CN102881338B - 1T2R parallel three-degree-of-freedom pose alignment platform - Google Patents
1T2R parallel three-degree-of-freedom pose alignment platform Download PDFInfo
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- CN102881338B CN102881338B CN201210353474.5A CN201210353474A CN102881338B CN 102881338 B CN102881338 B CN 102881338B CN 201210353474 A CN201210353474 A CN 201210353474A CN 102881338 B CN102881338 B CN 102881338B
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Abstract
The invention discloses a 1T2R parallel three-degree-of-freedom pose alignment platform, belonging to the field of machinery. The 1T2R parallel three-degree-of-freedom pose alignment platform comprises a movable platform (1), a static platform (3), a kinematic chain (2), a kinematic chain (4) and a kinematic chain (5). The device can effectively solve the problems that the traditional working platform can not adjust the spatial pose automatically and position automatically and accurately in the process of processing the unconventional curved workpiece so that the pose of the workpiece can be adjusted in real time and the best processing effect is achieved. The working platform has the advantages of good decoupling performance, small rotational inertia during working, strong carrying capacity, rapid dynamic response, high positioning accuracy and low-cost and is easy to control.
Description
Technical field
The parallel 3-DOF pose that the invention discloses a kind of 1T2R is adjusted platform, the automatic adjustment of realization to curve surface work pieces position and attitude, to reach optimal processing pose, the special processing for conventional curved surface part, as: for the during laser strengthening Leaf position of blade of aviation engine or turbine blade and the adjustment of attitude.The present invention designs the pose adjustment platform with fine decoupling that has proposed to realize by parallel institution the adjustment of 1T2R Three Degree Of Freedom.
Background technology
The Stewart platform that nineteen sixty-five Stewart proposes is comprised of upper lower platform and 6 driving stems, and driving stem can stretch independently, and respectively by being connected with upper lower platform by spherical hinge, like this, upper mounting plate has 6 degree of freedom.Along with deepening continuously that various parallel institutions are studied, people are connected upper lower platform every by two or more side chains, and mechanism has two or more degree of freedom, and the mechanism that type of drive is parallel drive is referred to as parallel institution.For traditional tandem mechanism, parallel institution has the advantages such as load-bearing capacity is large, rigidity is high, movement velocity is fast, precision is high, dynamic performance is good, can be applicable to the fields such as machining center, mechanism for sorting, medical auxiliary apparatus.
Due to the restriction of structure, 6DOF parallel institution has many technical matterss finely to solve, as strong in sports coupling, forward kinematics solution is complicated, work space is little, drive characteristic is poor etc.Lower-mobility Parallel Manipulators has broad application prospects in commercial production, many scholar's research the mechanism of multiple the type, especially 3-freedom parallel mechanism, for example, patent documentation " three-freedom parallel robot mechanism with different structure drive branches " (publication number CN101244560A) and " 6 degree-of-freedom paralleling-serial measurer based on 3-freedom parallel mechanism " (publication number CN1393321A) have proposed respectively two kinds of different parallel institutions, also can reach predetermined effect in theory, but mechanism has very strong coupling, in production application, be difficult to realize effectively control, patent documentation for example again, " 3DOF structure decoupling parallel jiggle robot " (patent No.: ZL00100198.1) reported in parallel-connection decoupling progress of research situation with " reconfigurable modularization 3-6 degree of freedom structure decoupling parallel jiggle robot " (publication number CN1377757A), but these parallel institutions are only applicable to fine motion field, reason is that its decoupling zero is to be similar to, and the increasing along with work space, the right meeting of lotus root corresponding increase thereupon between each driver element, this real work space that just means this parallel connection decoupling mechanism is only several microns, in other words, in order to keep the Approximate Decoupling relation between input and output, must limit this parallel connection decoupling mechanism for the fine motion operation of certain limit, otherwise be exactly non-decoupling, so this technology still has the feature of instantaneous decoupling zero, also belong in essence instantaneous decoupling zero.
So, so far, decoupling is good, work space is large simultaneously, the freedom degree parallel connection platform that the translation two that bearing capacity is good is rotated there is not yet report, and existing pose is adjusted platform, can only by simple manual control realize three direction x, y, z to position translation, cannot realize the spatial attitude adjustment to complex-curved 3D shape product, let alone robotization adjustment.
The 1T2R parallel 3-DOF pose that the present invention proposes is adjusted platform and has been inherited the advantages such as traditional parallel robot stiffness/weight ratio is large, load-bearing capacity is strong, positioning precision is high, cumulative errors is little, dynamic property is good, compact conformation, possess again good decoupling performance, control and be more prone to realize simultaneously.
