CN1233513C - Parallel decoupling mechanism with 6 degree of freedom - Google Patents
Parallel decoupling mechanism with 6 degree of freedom Download PDFInfo
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- CN1233513C CN1233513C CN 03129994 CN03129994A CN1233513C CN 1233513 C CN1233513 C CN 1233513C CN 03129994 CN03129994 CN 03129994 CN 03129994 A CN03129994 A CN 03129994A CN 1233513 C CN1233513 C CN 1233513C
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- gripper shoe
- freedom
- decoupling
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- driver
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Abstract
The present invention relates to a 6-degree-of-freedom parallel decoupling mechanism which comprises the same six drive units orthogonally fixedly connected between supporting plate A, B and C of a machine base and a movable platform, wherein 1 to 3 drive units are arranged on each supporting plate, and the drive units on different supporting plates are mutually orthogonal. The present invention is characterized in that each drive unit comprises a guide rail seat fixedly connected with the supporting plates of the machine base, a sliding table arranged on the guide rail seat, a driver fixedly connected with the guide rail seat and is connected with one end of the sliding table, and a plane two-degree-of-freedom mobile pair and a spherical hinge which are fixedly connected in sequence on the other end of the sliding table, wherein one end of the spherical hinge is fixedly connected with the movable platform. The present invention can realize 5-degree-of-freedom unconditional decoupling and 6-degree-of-freedom conditional decoupling and has the advantages of simple structure, easy control, high motion precision, unrestricted working space, low cost, etc.
Description
Technical field
The present invention relates to the mechanics field, be specially a kind of six-freedom parallel decoupling mechanism.So-called decoupling mechanism is meant parallel institution in the translation on certain direction or rotate the action that only depends on driver element on this direction, and the driver element on other directions is not made the parallel institution of effective action.International Patent classificating number intends being IPC.CL
7.B25J 9/08.
Background technology
Parallel institution is meant that two or more driver elements are installed in parallel and the mechanism of common execution, is widely used in technical fields such as heavily loaded analog machine, robot, Digit Control Machine Tool, sensor and microoperation.Because the motion between each driver element of parallel institution is coupled, be that the whole output stage of parallel institution all is that moving of all driver elements is synthetic along moving of either direction, and between the motion of each driver element and the parallel institution mass motion (i.e. input and output) is non-linear relation, therefore cause parallel institution control very complicated, demarcate difficulty, also restricted the raising of equipment precision and the decline of cost simultaneously.So, how to realize the parallel institution decoupling zero, to simplify parallel institution control and to demarcate, the precision that improves equipment moving also reduces cost, and is a difficulty and be imbued with challenging problem always.
For the clear parallel institution decoupling problem of describing, at first following definition is made an explanation:
Decoupling zero: if parallel institution in the translation of certain direction or rotate the action that only depends on the driver element on this direction, and the driver element on other directions is not done the motion combination of effective action, then is referred to as the decoupling zero of parallel institution.Decoupling zero can be divided into unconditional decoupling zero, three kinds of decoupling zero and the instantaneous decoupling zeros of having ready conditions.
Unconditional decoupling zero: if parallel institution at an arbitrary position with all be decoupling zero under the attitude, then be referred to as unconditional decoupling zero or full decoupled;
The decoupling zero of having ready conditions: if parallel institution at an arbitrary position be decoupling zero under the specific initial attitude, decoupling zero or restriction decoupling zero then are referred to as to have ready conditions;
Instantaneous decoupling zero:, then be referred to as instantaneous decoupling zero or some decoupling zero under ad-hoc location and specific initial attitude if parallel institution is decoupling zero only.
So far, the inventor is more existing achievements in research aspect the parallel institution decoupling zero: for example, patent documentation " machine-tool with 6-freedom virtual axle " is (referring to Chinese invention patent, publication number is CN1261018A) reported the parallel institution decoupling zero that a position (being initial position) is located in the space, therefore and reduced the degree of coupling of complete machine, but except that initial position, other position is still coupling, so this technology belongs to instantaneous decoupling zero or some decoupling zero; Again for example, patent documentation " 3; 4; 5; 6DOF structure decoupling parallel jiggle robot " is (referring to Chinese invention patent: ZL00100198.1, ZL00100197.3, ZL00100196.5 and ZL99121020.4) and " reconfigurable modularization 3-6 free degree structure decoupling parallel jiggle robot " (referring to Chinese invention patent, publication number is CN1377757A) reported in parallel-connection decoupling progress of research situation, but these parallel institutions are only applicable to the fine motion field, reason is that its decoupling zero is to be similar to, and increasing along with working space, the degree of coupling between each driver element can corresponding thereupon increase, and this real work space that just means this parallel connection decoupling mechanism only is several microns; In other words,, must limit the fine motion operation that this parallel connection decoupling mechanism is used for certain limit, otherwise be exactly non-decoupling, so this technology still has the characteristics of instantaneous decoupling zero, also belong to instantaneous decoupling zero in essence in order to keep the approximate decoupling zero relation between the input and output.In addition, about having ready conditions and the parallel institution of unconditional decoupling zero, no matter be in grand moving field or in the fine motion field, the bibliographical information that Shang Weijian is more relevant.
