CN1188246C - Two-translation and one-rotation parallel mechanismsfor virtual axis machine tools, robot, etc. - Google Patents
Two-translation and one-rotation parallel mechanismsfor virtual axis machine tools, robot, etc. Download PDFInfo
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- CN1188246C CN1188246C CNB021379270A CN02137927A CN1188246C CN 1188246 C CN1188246 C CN 1188246C CN B021379270 A CNB021379270 A CN B021379270A CN 02137927 A CN02137927 A CN 02137927A CN 1188246 C CN1188246 C CN 1188246C
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Abstract
The present invention provides a type (four kinds) of 3-freedom (two-translation and one-rotation) parallel mechanism which is composed of a moving platform, a still platform and three branch circuits with incompletely identical structures, wherein the first branch circuit is formed by the serial connection of a moving pair, a parallelogram loop which is composed of four rotating pairs perpendicular to the moving pair and a rotating pair, the axial line of which is coincident with one side of the parallelogram. Structures of the other two branch circuits are the same, and each of the two branch circuits is formed by the serial connection of a moving pair, two parallel rotating pairs which are perpendicular to the moving pair and another two parallel rotating pairs which are perpendicular to the previous two rotating pairs. Components on both ends of each of the three branch circuits are respectively fixedly connected to the moving and the still platforms. Three rotating pairs on the moving platform are arranged in parallel, and the three moving pairs on the still platform are also arranged in parallel. The three moving pairs on the still platform are driven, and the output of two-translation and one-rotation of the moving platform can be controlled. The present invention has the advantages of easy forward kinematics, simple structure, high rigidity, convenient manufacture, etc., and undesirable output is a constant. Thus a new machine type is provided for imaginary axis machine tools, robots, etc., and the possibility of the development and practicality of the imaginary axis machine tools, the robots, etc. is provided.
Description
The present invention relates to the executing agency of a kind of lathe, robot etc., specifically, is to provide a class novel parallel institution for parallel-connection structure imaginary axis Digit Control Machine Tool, parallel robot etc.
The parallel-connection structure Digit Control Machine Tool is meant with the parallel institution to be the lathe of executing agency, and this lathe has been considered to the revolution of machine tool structure since the twentieth century.Developed the model machine of this lathe at present in states such as the U.S., Japan, the parallel institution that is adopted is traditional Stewart (Stewart) mechanism.The mechanism that position and the attitude of this control cutter in the space changes mainly is made up of pedestal, motion platform and connecting rod, is linked to each other by connecting rod between pedestal and the motion platform, and the connecting rod two ends are respectively ball pair and universal joint.There are 6 connecting rods in this mechanism, but the adjustable length of connecting rod by controlling the length of 6 connecting rods, changes the pose of cutter in the space.But this class mechanism has a lot of guardian techniques to fail to solve fully.As, (1) forward kinematics solution difficulty; (2) the motion platform pose is the close coupling of input, is unfavorable for control; (3) mechanism's complexity makes its working space less; (4) make the secondary difficulty of high-precise ball etc.
For imaginary axis Digit Control Machine Tool, many occasions need provide the free degree greater than 3 and less than 6 simpler parallel institution.For example,, can provide 3DOF (two translations one are rotated) parallel connection platform mechanism, just can be used for space curved surface (as mould, impeller etc.) is processed 4 axis linkage numerical control lathes.Therefore, the development and the practicability of imaginary axis Digit Control Machine Tool, robot etc. need create the new architecture that is better than existing mechanism.
The object of the invention provides a class (4 kinds) 3DOF (two translations one are rotated) parallel institution.That this mechanism has is simple in structure, working space is big, be convenient to advantages such as manufacturing, installation.Particularly forward kinematics solution is comparatively simple, can simplify the control of parallel-connection structure virtual axis machine and robot system and the complexity of trajectory planning.For virtual axis machine, robot, fine motion operator etc. provide new architecture, for its exploitation provides possibility with practicability.
