The invention discloses a five-degree-of-freedom parallel mechanism with a double-acting platform and a six-degree-of-freedom ship-borne stabilized platform based on the parallel mechanism. The ship-borne stabilized platform comprises a five-degree-of-freedom parallel mechanism with double movable platforms and a rotary table system; the parallel mechanism comprises a base, a movable platform and three branch mechanisms connected between the movable platform and the base, and a first branch comprises a sub-movable platform and three sub-branch mechanisms which are completely the same and are symmetrically distributed on the sub-movable platform in a central rotation mode; the second branch and the third branch are symmetrically arranged relative to the movable platform, the parallel mechanism can achieve three degrees of freedom of movement and two degrees of freedom of rotation, the rotary table system is installed on the movable platform, and the rotary table has the degree of freedom of vertical rotation, so three-dimensional movement and three-dimensional rotation of the ship-borne stabilized platform are achieved. The six-degree-of-freedom jolting motion compensation device has the advantages of being large in attitude space, high in rigidity, high in bearing capacity, high in precision and the like, and various ship-borne stability requirements can be met.
本发明公开了一种具有双动平台的五自由度并联机构及基于该并联机构的六自由度舰载稳定平台。该舰载稳定平台包括具有双动平台的五自由度并联机构和转台系统,该并联机构包括底座、动平台和连接动平台和底座间的三个分支机构,第一分支包括子动平台和完全相同且中心旋转对称分布于子动平台布置的三个子分支机构,第二分支和第三分支对称于动平台布置,该并联机构可实现三个移动自由度和两个转动自由度,该转台系统安装在动平台上,转台具有竖向转动的自由度,从而实现舰载稳定平台的三维移动和三维转动,进而实现对舰艇受风浪影响而产生的六自由度颠簸运动的补偿,具有姿态空间大、刚度高、承载能力强、精度高等优点,可以满足各种舰载稳定需求。
Five-degree-of-freedom parallel mechanism with double-acting platform and ship-borne stabilized platform
具有双动平台的五自由度并联机构及舰载稳定平台
2021-06-22
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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