CN102490165A - Direct-drive circular arc movement platform structure - Google Patents
Direct-drive circular arc movement platform structure Download PDFInfo
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- CN102490165A CN102490165A CN2011103830922A CN201110383092A CN102490165A CN 102490165 A CN102490165 A CN 102490165A CN 2011103830922 A CN2011103830922 A CN 2011103830922A CN 201110383092 A CN201110383092 A CN 201110383092A CN 102490165 A CN102490165 A CN 102490165A
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Abstract
The invention discloses a direct-drive circular arc movement platform structure, belonging to the technical field of measurement and automation control devices. The direct-drive circular arc movement platform structure comprises a substrate, a stator mechanism, a circular arc movement platform, a mover mechanism, a grating scale and a grating head, wherein the top of the substrate in the length direction takes the shape of a circular arc, the stator mechanism is fixed on the substrate and corresponding to the length direction side of the substrate, the circular arc movement platform is arranged on the substrate, the mover mechanism is fixed on the circular arc movement platform and matched with the stator mechanism, the grating scale is arranged on the stator mechanism, and the grating head is fixed on the mover mechanism and matched with the grating scale. The direct-drive circular arc movement platform structure has the advantages that: the movement precision and movement stability of the circular arc movement platform can be ensured, and the reliability in transverse movement of the circular arc movement platform can also be ensured; the whole structure is simple and compact thus being conducive to manufacture and assembly; a subsequent control algorithm can be simplified due to the cooperation of the grating head and the grating scale so as to satisfy operating requirements on precise detection, precise manufacture and automation control occasion.
Description
Technical field
The invention belongs to and measure and the automatic control device technical field; Be specifically related to a kind of circular motion platform structure that directly drives; Utilize mover to make the reciprocating direct-drive motor of circular arc and drive the corresponding motion of motion platform do that is connected with mover with respect to the stator of circular arc; Simultaneously motion platform self is done transverse movement with respect to direct-drive motor, make motion platform realize circular motion and with the compound motion of the perpendicular transverse movement of circular motion direction
Background technology
high-speed high-precision motion platform is widely used in accurate the detection and the automation industry; And the circular motion platform is main but be not limited to a certainly have around certain point that the application scenario of fixing arc radius motion designs for being applied to; For example, the transmitted intensity of x-ray source needs a motion platform towards the radiographic source and the radius motion that can fix; And for example, locate occasion automatically, often need shine, then can adopt the circular arc platform that directly drives of aforementioned movement form to locate automatically equally the different angles of certain point in intensity of light source detection or at the light source of Medical Instruments; For another example, connect occasion, laser head is arranged on the motion platform, thereby can realize high accuracy welding the circular arc wall weld seam by the aforementioned high-precision uniform motion of motion platform for the laser weld circular arc, or the like.
are not limited to the applied motion platform of above-mentioned occasion of giving an example and have common characteristic, promptly can embody compound motion, more particularly, need accurate circular motion to combine with translation.In order to realize the motion of this form; Prior art generally uses pinion to be meshed with the orthodrome gear, gear is meshed with linear gear rack, gear or linear electric motors add mechanical linkage decoupling zero mode, and adds the Platform Implementation circular motion that rotatablely moves through two-dimentional cartesian coordinate and achieve the goal.
The shortcoming of
aforesaid gears engaged is that kinematic accuracy is difficult to guarantee; Because kinematic accuracy depends on the machining accuracy and the assembly precision of gear; Yet gear tolerance in process objectively can't be avoided; And can't eliminate too in the assembling process intermediate gap, add the easy abrasion that cogs, safeguard inconvenience; Gear or linear electric motors add the shortcoming that the mode of mechanical linkage decoupling zero exists kinematic accuracy to ensure equally, and complex structure, and cost is high and lose cheapness; And two-dimentional cartesian coordinate adds rotary motion not only cost height, bulky of platform structure, and for the complex algorithm that realizes circular motion control.
