CN102626871B - High-flexibility three-DOF (Degree of Freedom) spatial parallel mechanism - Google Patents
High-flexibility three-DOF (Degree of Freedom) spatial parallel mechanism Download PDFInfo
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Abstract
The invention relates to a high-flexibility three-DOF (Degree of Freedom) spatial parallel mechanism, belonging to the technical field of numerical control machines, and comprising a mobile platform, a fixed platform, a first branched chain, a second branched chain and a third branched chain, wherein the mobile and fixed platforms are provided with an actuator respectively; the first and second branched chains are connected between the mobile and fixed platforms and have the same structure; and the third branched chain is connected between the mobile and fixed platforms and has a structure different from the structure of the first second branched chains. The first, second and third branched chains all contain an actively-driving kinematic pair and are respectively connected with the fixed and mobile platforms to form a spatial parallel closed-loop mechanism. The spatial parallel closed-loop mechanism drives the mobile platform to move by three input motions to realize one mobile DOF and two rotational DOFs. The spatial parallel mechanism has high flexibility, specific rotational axis, relatively simple associated movement and other characteristics, and the operation precision and quality of the mechanism can be ensured more easily.
Description
Technical field
The invention belongs to numerical control machine tool technique field, particularly a kind of three-freedom degree spatial parallel structure with high flexible nature.
Background technology
The traditional mechanism a plurality of frees degree that adopt single open-chain structure form to realize terminal more, generally be referred to as serial mechanism, the parallel institution corresponding with it is the close loop mechanism consisting of a plurality of side chains, its number of degrees of freedom, mostly is six most, and number of degrees of freedom, is less than six parallel institution, be called as lower-mobility parallel institution, 3-freedom parallel mechanism is a most important class wherein.In recent years, 3-freedom parallel mechanism in lower-mobility parallel institution is more and more subject to researcher's attention and favor, especially there is the space parallel mechanism that one-dimensional movement and bidimensional rotate, Zhe Lei mechanism has turning power flexibly, the processing that is highly suitable for aircraft large thin-wall structural member and there are typical space complex free curved surface parts, such 3-freedom parallel mechanism has obtained successful Application in industry, as the German DS Technologie employing 3-PRS of company 3-freedom parallel mechanism has been developed the Hermes main tapping of Sprint Z3 parallel main shaft head and the development of Spain Fatronick company.Sprint Z3 and Hermes main tapping are respectively as a parallel module of ECOSPEED series numerical control machining center and Space-5H machining center, there is one-dimensional movement and bidimensional rotational freedom, (the rotating reference axis of X-axis around lathe is A axle to adopt parallel-connection structure form to realize traditional A/B joint yaw, the rotating reference axis of Y-axis around lathe is B axle, generally the main tapping that can rotate around X-axis and Y-axis is called to A/B joint yaw) function, such mechanism has turning power more flexibly.But, the pivot center of above-mentioned Liang Lei mechanism is indefinite and all have complicated associated movement (associated movement is the forced movement occurring in constraint free degree direction, it is undesirable motion of supervening when mechanism kinematic, but but be necessary to the realization of the mechanism kinematic free degree), increased the difficulty of kinematics analysis, and associated movement meeting directly causes the decline of mechanism operation precision and quality, in machine tool applications field, can increase the difficulty of manufacture, control and the demarcation of relevant device, and then have influence on and added work precision.
Summary of the invention
The object of the invention is in order to meet the high flexibility ratio demand of typical space complex free curved surface parts to modern process equipment, a kind of three-freedom degree spatial parallel structure with high flexible nature is proposed, can overcome or reduce the indefinite and associated movement of pivot center in the existing process equipment impact on mechanism operation precision and quality such as complicated, have that turning power is high, pivot center clear and definite and the relatively simple feature of associated movement.
