-RPS 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-RPS 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-RPS type six freedom-degree motion simulator executing agency, including rack (1), 3-RRR mechanism and 3-RPS
Mechanism.
The 3-RRR mechanism is by first connecting rod (3), second connecting rod (5), third connecting rod (8), fourth link (10), the 5th
Connecting rod (13), six-bar linkage (15) and the first moving platform (17) composition.First connecting rod (3) passes through the first revolute pair (2) and rack
(1) couple, first connecting rod (3) is coupled by the second revolute pair (4) with second connecting rod (5), and second connecting rod (5) is rotated by third
Secondary (6) couple with the first moving platform (17), and third connecting rod (8) is coupled by the 4th revolute pair (7) with rack (1), third connecting rod
(8) coupled by the 5th revolute pair (9) fourth link (10), fourth link (10) is dynamic flat with first by the 6th revolute pair (11)
Platform (17) connection, the 5th connecting rod (13) are coupled by the 7th revolute pair (12) with rack (1), and the 5th connecting rod (13) passes through eight revolution
Dynamic pair (14) couples with six-bar linkage (15), and six-bar linkage (15) is joined by the 9th revolute pair (16) and the first moving platform (17)
It connects.
The 3-RPS mechanism is stretched by the first telescopic rod (21), the second telescopic rod (23), third telescopic rod (25), the 4th
Bar (27), the 5th telescopic rod (29), the 6th telescopic rod (31) and the second moving platform (33) composition.First telescopic rod (21) passes through the
Ten revolute pairs (18) couple with the first moving platform (17), and the first telescopic rod (21) passes through first movement secondary (22) and the second telescopic rod
(23) couple, the second telescopic rod (23) is coupled by the first flexural pivot (24) with the second moving platform (33), and third telescopic rod (25) is logical
It crosses the 11st revolute pair (19) to couple with the first moving platform (17), third telescopic rod (25) passes through the second prismatic pair (26) and the 4th
Telescopic rod (27) connection, the 4th telescopic rod (27) are coupled by the second flexural pivot (28) with the second moving platform (33), the 5th telescopic rod
(29) coupled by the 12nd revolute pair (20) with the first moving platform (17), the 5th telescopic rod (29) passes through third prismatic pair (30)
Couple with the 6th telescopic rod (31), the 6th telescopic rod (31) is coupled by third flexural pivot (32) with the second moving platform (33).
First revolute pair (2), the 4th revolute pair (7) and the 7th revolute pair (12) 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-RPS type six freedom-degree motion simulator executing agency
Dynamic ability.
Detailed description of the invention
Fig. 1 is that 3-RRR+3-RPS 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-RPS 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-RPS type six freedom-degree motion simulator executing agency, including rack (1), 3-
RRR mechanism and 3-RPS mechanism.
The 3-RRR mechanism is by first connecting rod (3), second connecting rod (5), third connecting rod (8), fourth link (10), the 5th
Connecting rod (13), six-bar linkage (15) and the first moving platform (17) composition.First connecting rod (3) passes through the first revolute pair (2) and rack
(1) couple, first connecting rod (3) is coupled by the second revolute pair (4) with second connecting rod (5), and second connecting rod (5) is rotated by third
Secondary (6) couple with the first moving platform (17), and third connecting rod (8) is coupled by the 4th revolute pair (7) with rack (1), third connecting rod
(8) coupled by the 5th revolute pair (9) fourth link (10), fourth link (10) is dynamic flat with first by the 6th revolute pair (11)
Platform (17) connection, the 5th connecting rod (13) are coupled by the 7th revolute pair (12) with rack (1), and the 5th connecting rod (13) passes through eight revolution
Dynamic pair (14) couples with six-bar linkage (15), and six-bar linkage (15) is joined by the 9th revolute pair (16) and the first moving platform (17)
It connects.
The 3-RPS mechanism is stretched by the first telescopic rod (21), the second telescopic rod (23), third telescopic rod (25), the 4th
Bar (27), the 5th telescopic rod (29), the 6th telescopic rod (31) and the second moving platform (33) composition.First telescopic rod (21) passes through the
Ten revolute pairs (18) couple with the first moving platform (17), and the first telescopic rod (21) passes through first movement secondary (22) and the second telescopic rod
(23) couple, the second telescopic rod (23) is coupled by the first flexural pivot (24) with the second moving platform (33), and third telescopic rod (25) is logical
It crosses the 11st revolute pair (19) to couple with the first moving platform (17), third telescopic rod (25) passes through the second prismatic pair (26) and the 4th
Telescopic rod (27) connection, the 4th telescopic rod (27) are coupled by the second flexural pivot (28) with the second moving platform (33), the 5th telescopic rod
(29) coupled by the 12nd revolute pair (20) with the first moving platform (17), the 5th telescopic rod (29) passes through third prismatic pair (30)
Couple with the 6th telescopic rod (31), the 6th telescopic rod (31) is coupled by third flexural pivot (32) with the second moving platform (33).