the applicant has carried out literature search; Though in disclosed Chinese patent document, disclose following patent application and/or the patent scheme that is not limited to arranged; For example CN85100989A (linear motion electric machine with electronic commutation), CN102064659A (manufacturing approach of column type linear electric motors and device), CN1703996A (circular motion linear motor driving window curtain driving mechanism), CN201136510Y (linear electric motors radially turn to radial direction mechanism pull bar node) and CN100521469C (linear electric motors), or the like.Yet, all do not disclose the referential teachings that is able to remedy aforementioned shortcoming.For this reason, the applicant has done positive and useful design, and the technical scheme that will introduce below produces under this background
Summary of the invention
task of the present invention be to provide a kind of help to improve mover with respect to stator make the circular motion measure of precision, help guaranteeing the transverse movement of motion platform reliability, be of value to embody overall structure terse and compact and have the control algolithm of being convenient to make the later stage easy and use adapt to accurately detect, accurate make and the instructions for use of automation control occasion directly drive the circular motion platform structure.
task of the present invention is accomplished like this, and a kind of circular motion platform structure that directly drives comprises a pedestal, and the top of the length direction of this pedestal is circular arc; Certain clamp mechanism is fixed on the said pedestal, and corresponding with a side of the length direction of pedestal; An one circular motion platform and a mover mechanism, the circular motion platform is provided on the said pedestal slidably, and mover mechanism is fixed on the circular motion platform and match with said stator mechanism; One grating chi is arranged in the stator mechanism; One grating head, this grating head are fixed in the said mover mechanism, and match with said grating chi.
are in a concrete embodiment of the present invention; The top of said pedestal and be laid with an arc guide rail towards a side of said stator mechanism; This arc guide rail extends along the length direction of pedestal; Described circular motion platform is provided on the arc guide rail slidably, and described mover mechanism and the said grating head that matches with said grating chi are fixed on the bottom of circular motion platform.
are in another concrete embodiment of the present invention; Described stator mechanism comprises first, second stator plate, one group of first magnet and one group of second magnet; First, second stator plate faces each other and is fixed on the said pedestal and all constitutes circular arc; Maintain spacing between first, second stator plate; Constitute the mover sliding tray by this spacing, one group of first magnet with the interval state along of the length direction setting of first stator plate towards a side of second stator plate, one group of second magnet equally with the interval state along of the length direction setting of second stator plate towards a side of first stator plate; Described grating chi is fixed on the grating chi rail; And grating chi rail is fixed on the top of said second stator plate back to a side of said first stator plate, and the shape of this grating chi rail is circular arc, constitutes the sliding tray that is used to supply the circular motion platform that is slidingly matched with said arc guide rail to match between described pedestal and described second stator plate; Described mover mechanism matches with said mover sliding tray and corresponding between said first, second magnet; Described grating head is fixed on the grating headstock, and the grating headstock is fixed on and connects on the cushion block, is fixed in the mover mechanism and connect cushion block.
are in another concrete embodiment of the present invention; On described pedestal, be fixed with a stator plate supporting base; Described first, second stator plate all is fixed on the stator plate supporting base; And first, second stator plate is high permeability material, and high permeability material is iron or rare-earth alloy material.
are in another concrete embodiment of the present invention; The shape of described one group of first magnet and described one group of second magnet is cuboid; Wherein: one group of first magnet is alternately arranged with the opposite mode of magnetic pole each other; One group of second magnet is alternately arranged with the opposite mode of magnetic pole equally each other, and first, second magnet pole orientation each other is opposite.
also have among the concrete embodiment of the present invention; Described mover mechanism comprises coil holder and a plurality of coil; Coil holder is fixed on the said circular motion platform; And match with described mover sliding tray, coil is embedded in the coil holder, and said contiguous block is fixed on the coil holder.
are more of the present invention and among concrete embodiment; Described circular motion platform comprises guide rod seat, guide rail slide block, motor, pair of guide rods, screw rod and horizontal mobile platform, and the guide rod seat is extended with a guide rail slide block fixed arm towards a side of said pedestal and in the position corresponding to said sliding tray, and this guide rail slide block fixed arm matches with sliding tray; And the end back to a side of pedestal of guide rod seat constitutes one first flanging; The other end constitutes one second flanging, and the guide rail slide block is fixed on the said guide rail slide block fixed arm, and the guide rail slide block slot of this guide rail slide block matches with described arc guide rail; Motor is fixed on first flanging with horizontally-arranged state; Pair of guide rods is parallel, and an end of each guide rod and first flanging fix, and the other end and second flanging are fixed; Screw rod is between pair of guide rods; One end of this screw rod is bearing in rotationally on first flanging and with drive of motor and is connected, and the other end of screw rod is bearing on second flanging rotationally, and laterally the two bottom sides and the pair of guide rods of mobile platform are slidingly matched; And match with screw rod through the bolt and nut that sets in the middle part, and described mover mechanism and said guide rail slide block fixed arm are fixed back to a side of said guide rail slide block.