A kind of three-freedom degree spatial parallel structure with high flexible nature that the present invention proposes, comprises moving platform and a fixed platform that actuator is installed, and connects three side chains between described moving platform and fixed platform, first, second branched structure is identical to be included: slide block, connecting rod and kinematic pair, described kinematic pair has three, one is the moving sets (P) being connected between fixed platform and slide block, one is the revolute pair (R) being connected between slide block and connecting rod, one is the ball pivot (S) being connected between connecting rod and moving platform, wherein, the moving sets (P) being connected between fixed platform and slide block is active drive, and this side chain is PRS type movement branched chain, it is characterized in that: the 3rd side chain comprises: the 3rd side chain slide block, parallel-crank mechanism (Pa), connector and the 3rd side chain kinematic pair, described the 3rd side chain kinematic pair has four, one is the 3rd side chain moving sets (P) being connected between fixed platform and slide block, one is the 3rd side chain revolute pair (R) being connected between the 3rd side chain slide block and parallel-crank mechanism, one is the 3rd side chain revolute pair (R) being connected between parallel-crank mechanism and connector, another is the 3rd side chain revolute pair (R) being connected between connector and moving platform, described parallel-crank mechanism comprises connecting rod, lower link, left connecting rod, right connecting rod and connect above-mentioned upper connecting rod, lower link, left connecting rod, four the parallel-crank mechanism revolute pairs (R) that are parallel to each other of right connecting rod, wherein, the parallel-crank mechanism moving sets (P) being connected between fixed platform and slide block is active drive, this side chain is PR (Pa) RR type movement branched chain, described first, second, and third side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives moving platform to move by three input motions, realizes an one-movement-freedom-degree and two rotational freedoms.
Described the first side chain place plane and described the second side chain place plane are about described the 3rd side chain initial position place plane symmetry, angle between described the first side chain place plane and described the second side chain place plane is arbitrarily angled between 0 to 180 degree, but can not be 0 degree or 180 degree.
Feature of the present invention and technique effect
The present invention is based on existing free degree form, propose the space three-freedom connection-in-parallel mechanism that associated movement is simple and pivot center is clear and definite.
Three-freedom degree spatial parallel structure of the present invention drives moving platform to move by the kinematic pair of three active drive, realize an one-movement-freedom-degree and two rotational freedoms, this mechanism has higher flexibility, has higher turning power when having realized A/B joint yaw function; The input direction that the one-movement-freedom-degree direction of this mechanism is active drive, on the line at the hinge center that the rotation of a rotational freedom is connected with moving platform at first, second side chain, the rotation of another rotational freedom and the 3rd side chain initial position place plane parallel, the rotation of the revolute pair being connected with moving platform for described the 3rd side chain; Article two, rotation axis measurement is clear and definite, Qie Gai mechanism does not have the rotation associated movement of moving platform method vector, associated movement is relatively simple, and then performance accuracy and the quality of mechanism have been guaranteed from principle configuration, reduce the difficulty of manufacture, control and the demarcation of relevant device when machine tool field is applied, be conducive to the further raising of precision.
This space parallel mechanism has the following advantages:
(1) there is high flexible nature; (2) pivot center is clear and definite and associated movement is relatively simple, more easily guarantees mechanism operation precision and quality; (3) coordinate other device can realize the multi-axis NC machining to complex space free form surface type component.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention.
The specific embodiment
A kind of three-freedom degree spatial parallel structure with high flexible nature of the present invention by reference to the accompanying drawings and embodiment be described in detail as follows:
A kind of three-freedom degree spatial parallel structure with high flexible nature that the present invention proposes, comprises moving platform and a fixed platform that actuator is installed, and connects first, second side chain with same structure between described moving platform and fixed platform; It is characterized in that: also comprise three side chain different from first, second branched structure connecting between described moving platform and fixed platform, this first, second, third side chain all contains the kinematic pair of an active drive; Described first, second, and third side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives moving platform to move by the kinematic pair of three active drive, realizes an one-movement-freedom-degree and two rotational freedoms; Described first, second side chain not in same plane and this two plane with respect to described the 3rd side chain initial position place plane symmetry, the angle between described the first side chain place plane and described the second side chain place plane is arbitrarily angled (but can not be 0 degree or 180 degree) between 0 to 180 degree.
