The invention discloses a variant nose cone device based on a double-layer parallel mechanism, which comprises a static platform, a middle platform, an upper platform and motion branch chains, and the platforms are connected through four motion branch chains which are uniformly distributed. Two branch chains are RRRRR branch chains containing three parallel revolute pairs, the other two branch chains are RRRRR branch chains containing five revolute pairs, the three revolute pairs in the middle are parallel, the axes of the head revolute pair and the tail revolute pair intersect at one point, and the whole variant nose cone is in double symmetry. The static platform, the middle platform and the four moving branch chains form a parallel mechanism, and the middle platform, the upper-layer platform and the other four moving branch chains also form a similar parallel mechanism. The two parallel mechanisms are the same in configuration, and the sizes are in a proportional relation. Coupling of the RRR branch chains in the two parallel mechanisms is achieved through a gear pair, and the motor is fixed to the base and can transmit motion to all layers of platforms. The mechanism is less in degree of freedom and simpler in structure. The four motion branch chains provide larger supporting force, and the robot is suitable for high-speed flight scenes.

    本发明公开了一种基于双层并联机构的变体头锥装置,包括静平台、中间平台、上层平台和运动支链,各平台之间通过均匀分布的四条运动支链连接。两条支链为含有三个平行转动副的RRR支链,另外两条为含有五个转动副的RRRRR支链,且中间的三个转动副平行,首尾两个转动副的轴线相交于一点,整体变体头锥呈双重对称。静平台、中间平台与四条运动支链构成一个并联机构,中间平台、上层平台及另外四条运动支链也构成一个相似的并联机构。两个并联机构的构型相同,尺寸成比例关系。通过齿轮副实现两并联机构中RRR支链的耦合,电机固定于基座,可将运动传递至各层平台。本发明自由度更少,结构更简洁。四条运动支链提供了更大支撑力,适用于高速飞行场景。


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    Title :

    Variant nose cone device based on double-layer parallel mechanism


    Additional title:

    一种基于双层并联机构的变体头锥装置


    Contributors:
    LIU KAI (author) / XU JIAYI (author) / HU XUEHAN (author) / FAN CHENGYI (author) / LI QIUYI (author)

    Publication date :

    2025-02-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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