in of the present invention and then concrete embodiment, described grating chi is fixed on the side of said grating chi rail towards the bottom of said pedestal adjustably, and the gap between said grating head and the grating chi is constant.
of the present invention again more and among concrete embodiment, described motor is the servomotor with rotating function.
in again of the present invention and then concrete embodiment, the shape of cross section of said pedestal is L-shaped, and is made by aluminium alloy or stainless steel.
technical scheme provided by the invention is because in the arc-shaped with the top design of the length direction of pedestal; The circular motion platform is done circular motion on pedestal under the drive by the mover mechanism that matches with stator mechanism; Therefore can ensure the kinematic accuracy of circular motion platform and the stationarity of motion, and guarantee the reliability of the transverse movement of circular motion platform; Overall structure is simple and compact, helps to make and assembling; Grating head can be simplified follow-up control algolithm with cooperating of grating chi, to satisfy the instructions for use of accurate detection, accurate manufacturing and automation control occasion.
Description of drawings
Fig. 1 is the embodiments of the invention structure chart.
Fig. 2 is the sketch map of arranging of first, second magnet of stator mechanism shown in Figure 1.
Fig. 3 is the cutaway view of Fig. 1.
The specific embodiment
can be expressly understood technical spirit of the present invention and beneficial effect more for the auditor that the makes Patent Office especially public; The applicant general elaborates with the mode of embodiment below; But the description to embodiment all is not the restriction to the present invention program, any according to the present invention design done only for pro forma but not substantial equivalent transformation all should be regarded as technical scheme category of the present invention.
please be referring to Fig. 1; Provided a preferred pedestal 1 that uses aluminium alloy or stainless steel material to make, shown in figure, the shape of cross section of this pedestal 1 is L-shaped; And the top of the length direction of pedestal 1 constitutes circular arc; On pedestal 1, also be fixed with a stator plate supporting base 13, preferably, respectively reinforce with strengthening block 131 at the two ends of this stator plate supporting base 13 and a side of outward; That is to say the stability of promoting stator plate supporting base 13 by a pair of enhancing block 131, whole stator plate supporting base 13 is the two ends height and middle low circular arc equally.Be laid with an arc guide rail 11 on the top of pedestal 1 and towards a following side that is about to the stator mechanism 2 of description, more particularly, this arc guide rail 11 lays along the length direction on the top of pedestal 1, and is fixed by arc guide rail hold-down screw 111 and pedestal.
above mentioned stator mechanism 2 comprises 21,22, one group of first magnet 23 of first, second stator plate and one group of second magnet 24; First, second stator plate 21,22 preferred high permeability materials that use are made; High permeability material be not limited to like iron and steel or rare-earth alloy material; This first, second stator plate 21,22 is fixed with the stator plate hold-down screw 7 and the both sides of aforesaid stator plate supporting base 13 with the mode that faces each other; And first, second stator plate 21,22 all is circular arc equally, and first, second stator plate 21, the space that is kept between 22 constitute mover sliding tray 25.One group of first magnet 23 is arranged on first stator plate 21 in the face of a side of second stator plate 22 and along the length direction setting of first stator plate 21 with the interval state, and one group of second magnet 24 is arranged on second stator plate 22 in the face of a side of first stator plate 21 and along the length direction setting of second stator plate 22 with the interval state equally.The all rectangular body of the geometry of first, second magnet 23,24 (cuboid), and quantity each other is equal, and the position is corresponding.One group of first magnet 23 also can be described as first magnetic pole row, and one group of second magnet 24 also can be described as second magnetic pole row.