Three-freedom degree spatial parallel structure of the present invention, first, second is PRS type movement branched chain, the 3rd side chain be PR (Pa) RR type movement branched chain (wherein, P represents moving sets, R represents revolute pair, S represents ball pivot, and Pa represents parallel-crank mechanism, and moving sets P is active drive kinematic pair).Be described as follows:
First, second side chain comprises: slide block, connecting rod and kinematic pair.Described kinematic pair has three, and one is the moving sets P being connected between fixed platform and slide block, and one is the revolute pair R being connected between slide block and connecting rod, and one is the ball pivot S being connected between connecting rod and moving platform.Wherein, the moving sets P being connected between fixed platform and slide block is active drive, and this side chain is PRS type movement branched chain.
The 3rd side chain comprises: slide block, parallel-crank mechanism Pa, connector and kinematic pair.Described kinematic pair has four, one is the moving sets P being connected between fixed platform and slide block, one is that to be connected in revolute pair R between slide block and parallel-crank mechanism, one be the revolute pair R being connected between parallel-crank mechanism and connector, and another is the revolute pair R being connected between connector and moving platform; Four revolute pair R that are parallel to each other that described parallel-crank mechanism comprises connecting rod, lower link, left connecting rod, right connecting rod and connects above-mentioned rod member.Wherein, the moving sets P being connected between fixed platform and slide block is active drive, and this side chain is PR (Pa) RR type movement branched chain.
Embodiment:
The present embodiment a kind of have high flexible nature three-freedom degree spatial parallel structure structure as shown in Figure 1, comprise fixed platform 11, fixed platform 16, fixed platform 111, moving platform 113 and first, second, third side chain, described three side chains are connected between fixed platform 11, fixed platform 16, fixed platform 111 and moving platform 113, and with fixed platform 11, fixed platform 16, fixed platform 111 and moving platform 113 Special composition close loop mechanisms.
Described first, second side chain is PRS type movement branched chain, comprising: slide block 12, slide block 110, connecting rod 114, connecting rod 112 and kinematic pair.Described kinematic pair has three, one is the moving sets P being connected between fixed platform 11, fixed platform 111 and slide block 12, slide block 110, one is the revolute pair R being connected between slide block 12, slide block 110 and connecting rod 114, connecting rod 112, and one is the ball pivot S being connected between connecting rod 114, connecting rod 112 and moving platform 113.Wherein, the moving sets P being connected between fixed platform 11, fixed platform 111 and slide block 12, slide block 110 is active drive.
Described the 3rd side chain is PR (Pa) RR type movement branched chain, comprising: slide block 15, parallel-crank mechanism Pa, connector 13 and kinematic pair.Described kinematic pair has four, one is the moving sets P being connected between fixed platform 16 and slide block 15, one is that to be connected in revolute pair R between slide block 15 and parallel-crank mechanism Pa, one be the revolute pair R being connected between parallel-crank mechanism Pa and connector 13, and another is the revolute pair R being connected between connector 13 and moving platform 113; Four revolute pair R that are parallel to each other that described parallel-crank mechanism Pa comprises connecting rod 17, lower link 19, left connecting rod 18, right connecting rod 14 and connects above-mentioned rod member.Wherein, the moving sets P being connected between fixed platform 16 and slide block 15 is active drive.
Described first, second, and third side chain and fixed platform 11, fixed platform 16, fixed platform 111 and moving platform 113 connect and compose Spatial closed loop, by three active drive moving sets between fixed platform 111 and slide block 110, fixed platform 11 and slide block 12, fixed platform 16 and slide block 15, drive moving platform to move, realize an one-movement-freedom-degree and two rotational freedoms.