Accompanying drawing 1 is a schematic diagram of mechanism of the present invention.It is made up of moving platform 1, silent flatform 2 and structure 3 branch roads inequality.Article one, props up route moving sets P
1, perpendicular to 4 revolute pair R of moving sets
21, R
22, R
23, R
24The revolute pair R that parallelogram loop of forming and axis and quadrangle overlap on one side
3Be in series.Two line structures are identical in addition, by a moving sets P
8, and the two revolute pair Rs that are parallel to each other vertical with moving sets
7, R
6And perpendicular to preceding two revolute pairs and the two revolute pair R that are parallel to each other
5, R
4Be in series.Article three, branch road two ends member connects firmly respectively on dynamic and static platform: be positioned at three revolute pair R on the moving platform
3, R
4, R
9Be the configuration that is parallel to each other, be positioned at 3 moving sets P on the silent flatform
1, P
8, P
13Also be the configuration that is parallel to each other.
In the accompanying drawing 1, the branch road that two structures are identical can substitute with the identical branch road of another kind of two structures, newly props up route moving sets P
7, perpendicular to 4 revolute pair R of moving sets
51, R
52, R
53, R
54Parallelogram loop and two revolute pair R overlapping with the quadrangle opposite side of axis
6, R
4Be in series.Article three, the configuration unchanged direction of branch road between dynamic and static platform, as shown in Figure 2.
In the accompanying drawing 1, the branch road that two structures are identical can substitute with the identical branch road of another kind of two structures, newly props up route one moving sets P
6With two spherical pair S
5, S
4Be in series.The configuration mode of three branch roads between dynamic and static platform: the revolute pair R on the moving platform
3Axis and two secondary S of ball
4, S
7Line of centres is parallel, three moving sets P on the silent flatform
1, P
6, P
9Can dispose arbitrarily, as shown in Figure 3.
In the accompanying drawing 1, the branch road that contains parallelogram can substitute with a new branch road, newly props up route moving sets P
1, perpendicular to moving sets and the two revolute pair R that are parallel to each other
2, R
3, and with the vertical revolute pair R of preceding two revolute pairs
4Be in series; The branch road that two structures are identical all substitutes with another new branch road, newly props up route moving sets P
9, perpendicular to moving sets and the two revolute pair R that are parallel to each other
8, R
7, and perpendicular to preceding two revolute pairs and the two revolute pair R that are parallel to each other
6, R
5Be in series; Article three, branch road two ends member connects firmly respectively on dynamic and static platform: 3 revolute pair R that are positioned at moving platform
4, R
5, R
10Be the configuration that is parallel to each other, be positioned at 3 moving sets P on the silent flatform
1, P
9, P
14Also be the configuration that is parallel to each other, as shown in Figure 4.
In accompanying drawing 2, two revolute pairs of connecting on parallelogram loop and the opposite side two member lines of centres thereof can be with 4 spherical pair S
1, S
2, S
3, S
4The parallelogram of forming substitutes, as shown in Figure 5.
In accompanying drawing 1, accompanying drawing 2 or accompanying drawing 3, parallelogram loop and the revolute pair of connecting on the line of centres on one side thereof can be with 2 spherical pair S
1, S
2The parallelogram of forming with two revolute pairs substitutes, as shown in Figure 6.
The present invention is the novel parallel institution of a class 3DOF (two translations one are rotated).This mechanism has following characteristics:
(1) mechanism's workbench has two translations, one rotational motion output, and non-desired motion is output as constant;
(2) there was the constraint loop in mechanism, so good rigidly, structure are simpler;
(3) forward kinematics solution is simpler than Stewart mechanism;
(4) when mechanism of the present invention is made up of revolute pair, moving sets and universal joint, be easy to Precision Machining, be beneficial to the kinematic accuracy that improves parallel institution.
In a word, the present invention is imaginary axis Digit Control Machine Tool, robot, fine motion operator etc., and the new architecture with These characteristics is provided, and is beneficial to the exploitation and the practicability of novel lathe, robot, fine motion operator.
Claims (4)
1. 3-freedom parallel mechanism is rotated in two translations one that are used for imaginary axis Digit Control Machine Tool, robot, its composition comprises, moving platform, silent flatform, article one branch road, second branch road and the 3rd branch road, wherein, one side article one prop up moving sets of route, be in series with a revolute pair that overlaps of parallelogram perpendicular to the parallelogram loop and the axis formed by four revolute pairs of this moving sets; The second branch road is identical with the 3rd line structure, is in series by a moving sets, vertical with moving sets two revolute pairs parallel to each other and perpendicular to preceding two revolute pairs and two revolute pairs parallel to each other respectively; Article three, the end member of branch road connects firmly respectively on dynamic and static platform, and three revolute pairs that are positioned on the moving platform are the configuration that is parallel to each other, and three moving sets that are positioned on the silent flatform also are the configuration that is parallel to each other.