Summary of the invention
At the deficiencies in the prior art, the technical problem that the present invention mainly solves provides a kind of six-freedom parallel decoupling mechanism, and it can accomplish the six degree of freedom decoupling zero of having ready conditions, and have simple in structure, control easily, the kinematic accuracy height, advantages such as working space is unrestricted, and cost is lower.
The technical scheme that the present invention solve the technical problem is: design a kind of six-freedom parallel decoupling mechanism, comprise support with three mutually orthogonal gripper shoe A, B, C, moving platform and on support three gripper shoe A, B, the C with moving platform between quadrature six identical driver elements being connected and arranging, and the quantity of arranging described driver element on each piece gripper shoe is 1-3, and is orthogonal between the driver element on the different gripper shoes.It is characterized in that described driver element comprises the track base that is connected on the sole plate supports plate, be installed in the slide unit on the track base, be connected on the track base and the driver that links to each other with slide unit one end, and the plane two degrees of freedom moving sets and the spherical hinge that on the slide unit other end, are connected successively, the other end of spherical hinge and described moving platform are connected.
Six-freedom parallel decoupling of the present invention mechanism, since unique design at sole plate supports plate A, B, be connected respectively between the last and moving platform of C and six identical driver elements of quadrature arrangement parallel to each other, when wherein arbitrarily the one or more driver elements on the gripper shoe receive control instructions and carry out driving work, driver element on other gripper shoe all only produces the corresponding transport motion or the coordinated movement of various economic factors, and can not produce coupled motions, therefore can realize the mobile decoupling of parallel institution, can accomplish that unconditional decoupling zero of Three Degree Of Freedom translation and Three Degree Of Freedom rotate the decoupling zero of having ready conditions, and realize that main purpose of the present invention solves technical problem underlying of the present invention in other words.Again because driver element of the present invention be the mechanical mechanism used always or the combination of parts substantially, therefore have simple in structure, reliable operation, control (no coupled motions or no coupled motions with good conditionsi easily, therefore only need the driver element of work is controlled or under certain condition the driver element that coupled motions are arranged controlled, do not need all to consider each driver element Synchronization Control problem all or under certain condition), the kinematic accuracy height (because of the decoupling zero degree higher), working space is unrestricted (both to be applicable to the fine motion field, also be applicable to grand moving field), advantages such as cost reduction simultaneously.
By retrieval, still do not have both at home and abroad to find and the more relevant bibliographical information of six-freedom parallel decoupling mechanism of the present invention.
Description of drawings
Fig. 1 divides equally the embodiment schematic diagram of quadrature arrangement on the sole plate supports plate for a kind of six driver elements of six-freedom parallel decoupling of the present invention mechanism;
Fig. 2 presses 1,2,3 the embodiment schematic diagram of number combinations quadrature arrangement on the sole plate supports plate for another kind of six driver elements of six-freedom parallel decoupling mechanism of the present invention;
Fig. 3 is a kind of embodiment schematic diagram of the used driver element of six-freedom parallel decoupling mechanism of the present invention.
The specific embodiment
Further narrate the present invention below in conjunction with embodiment and accompanying drawing thereof:
A kind of six-freedom parallel decoupling mechanism of the present invention design is (referring to Fig. 1,2), comprise and have three mutually orthogonal gripper shoe A, B, the support 1 of C, moving platform 2 and at 1 three gripper shoe A of support, B, C last with moving platform 2 between quadrature six identical driver elements 3 being connected and arranging, and the quantity of arranging described driver element 3 on each piece gripper shoe is 1-3, orthogonal between the driver element 3 on the different gripper shoes, it is characterized in that described driver element 3 (referring to Fig. 3) comprises the track base 34 that is connected on support 1 gripper shoe, be installed in the slide unit 33 on the track base 34, be connected on the track base 34 and the driver 35 that links to each other with slide unit 33 1 ends, and the plane two degrees of freedom moving sets 32 and the spherical hinge 31 that on slide unit 33 other ends, are connected successively, the other end of spherical hinge 31 and described moving platform 2 are connected.