First revolute pair (2), the 4th revolute pair (7) and the 7th revolute pair (12) are coaxial.
First revolute pair (2), the 4th revolute pair (7), the 7th revolute pair (12), first movement secondary (22), second move
Dynamic pair (26) and third prismatic pair (30) are active kinematic pair, the first revolute pair (2), the 4th revolute pair (7) and the 7th revolute pair
(12) the first moving platform (17) can be achieved along X, Y-axis translation and circumferential rotation type about the z axis, first movement pair (22), second in movement
The movement of prismatic pair (26) and third prismatic pair (30) can be achieved the second moving platform (33) and be translatable along Z axis and rotate around X, Y-axis.
Finally movement is six-freedom motion to second moving platform (33).
Claims (1)
1.3-RRR+3-RPS type six freedom-degree motion simulator executing agency, including rack (1), 3-RRR mechanism and 3-RPS machine
Structure, it is characterised in that:
The 3-RRR mechanism is by first connecting rod (3), second connecting rod (5), third connecting rod (8), fourth link (10), the 5th connecting rod
(13), six-bar linkage (15) and the first moving platform (17) composition, first connecting rod (3) are joined by the first revolute pair (2) and rack (1)
It connects, first connecting rod (3) is coupled by the second revolute pair (4) with second connecting rod (5), and second connecting rod (5) passes through third revolute pair (6)
Couple with the first moving platform (17), third connecting rod (8) is coupled by the 4th revolute pair (7) with rack (1), and third connecting rod (8) is logical
The connection of the 5th revolute pair (9) fourth link (10) is crossed, fourth link (10) passes through the 6th revolute pair (11) and the first moving platform
(17) couple, the 5th connecting rod (13) is coupled by the 7th revolute pair (12) with rack (1), and the 5th connecting rod (13) is dynamic by eight revolution
Secondary (14) couple with six-bar linkage (15), and six-bar linkage (15) is coupled by the 9th revolute pair (16) with the first moving platform (17),
The 3-RPS mechanism is by the first telescopic rod (21), the second telescopic rod (23), third telescopic rod (25), the 4th telescopic rod
(27), the 5th telescopic rod (29), the 6th telescopic rod (31) and the second moving platform (33) composition, the first telescopic rod (21) pass through the tenth
Revolute pair (18) couples with the first moving platform (17), and the first telescopic rod (21) passes through first movement secondary (22) and the second telescopic rod
(23) couple, the second telescopic rod (23) is coupled by the first flexural pivot (24) with the second moving platform (33), and third telescopic rod (25) is logical
It crosses the 11st revolute pair (19) to couple with the first moving platform (17), third telescopic rod (25) passes through the second prismatic pair (26) and the 4th
Telescopic rod (27) connection, the 4th telescopic rod (27) are coupled by the second flexural pivot (28) with the second moving platform (33), the 5th telescopic rod
(29) coupled by the 12nd revolute pair (20) with the first moving platform (17), the 5th telescopic rod (29) passes through third prismatic pair (30)
Coupling with the 6th telescopic rod (31), the 6th telescopic rod (31) is coupled by third flexural pivot (32) with the second moving platform (33),
First revolute pair (2), the 4th revolute pair (7) and the 7th revolute pair (12) are coaxial.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821884329.9U CN209417965U (en) | 2018-11-16 | 2018-11-16 | 3-RRR+3-RPS type six freedom-degree motion simulator executing agency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821884329.9U CN209417965U (en) | 2018-11-16 | 2018-11-16 | 3-RRR+3-RPS type six freedom-degree motion simulator executing agency |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209417965U true CN209417965U (en) | 2019-09-20 |
Family
ID=67934068
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821884329.9U Active CN209417965U (en) | 2018-11-16 | 2018-11-16 | 3-RRR+3-RPS type six freedom-degree motion simulator executing agency |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209417965U (en) |
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2018
- 2018-11-16 CN CN201821884329.9U patent/CN209417965U/en active Active
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