Summary of the invention
In order to make up the defect of workpiece pose adjustment platform property in prior art, the invention provides a kind of good worktable of decoupling that can realize the adjustment of 1T2R spatial pose, can effectively solve complex curved surface part spatial pose and adjust problem.
The present invention is achieved by the following technical solutions: develop a kind of 1T2R parallel 3-DOF platform of adjusting for curve surface work pieces pose, it can be realized and along the position of Z axis, move and rotate around the attitude of X, Y-axis.
1T2R parallel 3-DOF pose is adjusted platform and is comprised moving platform, silent flatform, kinematic chain one, kinematic chain two, kinematic chain three, described kinematic chain one, kinematic chain two, kinematic chain three are vertically fixedly mounted on silent flatform respectively, and be isosceles right triangle and distribute, kinematic chain three is right angle electrical with the tie point of silent flatform; The moving sets P2 that kinematic chain one is fixed on silent flatform is connected with the cylindrical pair C1 that is fixed on moving platform by revolute pair R1; The cylindrical pair C2 that kinematic chain two is fixed on silent flatform is connected with cylindrical pair C3 by revolute pair R2, and cylindrical pair C3 is connected with moving platform by revolute pair R3; The moving sets P1 that kinematic chain three is fixed on silent flatform is connected with moving platform by universal joint; The initial position that is in assembling guarantees that the axis of the axis of the cylindrical pair C1 of kinematic chain one and the cylindrical pair C3 of kinematic chain two coincides respectively at two pivot centers of universal joint when moving platform and silent flatform maintenance level.
The invention has the beneficial effects as follows: this 1T2R parallel 3-DOF pose adjustment platform has solved well active service traditional platform mechanism attitude and cannot adjust, the problem such as cannot automatically locate, and can realize the adjustment of large-scale conventional curved surface part attitude, displacement in strengthening operation, make the whole positions to be processed of part obtain optimal processing effect.The decoupling that the 1T2R parallel 3-DOF pose that this patent is described is adjusted each kinematic chain of platform is good, and because driving link and silent flatform are fixed, make moment of inertia little, while guaranteeing the motion of each kinematic chain, there is no accumulated error, the advantage such as there is compact conformation, load-bearing capacity is large, dynamic response is rapid, positioning precision is high, be easy to control, with low cost.
Accompanying drawing explanation
Fig. 1 is that 1T2R parallel 3-DOF pose is adjusted platform structure schematic diagram one.
Fig. 2 is that 1T2R parallel 3-DOF pose is adjusted platform structure schematic diagram two.
Fig. 3 is that 1T2R parallel 3-DOF pose is adjusted platform structure sketch.
In figure, 1, moving platform; 2, kinematic chain one; 3, silent flatform; 4, kinematic chain two; 5, kinematic chain three; 6 universal joints.
Embodiment
1T2R parallel 3-DOF pose adjustment platform mentioned in the present invention is comprised of moving platform (1), silent flatform (3), kinematic chain one (2), kinematic chain two (4), kinematic chain three (5), and it can be realized workpiece and rotate along the position translation of Z axis and around the attitude of X, Y-axis.Wherein, it is upper that kinematic chain one (2), kinematic chain two (4), kinematic chain three (5) are vertically fixedly mounted on respectively silent flatform (3), and be isosceles right triangle distribution, in Fig. 1, and AO=BO, ∠ AOB is right angle; The moving sets P2 that kinematic chain one (2) is fixed on silent flatform is connected with the cylindrical pair C1 that is fixed on moving platform (1) by revolute pair R1; The cylindrical pair C2 that kinematic chain two (4) is fixed on silent flatform is connected with cylindrical pair C3 by revolute pair R2, and cylindrical pair C3 is connected with moving platform (1) by revolute pair R3; The moving sets P1 that kinematic chain three (5) is fixed on silent flatform is connected with moving platform (1) by universal joint (6), and the initial position that is in assembling guarantees that the axis of the cylindrical pair C3 of the axis of the cylindrical pair C1 of kinematic chain one (2) and kinematic chain two (4) coincides respectively at two pivot centers of universal joint (6) when moving platform (1) keeps level with silent flatform (3).
In the present invention, three kinematic chains are all active movement chain, and the driving of kinematic chain one (2) and kinematic chain three (5) is respectively moving sets P2 and P1; The driving of kinematic chain two (4) is cylindrical pair C2, but the driving along Z-direction is only provided, and around the rotation of Z-direction, is driven.