Six-freedom parallel decoupling of the present invention mechanism on support 1 gripper shoe A, B, the C with moving platform 2 between altogether quadrature be connected and arrange six identical driver elements 3, so-calledly identically is meant that the planform of driver element 3 is identical.These six identical driver elements have two kinds of number combinations method quadratures to be connected to be arranged on support 1 gripper shoe A, B, the C: the feature of a kind of embodiment is that described six identical driver elements 3 are divided equally quadrature arrangement on described each piece gripper shoe, and two driver elements 3 on a gripper shoe are in (referring to Fig. 1) in the same plane.Be specifically, parallel or vertically arranged two driver elements 3 are formed one " driver element plane " on same gripper shoe, orthogonal between the driver element plane on the different gripper shoes, and also orthogonal between the driver element on different gripper shoe A, B, the C.The feature of another kind of embodiment is described six identical driver elements 3 according to one, two, three number combinations quadrature arrangement on described gripper shoe, and is in three driver elements (referring to Fig. 2) not at grade on the same gripper shoe.In this embodiment, driver element 3 is distinguished quadrature arrangement on described gripper shoe B, A, C according to one, two, three number combinations.Driver element 3 for three number combinations should be arranged according to rounded projections arranged.As a same reason, quadrature arrangement can also following design at the embodiment on the described gripper shoe respectively according to one, two, three number combinations driver element 3: promptly driver element 3 according to one, two, three number combinations respectively quadrature arrangement on described gripper shoe B, C, A; Perhaps on gripper shoe A, B, the C; Perhaps on gripper shoe A, C, the B; Perhaps on gripper shoe C, A, the B, perhaps gripper shoe C, B, A last (understand easily, do not provide schematic diagram), and other conditions are constant.
Six-freedom parallel decoupling of the present invention mechanism is further characterized in that both direction moving sets quadrature arrangement or the nonopiate layout on the described plane two degrees of freedom moving sets 32, that is to say, but both quadrature arrangement (as shown in Figure 1, 2, 3), also can nonopiately arrange (also to be angled layout, understand easily, do not provide schematic diagram).This can select as required.But consider that at moving platform 2 working spaces one regularly the quadrature arrangement of two-way moving sets can make each displacement minimum to moving sets, so the preferred quadrature arrangement of embodiment.
Now the operation principle of six-freedom parallel decoupling of the present invention mechanism is done an explanation: when any gripper shoe with embodiment shown in Figure 1, when for example two driver elements 3 on the A (or B or C) are accepted 2 work of control instruction driven in synchronism moving platform, moving platform 2 will be along driving direction, for example Y (or X or Z) is to doing translation, and drive other two gripper shoe B, C (or A, C or A, B) upward the plane two degrees of freedom moving sets 32 of driver element 3 produces the plane transport motions, and then relatively moving or the coordinated movement of various economic factors between generation moving platform 2 and these driver elements, thereby make the driven in synchronism work accept the control instruction driver element relatively move or the motion of coordinated movement of various economic factors driver element has nothing to do with these, also promptly avoided the coupling of the motion between the driver element on the different gripper shoes, realize that moving platform 2 is at X, Y, translational decoupling on three directions of Z, and be unconditional decoupling zero.
Rotate the decoupling zero situation again: suppose that the above the line of centres of spherical hinge 31 of two driver elements 3 on gripper shoe A, B, the C is respectively X
R, Z
R, Y
R, and be called three " instantaneous axis of rotation ", under attitude shown in Figure 1, (be that moving platform 2 is only done translation, do not have when rotation), for example two driver elements 3 on the A (or B or C) are by the control instruction proportional linkage for gripper shoe arbitrarily, and then moving platform 2 can produce around instantaneous axis of rotation Z
R(or Y
ROr X
R) rotation, this rotation is only relevant with a driver element 3 of accepting on control instruction driver element such as the gripper shoe A (or B or C), and irrelevant with driver element 3 motions on all the other two gripper shoes such as B, the C (or A, C or A, B), so one-directional rotation is decoupling zero.But if moving platform 2 is around arbitrary instantaneous axis of rotation Z
R(or Y
ROr X
R) after the rotation, rotate around other instantaneous axis of rotation again, then need driver element 3 interlocks on each gripper shoe A, B, the C, the no longer decoupling zero of two-way rotation of this moment.Therefore this rotation decoupling zero of having ready conditions.
With embodiment shown in Figure 2 the operation principle of six-freedom parallel decoupling of the present invention mechanism is done an explanation again: when any gripper shoe, when for example two driver elements 3 on the A (or B or C) (or a driver element 3 or three driver elements 3) are accepted 2 work of control instruction driven in synchronism moving platform, moving platform 2 will be along driving direction, for example Y (or X or Z) is to doing translation, and drive other two gripper shoe B, C (or A, C or A, B) upward the plane two degrees of freedom moving sets 32 of driver element 3 produces the plane transport motions, and then relatively moving or the coordinated movement of various economic factors between generation moving platform 2 and these driver elements, thereby make the driven in synchronism work accept the control instruction driver element relatively move or the motion of coordinated movement of various economic factors driver element has nothing to do with these, also promptly avoided the coupling of the motion between the driver element 3 on the different gripper shoes, realize that moving platform 2 is at X, Y, translational decoupling on three directions of Z, and be unconditional decoupling zero.