please be referring to Fig. 2; This figure has clearly revealed the polarity spread pattern of one group of first magnet 23 and one group of second magnet 24; Particularly, one group of first magnet 23 is alternately arranged with the mode of magnetic pole opposite (or claiming that magnetic is opposite), with example; One group of second magnet 24 is alternately arranged with the opposite mode of magnetic pole each other, and first, second magnet 23,24 magnetic pole each other is opposite.With one group of first magnet 23 is example; Left (with location status shown in Figure 2 is example; As follows) first first magnet 23 is the S utmost point towards a side of aforesaid first stator plate 21, and the N utmost point is then towards second magnet 24, and then promptly second piece the N utmost point of first magnet 23 is played towards first stator plate 21 in a left side; The S utmost point is then towards second magnet 24, and the rest may be inferred and arrange with the cycle alternation of S-N-S-N-S-N; With one group of second magnet 24 is example; It is the N utmost point towards a side of aforesaid second stator plate 22 that first second magnet 24 is played on a left side; The S utmost point is then towards first magnet 23; Then promptly a left side rise second piece second at the S of magnet 24 utmost point towards second stator plate 22, the N level is then towards first magnet 23, the rest may be inferred and arrange with the N-S-N-S-N-S cycle alternation.Certainly; The arrangement mode of above-mentioned first, second magnet 23,24 also can be following: with one group of first magnet 23 is example; The N utmost point that first first magnet 23 is played on a left side is towards first stator plate 21, and the S utmost point is then towards second magnet 24, and the S utmost point of second piece of first magnet 23 is played towards first stator plate 21 in a left side; The N utmost point is then towards second magnet 24, and the rest may be inferred, and cycle alternation is arranged; With one group of second magnet 24 is example; The S utmost point that first second magnet 24 is played on a left side is towards second stator plate 22, and the N utmost point is then towards first magnet 23, and the N utmost point of second piece of second magnet 24 is played towards second stator plate 22 in a left side; The S utmost point is then towards the N utmost point of first magnet 23, cycle arrangement that the rest may be inferred.No matter therefore adopt any one mode in the above-mentioned dual mode, all should belong to the disclosed category of the present invention program.First, second magnet 23,24 preferably is individually fixed on first, second stator plate 21,22 with bonding method.
are asked for an interview Fig. 3 and are continued to combine Fig. 1; Circular motion platform 3 and mover mechanism 4 have been provided; Mover mechanism 4 comprises coil holder 41 and a plurality of coils 42; Coil holder 41 usefulness coil holder hold-down screws 411 are fixed on the circular motion platform 3, and coil 42 is located in the coil holder 41 and adopts resin or materials similar filling filling.Circular motion platform 3 comprises guide pillar seat 31, guide rail slide block 32, motor 33, pair of guide rods 34, screw rod 35 and horizontal mobile platform 36; Guide pillar seat 31 towards a side of aforesaid pedestal 1 promptly towards under a side be extended with a guide rail slide block fixed arm 311; This guide rail slide block fixed arm 311 promptly is fixed with a transition towards a side of coil holder 41 towards aforesaid mover mechanism 4 and connects cushion block 3111, and coil holder 41 is fixed on this transition and connects on cushion block 3111.Guide rail slide block 32 is fixed on the side of guide rail slide block fixed arm 311 towards aforesaid arc guide rail 11, and the guide rail slide block slot 321 of this guide rail slide block 32 is slidingly matched with arc guide rail 11.Owing between pedestal 1 and aforesaid first stator plate 21, maintain sliding tray 12, so the bottom of guide rail slide block fixed arm 311 probes in this sliding tray 12.By Fig. 1 and shown in Figure 3, guide rod seat 31 towards on an end of a side constitute one first flanging 312, and the other end constitutes one and first flanging, 312 corresponding second flangings 313.First motor 33 is fixed on the outside of first flanging 312 with horizontally-arranged state, the servomotor of this motor 33 for having the rotating function.Pair of guide rods 34 is parallel, and an end of each guide rod 34 and first flanging 312 are fixing, and the other end and second flanging 313 are fixing.Screw rod 35 is corresponding between the pair of guide rods 34, and an end of this screw rod 35 is bearing on first flanging 312 rotationally, and is in transmission connection with motor 33, and the other end of screw rod 35 is bearing on second flanging 313 rotationally.Laterally the both sides and the pair of guide rods 34 of the bottom of mobile platform 36 are slidingly matched, and the middle position of bottom is provided with bolt and nut, and this bolt and nut matches with screw rod 35.The power supply of the working power of the motor 33 of circular arc sliding platform 3 and aforesaid mover mechanism 4 is fixed on the pedestal 1 by an end and the other end provides through the lead drag chain 8 that drag chain fixed head 81 is fixed on the guide pillar seat 31.
