CN1211185C - Two parallel move and two rotary motion parallel device containing plane 5 rods circuit for imaginary axis machine tool and robot - Google Patents
Two parallel move and two rotary motion parallel device containing plane 5 rods circuit for imaginary axis machine tool and robot Download PDFInfo
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- CN1211185C CN1211185C CN 02137857 CN02137857A CN1211185C CN 1211185 C CN1211185 C CN 1211185C CN 02137857 CN02137857 CN 02137857 CN 02137857 A CN02137857 A CN 02137857A CN 1211185 C CN1211185 C CN 1211185C
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- parallel
- revolute pair
- pairs
- universal joint
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Abstract
The present invention provides six kinds of four-freedom (two-translation and two-rotation) parallel mechanism. One kind of the parallel mechanism is composed of a movable platform, a static platform and three branches, wherein two branches have the same structure, and are respectively formed by the series connection of three parallel rotary pairs and two parallel rotary pairs which are vertical to the three rotary pairs; the third branch is a generalized branch which is formed by the series connection of five-rod plane loops of five rotary pairs and a universal joint, wherein a shaft line of one rotary pair of the universal joint is overlapped with the shaft line of one rotary pair in the loops. The branches have the arrangement mode between the two platforms that the three rotary pairs which belong to the three branches on the movable platform are arranged in parallel, and the four rotary pairs which belong to the three branches on the static platform are also arranged in parallel. The four rotary pairs on the static platform can be driven to control the output of the two-translation and two-rotation operation of the movable platform. The mechanism has the advantages of constant quantity of undesirable output, simple forward kinematics, favorable partial control decoupling, favorable rigidity, simpler structure, convenient manufacture, etc. The present invention provides a new machine for imaginary axis machine tools, robots, etc., and provides possibility for development and practicality.
Description
Technical field
The present invention relates to the executing agency of a kind of lathe and robot etc., specifically, is to provide a class novel two translations, two one-rotation parallel mechanisms for parallel-connection structure imaginary axis Digit Control Machine Tool and parallel robot etc.
Background technology
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 (Stewar) 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 defeated people's close coupling, 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, general working angles only need be controlled the feed motion of five axles, and the rotation that adds main shaft can be processed the interior any free form surface of its working space.Therefore,, provide the feed motion of 4DOF, realize moving of a direction by the workbench of clamping workpiece again, easily simple, the 5-shaft linkage numerical control lathe that is easy to control of implementation structure to main shaft if with the parallel connection platform mechanism of 4DOF.
Summary of the invention
The object of the invention provides a kind of four-degree-of-freedom two translations two one-rotation parallel mechanisms, and this mechanism has following characteristics: (1), mechanism's workbench have two translations, two rotational motions output, and non-desired motion is output as constant; (2), there was the constraint loop in mechanism, so its good rigidly, structure are simpler; (3) forward kinematics solution is simpler than Stewart mechanism, and exists part to control decoupling; (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.The present invention provides new architecture for virtual axis machine, robot etc., for its exploitation and practicability provide possibility.
Description of drawings
Below by accompanying drawing and example technology of the present invention is given to illustrate further.
Accompanying drawing 1 is schematic diagram of mechanism of the present invention. It is made up of incomplete 3 the identical branch roads of moving platform 1, silent flatform 2 and structure, Four members 3 of route that two-strip structure is identical, three revolute pair R that are parallel to each other of 4,5,6 series connection7With perpendicular to revolute pair R7Two revolute pair R that are parallel to each other8Form; Article 3, be the broad sense branch road, by 5 revolute pair R9Universal joint T of 5 bar planar loops series connection10Form, a revolute pair axis of described universal joint overlaps with a revolute pair axis in loop, and And universal joint and moving platform are connected firmly; All branch roads two ends member connects firmly respectively on dynamic and static platform, adheres to separately but be positioned on the moving platform Article 3,3 of branch road revolute pair axis are the configuration that is parallel to each other, and are positioned at 4 revolute pairs that adhere to 3 branch roads on the silent flatform separately and also are Configuration is parallel to each other.
In the accompanying drawing 1,4 revolute pairs can be used moving sets P on the silent flatform
11Substitute, but moving sets should be perpendicular to replaced revolute pair axis, as shown in Figure 2.