Rotate the decoupling zero situation again: the line of centres of supposing last two the driver element ball pivots of gripper shoe A is X
R, cross two axis Y that are parallel to Y, Z respectively of ball pivot center work that gripper shoe B goes up driver element
R, Z
R, and claim X
R, Z
R, Y
RBe three " instantaneous axis of rotation ", then under attitude shown in Figure 2, (be that moving platform 2 is only done translation, do not have when rotation) that two driver elements 3 on the gripper shoe A link in proportion, can produce moving platform 2 around Z
RThe rotation of axle, and irrelevant with the driver element 3 on gripper shoe B, the C, thereby rotation is decoupling zero; Similarly, three driver elements 3 on the gripper shoe C link in proportion, can produce moving platform 2 around Y
RAxle or Z
RThe rotation of axle, and irrelevant with the driver element 3 on gripper shoe A, the B, thereby rotation also is decoupling zero.If moving platform 2 is after arbitrary instantaneous axis of rotation rotates, rotate around other axle again, then need driver element 3 interlocks on each gripper shoe A, B, the C, the no longer decoupling zero of rotation of this moment.Therefore rotate the decoupling zero of having ready conditions.
Claims (4)
1. six-freedom parallel decoupling mechanism, comprise and have three mutually orthogonal gripper shoe A, B, the support of C (1), moving platform (2) and at (1) three gripper shoe A of support, B, C last with moving platform (2) between quadrature six identical driver elements (3) of being connected and arranging, and the quantity of arranging described driver element (3) on each piece gripper shoe is 1-3, orthogonal between the driver element (3) on the different gripper shoes, it is characterized in that described driver element (3) comprises the track base (34) that is connected on support (1) gripper shoe, be installed in the slide unit (33) on the track base (34), be connected in the driver (35) that track base (34) is gone up and linked to each other with slide unit (33) one ends, and plane two degrees of freedom moving sets (32) that on slide unit (33) other end, is connected successively and spherical hinge (31), the other end of spherical hinge (31) and described moving platform (2) are connected.
2. six-freedom parallel decoupling according to claim 1 mechanism is characterized in that both direction moving sets quadrature arrangement or nonopiate layout on the described plane two degrees of freedom moving sets (32).
3. six-freedom parallel decoupling according to claim 1 and 2 mechanism, it is characterized in that described six identical driver elements (3) divide equally quadrature arrangement on described each piece gripper shoe, and two driver elements (3) on a gripper shoe are in the same plane.
4. six-freedom parallel decoupling according to claim 1 and 2 mechanism, it is characterized in that described six identical driver elements (3) according to one, two, three number combinations quadrature arrangement on described gripper shoe, and be on the same gripper shoe three driver elements not at grade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03129994 CN1233513C (en) | 2003-06-06 | 2003-06-06 | Parallel decoupling mechanism with 6 degree of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03129994 CN1233513C (en) | 2003-06-06 | 2003-06-06 | Parallel decoupling mechanism with 6 degree of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1462673A CN1462673A (en) | 2003-12-24 |
| CN1233513C true CN1233513C (en) | 2005-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03129994 Expired - Fee Related CN1233513C (en) | 2003-06-06 | 2003-06-06 | Parallel decoupling mechanism with 6 degree of freedom |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100377847C (en) * | 2006-04-30 | 2008-04-02 | 天津大学 | Parallel mechanism having two rotational and one translational motion freedom |
| CN102109327B (en) * | 2010-11-29 | 2012-08-01 | 重庆大学 | Six-degree-of-freedom parallel decoupling mechanism |
| CN102794662B (en) * | 2012-08-10 | 2014-06-25 | 安徽工程大学 | Six-degree-of-freedom position posture full-decoupling adjustable clamp |
| DE102018127275B3 (en) * | 2018-10-31 | 2020-03-12 | Asm Assembly Systems Gmbh & Co. Kg | Component feeder and method for providing isolated components by means of vibration, placement system |
| CN110480604B (en) * | 2019-08-08 | 2022-11-01 | 中国民航大学 | Three-freedom-degree parallel mechanism with three-way guide rails |
| CN112454245B (en) * | 2020-10-10 | 2021-09-14 | 燕山大学 | Installation space coincident 2-level stroke 6-degree-of-freedom parallel posture adjusting platform |
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