高低频复合驱动六自由度并联运动台

High/low-frequency composite driving six-degree-of-freedom parallel movement platform

Abstract

一种高低频复合驱动六自由度并联运动台,其主要包括目标运动台、基础安装架以及连接目标运动台和基础安装架的六条结构相同的高低频复合驱动分支,每条高低频复合驱动分支包括复合驱动单元和传动支杆,复合驱动单元由包含两个移动副和三个转动副的平面五杆机构组成,其中两个移动副分别为高频低幅驱动器和低频高幅驱动器,可实现高频低幅与低频高幅双重驱动独立输入,复合驱动单元与传动支杆通过万向铰连接。本发明将高低频驱动输入分离,增加系统输出频带宽度与幅值范围,通过双驱动不同输入形式组合,可获得高低频、高低幅多种形式六维运动输出,机构具有较好的环境适应性,应用空间宽广。
The invention discloses a high/low-frequency composite driving six-degree-of-freedom parallel movement platform. The high/low-frequency composite driving six-degree-of-freedom parallel movement platform mainly comprises a target movement platform, a basic mounting frame and six high/low-frequency composite driving branches which are connected with the target movement platform and the basic mounting frame and are of the same structure, wherein each high/low-frequency composite driving branch comprises a composite driving unit and a transmission strut; each composite driving unit is composed of a planar five-rod mechanism comprising two moving pairs (a high-frequency low-amplitude driver and a low-frequency high-amplitude driver) and three rotary pairs; high-frequency low-amplitude driving and low-frequency high-amplitude driving can be independently input; each composite driving unit is connected with the corresponding transmission strut through a universal hinge. The high/low-frequency composite driving six-degree-of-freedom parallel movement platform has the advantages that by separating high-frequency driving from low-frequency driving, the system output frequency bandwidth and the amplitude range are expanded; by virtue of the combination of double-driving different input forms, high/low-frequency high/low-amplitude six-dimensional movement output in various forms can be obtained; the environmental suitability is higher, and the application space is wide.

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