2. 3-freedom parallel mechanism is rotated in two translations one that are used for imaginary axis Digit Control Machine Tool, robot, its composition comprises, moving platform, silent flatform, article one branch road, second branch road and the 3rd branch road, wherein, one side article one prop up moving sets of route, be in series with a revolute pair that overlaps of parallelogram perpendicular to the parallelogram loop and the axis formed by four revolute pairs of this moving sets; The second branch road is identical with the 3rd line structure, respectively by a moving sets, be in series with two revolute pairs that two opposite side in parallelogram loop overlap respectively perpendicular to the parallelogram loop and the axis be made up of four revolute pairs of this moving sets; Article three, the end member of branch road connects firmly respectively on dynamic and static platform, and three revolute pairs that are positioned on the moving platform are the configuration that is parallel to each other, and three moving sets that are positioned on the silent flatform also are the configuration that is parallel to each other.
3. 3-freedom parallel mechanism is rotated in two translations one that are used for imaginary axis Digit Control Machine Tool, robot, its composition comprises, moving platform, silent flatform, article one branch road, second branch road and the 3rd branch road, wherein, one side article one prop up moving sets of route, be in series with a revolute pair that overlaps of parallelogram perpendicular to the parallelogram loop and the axis formed by four revolute pairs of this moving sets; The second branch road is identical with the 3rd line structure, respectively by being in series by a moving sets and two spherical pairs; Article three, the end member of branch road connects firmly respectively on dynamic and static platform, and the revolute pair axis on the moving platform is parallel with the secondary line of centres of two balls, and three moving sets can dispose arbitrarily on the silent flatform.
4. according to the described mechanism of claim 2, two revolute pairs of connecting on parallelogram loop and the opposite side two member lines of centres thereof can substitute with the parallelogram that four spherical pairs are formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021379270A CN1188246C (en) | 2002-07-10 | 2002-07-10 | Two-translation and one-rotation parallel mechanismsfor virtual axis machine tools, robot, etc. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021379270A CN1188246C (en) | 2002-07-10 | 2002-07-10 | Two-translation and one-rotation parallel mechanismsfor virtual axis machine tools, robot, etc. |
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| Publication Number | Publication Date |
|---|---|
| CN1389327A CN1389327A (en) | 2003-01-08 |
| CN1188246C true CN1188246C (en) | 2005-02-09 |
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| CNB021379270A Expired - Fee Related CN1188246C (en) | 2002-07-10 | 2002-07-10 | Two-translation and one-rotation parallel mechanismsfor virtual axis machine tools, robot, etc. |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1326671C (en) * | 2003-07-16 | 2007-07-18 | 刘辛军 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
| CN1293989C (en) * | 2003-10-08 | 2007-01-10 | 杨廷力 | Zero-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot |
| CN100374244C (en) * | 2005-03-03 | 2008-03-12 | 江苏工业学院 | Three dimensional translation parallel connection mechanism used for robot operation |
| CN100358672C (en) * | 2005-03-03 | 2008-01-02 | 江苏工业学院 | Bitranslation one rotation virtual axis digital controlled machine tool and parallel connected robot mechanism |
| CN100391699C (en) * | 2006-06-28 | 2008-06-04 | 江苏工业学院 | Bifreedon space parallel mechanism used for parallel motion equipment |
| CN102642133B (en) * | 2011-02-18 | 2014-01-01 | 上海工程技术大学 | Three-rotation parallel mechanism for virtual axis machine tool and robot |
| CN102626871B (en) * | 2012-05-03 | 2014-03-12 | 清华大学 | High-flexibility three-DOF (Degree of Freedom) spatial parallel mechanism |
| CN105689260A (en) * | 2016-04-26 | 2016-06-22 | 吴明洋 | Vibratory screening device |
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2002
- 2002-07-10 CN CNB021379270A patent/CN1188246C/en not_active Expired - Fee Related
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