Fig. 1 and Fig. 3 are please still seen in
; The grating chi 5 that provides is fixed on the side of grating chi rail 51 towards the bottom of pedestal 1; And grating chi rail 51 usefulness grating chi rail hold-down screws 511 are fixed with the top of a side (back to a side of first stator plate 21) of second stator plate, 22 outwards of stator former mechanism 2, and grating chi rail 51 is circular arc equally., (fixing) grating chi rail 51 can finely tune when being set, so that make the grating head 6 and the gap between the grating chi 5 that are kept in motion keep constant (constant).The purpose that grating chi rail 51 is done fine setting is compensation or claims to eliminate the error of in manufacture process, bringing.Again, the below that grating chi 5 is fixed in grating chi rail 51 can be avoided and/or reduce trifle in the world and is infected with, to ensure certainty of measurement.
grating head 6 is fixed on the grating headstock 61, and grating headstock 61 is fixed on the connection cushion block 611, connects cushion block 611 and is fixed on the aforesaid coil holder 41.Preferably, when coil holder 41 being connected cushion block 3111 fixedly the time with aforesaid transition, then together with grating headstock 61 and to connect cushion block 611 fixing with coil holder 41 by coil holder hold-down screw 411.Grating head 6 matches with grating chi 5 and realizes the precision linear range measurement, uses the circular motion angular surveying of realization to aforementioned circular motion platform 3, reaches to simplify angle control mathematical algorithm.
applicant sketches operation principle of the present invention; The coil 42 of mover mechanism 4 gets electric and can in mover sliding tray 25, reciprocatingly slide, and sliding type shows as circular motion, because grating head 6 is fixed in the mover mechanism 4; And match with grating chi 5; Thereby can predict the exact position of mover mechanism 4, again because the coil holder 41 of mover mechanism 4 is fixing with circular motion platform 3, so the exact position of circular motion platform 3 can predict equally.The action of the horizontal mobile platform 36 of circular motion platform 3 realizes like this: when motor 33 is done the clockwise direction rotation; Drive screw rod 35 rotations; Because laterally mobile platform 36 matches with screw rod 35 through the bolt and nut of its bottom; Therefore by screw rod 35 with horizontal mobile platform 36 along pair of guide rods 34 towards direction displacement away from first flanging 312, vice versa.In said process; The device such as light source, gage outfit, welding gun or laser head of lift-launch on horizontal mobile platform 36 drives in mover mechanism 4 with horizontal mobile platform 36 and does circular motion (public motion) down and the transverse movement (autokinesis) under motor 33 drivings is moved, and that is to say with horizontal mobile platform 36 circular motions and with the compound motion of the perpendicular transverse movement of circular motion direction to move
Claims (10)
1.
a kind of circular motion platform structure that directly drives is characterized in that comprising a pedestal, and the top of the length direction of this pedestal (1) is circular arc; Certain clamp mechanism (2) is fixed on the said pedestal (1), and corresponding with a side of the length direction of pedestal (1); An one circular motion platform (3) and a mover mechanism (4), circular motion platform (3) is provided on the said pedestal (1) slidably, and mover mechanism (4) is fixed on that circular motion platform (3) is gone up and match with said stator mechanism (2); One grating chi (5) is arranged in the stator mechanism (5); One grating head (6), this grating head (6) is fixed in the said mover mechanism (4), and matches with said grating chi (5).
2.
circular motion platform structure that directly drives according to claim 1; It is characterized in that the top of said pedestal (1) and be laid with an arc guide rail (11) towards a side of said stator mechanism (2); This arc guide rail (11) extends along the length direction of pedestal (1); Described circular motion platform (3) is provided on the arc guide rail (11) slidably, and described mover mechanism (4) and the said grating head (6) that matches with said grating chi (5) are fixed on the bottom of circular motion platform (3).
3.
circular motion platform structure that directly drives according to claim 2; It is characterized in that described stator mechanism (2) comprises first, second stator plate (21,22), one group of first magnet (23) and one group of second magnet (24); First, second stator plate (21,22) faces each other and is fixed on said pedestal (1) and goes up and all constitute circular arc; First, second stator plate maintains spacing between (21,22); Constitute mover sliding tray (25) by this spacing; One group of first magnet (23) with the interval state along the length direction setting of first stator plate (21) towards a side of second stator plate (22); One group of second magnet (24) equally with the interval state along the length direction setting of second stator plate (22) towards a side of first stator plate (21); Described grating chi (5) is fixed on the grating chi rail (51); And grating chi rail (51) is fixed on the top of said second stator plate (22) back to a side of said first stator plate (21), and the shape of this grating chi rail (51) is circular arc, constitutes between described pedestal (1) and described second stator plate (21) to be used for supplying the sliding tray (12) that matches with circular motion platform (3) that said arc guide rail (11) is slidingly matched; Described mover mechanism (4) matches with said mover sliding tray (25) and corresponding between said first, second magnet (23,24); Described grating head (6) is fixed on the grating headstock (61), and grating headstock (61) is fixed on and connects on the cushion block (611), is fixed in the mover mechanism (4) and connect cushion block (611).