Like this, drive simultaneous retractable and the characteristics of motion when identical when three of three kinematic chains, moving platform (1) moves along Y-axis, when kinematic chain one (2) is during with respect to three (5) motion of kinematic chain two (4) and kinematic chain, moving platform (1) moves around Y-axis, when kinematic chain two (4) is during with respect to three (5) motion of kinematic chain one (2) and kinematic chain, moving platform (1) moves around X-axis.Like this, by the routing motion of three kinematic chains, just can realize moving platform around rotation and the axial movement of z of x axle, y axle.
Parallel-series six-freedom described in the present invention has highly flexible, to complex curved surface part, can constantly adjust self pose, so that workpiece place to be processed pose real-time change, thereby reach optimal processing effect.
The present invention can adopt standing position and two kinds of embodiments of prone position, and standing position is mainly used in workpiece size is less, pose setting range is less situation, and prone position is mainly used in the situation that workpiece size is large, pose setting range is larger.
Claims (1)
1. the parallel 3-DOF pose of a 1T2R is adjusted platform, it is characterized in that: comprise moving platform (1), silent flatform (3), kinematic chain one (2), kinematic chain two (4), kinematic chain three (5), described kinematic chain one (2), kinematic chain two (4), kinematic chain three (5) are vertically fixedly mounted on respectively on silent flatform (3), and be isosceles right triangle and distribute, kinematic chain three (5) is right angle electrical with the tie point of silent flatform (3); The moving sets P2 that kinematic chain one (2) is fixed on silent flatform is connected with the cylindrical pair C1 that is fixed on moving platform (1) by revolute pair R1; The cylindrical pair C2 that kinematic chain two (4) is fixed on silent flatform is connected with cylindrical pair C3 by revolute pair R2, and cylindrical pair C3 is connected with moving platform (1) by revolute pair R3; The moving sets P1 that kinematic chain three (5) is fixed on silent flatform is connected with moving platform (1) by universal joint (6); When moving platform (1) keeps level with silent flatform (3), the axis of the cylindrical pair C3 of the axis of the cylindrical pair C1 of kinematic chain one (2) and kinematic chain two (4) coincides respectively at two pivot centers of universal joint (6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210353474.5A CN102881338B (en) | 2012-09-21 | 2012-09-21 | 1T2R parallel three-degree-of-freedom pose alignment platform |
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| CN201210353474.5A CN102881338B (en) | 2012-09-21 | 2012-09-21 | 1T2R parallel three-degree-of-freedom pose alignment platform |
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| CN102881338A CN102881338A (en) | 2013-01-16 |
| CN102881338B true CN102881338B (en) | 2014-12-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105957775B (en) * | 2016-07-01 | 2017-10-24 | 上海工程技术大学 | Single driving one based on parallel institution translates two rotated three dimensionals and fills sand rammer |
| CN106863276B (en) * | 2017-03-24 | 2019-04-26 | 燕山大学 | A kind of few two turn one of joint motion three-freedom-degree parallel mechanism |
| CN109545038A (en) * | 2018-12-05 | 2019-03-29 | 南京航空航天大学 | A kind of general posture demonstration platform of aircraft and teaching system |
| CN111496766B (en) * | 2020-04-28 | 2021-07-27 | 清华大学 | Three-degree-of-freedom parallel mechanism based on electric cylinder |
| CN113083017A (en) * | 2021-04-07 | 2021-07-09 | 中国科学院近代物理研究所 | Collection box system for stable isotope electromagnetic separator |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1526514A (en) * | 2003-09-24 | 2004-09-08 | 杨廷力 | Parallel mechanisms for imaginary axis machine tool, measurer, etc. |
| CN101704243A (en) * | 2009-11-19 | 2010-05-12 | 天津理工大学 | 2-PPT and PPS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
| CN202996309U (en) * | 2012-09-21 | 2013-06-12 | 江苏大学 | Three degree of freedom position regulation platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPWO2007069667A1 (en) * | 2005-12-15 | 2009-05-21 | 国立大学法人東京工業大学 | Elastic joint device |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1526514A (en) * | 2003-09-24 | 2004-09-08 | 杨廷力 | Parallel mechanisms for imaginary axis machine tool, measurer, etc. |
| CN101704243A (en) * | 2009-11-19 | 2010-05-12 | 天津理工大学 | 2-PPT and PPS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
| CN202996309U (en) * | 2012-09-21 | 2013-06-12 | 江苏大学 | Three degree of freedom position regulation platform |
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