Described first, second side chain is all limited in plane separately, described the first side chain place plane and described the second side chain place plane are with respect to described the 3rd side chain initial position place plane symmetry, angle between described the first side chain place plane and described the second side chain place plane is arbitrarily angled between 0 to 180 degree, but can not be 0 degree or 180 degree.In the present embodiment, the angle between described the first side chain place plane and described the second side chain place plane is 90 degree.
Claims (2)
1. a three-freedom degree spatial parallel structure with high flexible nature, comprises moving platform and a fixed platform that actuator is installed, and connects three side chains between described moving platform and fixed platform, first, second branched structure is identical to be included: slide block, connecting rod and kinematic pair, described kinematic pair has three, one is the moving sets (P) being connected between fixed platform and slide block, one is the revolute pair (R) being connected between slide block and connecting rod, one is the ball pivot (S) being connected between connecting rod and moving platform, wherein, the moving sets (P) being connected between fixed platform and slide block is active drive, and this side chain is PRS type movement branched chain, it is characterized in that: the 3rd side chain comprises: the 3rd side chain slide block, parallel-crank mechanism (Pa), connector and the 3rd side chain kinematic pair, described the 3rd side chain kinematic pair has four, one is the 3rd side chain moving sets (P) being connected between fixed platform and the 3rd side chain slide block, one is the 3rd side chain revolute pair (R) being connected between the 3rd side chain slide block and parallel-crank mechanism, one is the 3rd side chain revolute pair (R) being connected between parallel-crank mechanism and connector, another is the 3rd side chain revolute pair (R) being connected between connector and moving platform, described parallel-crank mechanism comprises connecting rod, lower link, left connecting rod, right connecting rod and connect above-mentioned upper connecting rod, lower link, left connecting rod, four the parallel-crank mechanism revolute pairs (R) that are parallel to each other of right connecting rod, wherein, the 3rd side chain moving sets (P) being connected between fixed platform and the 3rd side chain slide block is active drive, this side chain is PR (Pa) RR type movement branched chain, described first, second, and third side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives moving platform to move by three input motions, realizes an one-movement-freedom-degree and two rotational freedoms.
2. a kind of three-freedom degree spatial parallel structure with high flexible nature as claimed in claim 1, it is characterized in that, described the first side chain place plane and described the second side chain place plane are about described the 3rd side chain initial position place plane symmetry, angle between described the first side chain place plane and described the second side chain place plane is arbitrarily angled between 0 to 180 degree, but is not 0 degree or 180 degree.
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| CN102909569B (en) * | 2012-11-01 | 2015-05-06 | 北京创航科技发展有限公司 | 1T2R three-degree of freedom spatial parallel mechanism |
| CN102922310B (en) * | 2012-11-01 | 2015-04-08 | 北京创航科技发展有限公司 | 2T1R three-degree-of-freedom spatial parallel mechanism |
| CN104400446B (en) * | 2014-09-29 | 2016-09-28 | 清华大学 | A kind of parallel main shaft head mechanism based on four-bar mechanism |
| CN105643295A (en) * | 2016-03-23 | 2016-06-08 | 中北大学 | Large-tilt-angle five-axis linkage hybrid machine tool |
| CN107139163B (en) * | 2017-06-12 | 2020-04-14 | 中国矿业大学 | Parallel mechanism type transfer robot |
| CN113348055B (en) * | 2019-01-31 | 2022-06-03 | 苏州迈澜科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| CN115138964B (en) * | 2022-07-21 | 2023-09-22 | 中国地质大学（武汉） | Ultra-large working space parallel robot for laser processing of complex parts |
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| CN1188246C (en) * | 2002-07-10 | 2005-02-09 | 杨廷力 | Two-translation and one-rotation parallel mechanismsfor virtual axis machine tools, robot, etc. |
| CN100451434C (en) * | 2007-01-26 | 2009-01-14 | 清华大学 | Moving-decoupling space three-freedom connection-in-parallel mechanism |
| CN102441889A (en) * | 2010-09-30 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Parallel-connection robot |
| CN102431028B (en) * | 2011-10-30 | 2014-04-16 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
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