4.
circular motion platform structure that directly drives according to claim 3; It is characterized in that on described pedestal (1), being fixed with a stator plate supporting base (13); Described first, second stator plate (21,22) all is fixed on the stator plate supporting base (13); And first, second stator plate (21,22) is high permeability material, and high permeability material is iron or rare-earth alloy material.
5.
circular motion platform structure that directly drives according to claim 3; The shape that it is characterized in that described one group of first magnet (23) and described one group of second magnet (24) is cuboid; Wherein: one group of first magnet (23) is alternately arranged with the opposite mode of magnetic pole each other; One group of second magnet (24) is alternately arranged with the opposite mode of magnetic pole equally each other, and first, second magnet (23,24) pole orientation each other is opposite.
6.
circular motion platform structure that directly drives according to claim 3; It is characterized in that described mover mechanism (4) comprises coil holder (41) and a plurality of coil (42); Coil holder (41) is fixed on the said circular motion platform (3); And match with described mover sliding tray (25), coil (42) is embedded in the coil holder (41), and said contiguous block (611) is fixed on the coil holder (41).
7.
circular motion platform structure that directly drives according to claim 3; It is characterized in that described circular motion platform (3) comprises guide rod seat (31), guide rail slide block (32), motor (33), pair of guide rods (34), screw rod (35) and horizontal mobile platform (36); Guide rod seat (31) is extended with a guide rail slide block fixed arm (311) towards a side of said pedestal (1) and in the position corresponding to said sliding tray (12); This guide rail slide block fixed arm (311) matches with sliding tray (12); And the end back to a side of pedestal (1) of guide rod seat (31) constitutes one first flanging (312); The other end constitutes one second flanging (313), and guide rail slide block (32) is fixed on the said guide rail slide block fixed arm (311), and the guide rail slide block slot (321) of this guide rail slide block (32) matches with described arc guide rail (11); Motor (33) is fixed on first flanging (312) with horizontally-arranged state; Pair of guide rods (34) is parallel, and an end of each guide rod (34) and first flanging (312) are fixing, and the other end and second flanging (313) are fixed; Screw rod (35) is positioned between the pair of guide rods (34); One end of this screw rod (35) is bearing in first flanging (312) rotationally and upward and with motor (33) is in transmission connection, and the other end of screw rod (35) is bearing on second flanging (313) rotationally, and laterally the two bottom sides and the pair of guide rods (34) of mobile platform (36) are slidingly matched; And match with screw rod (35) through the bolt and nut that sets in the middle part, and described mover mechanism (4) is fixed back to a side of said guide rail slide block (32) with said guide rail slide block fixed arm (311).
8.
circular motion platform structure that directly drives according to claim 3; It is characterized in that described grating chi is fixed on the side of said grating chi rail (51) towards the bottom of said pedestal (1) adjustably, the gap between said grating head (6) and the grating chi (5) is constant.
9.
circular motion platform structure that directly drives according to claim 7 is characterized in that the servomotor of described motor (33) for having the rotating function.
10.
According to claim 1-4 or the described circular motion platform structure that directly drives of the arbitrary claim of 7-8, it is characterized in that the shape of cross section of said pedestal (1) is L-shaped, and make by aluminium alloy or stainless steel
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| CN2011103830922A CN102490165A (en) | 2011-11-28 | 2011-11-28 | Direct-drive circular arc movement platform structure |
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| CN2011103830922A CN102490165A (en) | 2011-11-28 | 2011-11-28 | Direct-drive circular arc movement platform structure |
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| CN106288957A (en) * | 2016-10-11 | 2017-01-04 | 北京航空航天大学 | A kind of distant object motion simulator |
| CN106288956A (en) * | 2016-10-11 | 2017-01-04 | 北京航空航天大学 | A kind of arc distant object motion simulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106288957A (en) * | 2016-10-11 | 2017-01-04 | 北京航空航天大学 | A kind of distant object motion simulator |
| CN106288956A (en) * | 2016-10-11 | 2017-01-04 | 北京航空航天大学 | A kind of arc distant object motion simulator |
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Application publication date: 20120613 |