In identical two branch roads of accompanying drawing 1,2 structures, orthogonal two revolute pairs can substitute with universal joint.
In the accompanying drawing 1, one of two branch roads that two structures are identical or whole, available by two secondary S of ball
13With a moving sets P
14The branch road that is in series by a member substitutes, as shown in Figure 3.
The specific embodiment
Structure also can be one embodiment of the present of invention shown in the accompanying drawing 1.It is made up of incomplete 3 the identical branch roads of moving platform 1, silent flatform 2 and structure, three revolute pair R that are parallel to each other of four members of route, 3,4,5,6 series connection that two-strip structure is identical
7With perpendicular to revolute pair R
7Two revolute pair R that are parallel to each other
8Form; Article 3, be the broad sense branch road, by 5 revolute pair R
9Universal joint T of 5 bar planar loops series connection
10Form, a revolute pair axis of described universal joint overlaps with a revolute pair axis in loop, and universal joint and moving platform are connected firmly; All branch roads two ends member connects firmly respectively on dynamic and static platform, is the configuration that is parallel to each other but be positioned at 3 revolute pair axis that adhere to 3 branch roads on the moving platform separately, is positioned at 4 revolute pairs that adhere to 3 branch roads on the silent flatform separately and also is the configuration that is parallel to each other.
Four motions that drive cradle heads on the control silent flatform 2 realize that with regard to the controllable brake platform two translations and two rotate output, the structural design of this kind parallel institution and drive control etc. all routinely mechanical ﹠ electrical technology carry out design and installation.
Claims (4)
1. four-freedom parallel mechanism is rotated in two translations two that are used for virtual-axis nc machine tool and robot, its composition comprises moving platform (1), silent flatform (2) and is connected in 3 branch roads between moving platform, the silent flatform, it is characterized in that, wherein two line structures are identical, by three revolute pair (R that are parallel to each other
7) and perpendicular to their 2 revolute pair (R that are parallel to each other
8) be in series by member (3,4,5,6) successively, and described 2 revolute pair (R that are parallel to each other
8) one of connect firmly with moving platform; Article 3, be the broad sense branch road, by 5 revolute pair (R
9) universal joint (T of plane 5 rods circuit series connection
10) form, a revolute pair axis of described universal joint overlaps with a revolute pair axis in loop, and this universal joint and moving platform are connected firmly; The configuration mode of branch road between two platforms is: 4 revolute pairs that adhere to 3 branch roads on the silent flatform separately are the configuration that is parallel to each other.
2. according to the described parallel institution of claim 1, it is characterized in that the revolute pair on the described silent flatform can substitute with moving sets, but moving sets should be perpendicular to replaced revolute pair axis.
3. according to claim 1 or 2 described parallel institutions, it is characterized in that orthogonal two revolute pairs can substitute with universal joint in identical two branch roads of described structure.
4. according to the described parallel institution of claim 1, it is characterized in that one of two branch roads that described structure is identical or all available alternative by the branch road that a member is in series by two balls pairs and a moving sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02137857 CN1211185C (en) | 2002-06-28 | 2002-06-28 | Two parallel move and two rotary motion parallel device containing plane 5 rods circuit for imaginary axis machine tool and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02137857 CN1211185C (en) | 2002-06-28 | 2002-06-28 | Two parallel move and two rotary motion parallel device containing plane 5 rods circuit for imaginary axis machine tool and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1463822A CN1463822A (en) | 2003-12-31 |
| CN1211185C true CN1211185C (en) | 2005-07-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02137857 Expired - Fee Related CN1211185C (en) | 2002-06-28 | 2002-06-28 | Two parallel move and two rotary motion parallel device containing plane 5 rods circuit for imaginary axis machine tool and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1211185C (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100400246C (en) * | 2003-12-15 | 2008-07-09 | 河北工业大学 | Rotation pair combination unit and motion decoupling parallel mechanism formed thereby |
| CN102825595B (en) * | 2012-08-24 | 2015-04-08 | 燕山大学 | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism |
| CN103286778B (en) * | 2013-05-24 | 2016-01-27 | 燕山大学 | Two-freedom rotates decoupling parallel mechanism |
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2002
- 2002-06-28 CN CN 02137857 patent/CN1211185C/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN1463822A (en) | 2003-12-31 |
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