CN1528560A - One-translation-three-rotation parallel mechanism for imaginary axis machine tool and measuring machine - Google Patents
One-translation-three-rotation parallel mechanism for imaginary axis machine tool and measuring machine Download PDFInfo
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- CN1528560A CN1528560A CNA2003101060143A CN200310106014A CN1528560A CN 1528560 A CN1528560 A CN 1528560A CN A2003101060143 A CNA2003101060143 A CN A2003101060143A CN 200310106014 A CN200310106014 A CN 200310106014A CN 1528560 A CN1528560 A CN 1528560A
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Abstract
The invention provides a class (3 kinds) of 4-freedom (one shift and three rotations) parallel mechanism applied to imaginary axis machine tool, measurer and so on, one of them is composed of dynamic platform, static platform and three branches. The first branch is composed of a moving auxiliary and a spherical auxiliary connecting in series, the second one is composed of a moving auxiliary and two spherical auxiliaries connecting in series and the third one is composed of 5-rod loop and a spherical auxiliary connecting in series, where the 5-rod loop is composed of two moving auxiliaries and three spherical auxiliaries. Two end components of each branch are stationarily linked to the dynamic and static platforms, respectively. To drive 4 moving auxiliaries can control the one-shift three-rotation output of the platform. It has undesired motion output constant, the motion -input and -output partial control decoupling, and kinematic analysis can independently find the solution of three basic loops in turn. It can act as the executive mechanism of imaginary axis machine tool, imaginary axis mechanical measurer, etc.
Description
Technical field
The present invention relates to the executing agency of a class lathe, robot and coordinate measuring machine etc., specifically, be to provide a class (3 kinds) 4DOF (translation three is rotated) novel parallel institution for parallel-connection structure virtual axis machine, parallel robot and imaginary axis coordinate measuring machine 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 (as the related lathe of the Variax type of U.S. Giddings andLewis company) 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.
The imaginary axis coordinate measuring machine of parallel institution, it also is a major progress of measuring machine in recent years, the measuring machine that belongs to cascaded structure with tradition is compared, and has characteristics such as rigidity is big, movement velocity is high, error does not superpose, and can make certainty of measurement and measurement efficient etc. that bigger improvement is arranged.Present existing parallel institution measuring machine adopts Stewart mechanism (as KNM-750 type 3 coordinate measuring machines of Russian Lapic company) more.Its moving platform has 6 spatial degrees of freedom with respect to based platform, but structure is relatively complicated, and the end effector pose is found the solution difficulty.
In a word, the development and the practicability of virtual axis machine, imaginary axis measuring machine and robot etc. need create the new architecture that is better than existing mechanism.
Summary of the invention
The object of the invention provides a class (3 kinds) 4DOF (translation three is rotated) parallel institution.That this mechanism has is simple in structure, working space is big, be convenient to advantages such as manufacturing, installation.Particularly can realize controlling decoupling zero and forward kinematics solution is comparatively simple, significantly simplify the control of parallel-connection structure virtual axis machine and robot system and the complexity of trajectory planning.For virtual axis machine, imaginary axis measuring machine, robot, fine motion operator etc. provide new architecture, for its exploitation provides possibility with practicability.
Description of drawings
Accompanying drawing 1 is a schematic diagram of mechanism of the present invention.It is made up of incomplete 4 the identical branch roads of moving platform (1), silent flatform (0) and structure.Article 1, prop up moving sets (P of route
1) and a spherical pair (S
2) be in series; Article 2, prop up moving sets (P of route
4) and two spherical pair (S
3With S
5) be in series; Article 3, prop up moving sets (P of route
7) and two spherical pair (S
6With S
8) be in series the 4th moving sets (P of route
10) and two spherical pair (S
9With S
11) be in series.All branch roads two ends object connects firmly respectively at dynamic and static platform.
Accompanying drawing 2 is the parallel institution of deriving of parallel institution shown in the accompanying drawing 1.It is made up of incomplete 3 the identical branch roads of moving platform 1, silent flatform (0) and structure.Article 1, prop up route one moving sets (P
1) and a spherical pair (S
2) be in series; Article 2, prop up route one moving sets (P
4) and two spherical pair (S
3With S
5) be in series; Article 3, prop up two moving sets (P of route
7With P
9) and three spherical pair (S
6, S
8With S
10) 5 rods circuits the formed spherical pair (S that connects again
11) form.All branch roads two ends member connects firmly respectively on dynamic and static platform: spherical pair S
2, S
3, and S
11Be positioned at moving platform (1), spherical pair (S
5, S
6With S
10) and moving sets (P
1) be positioned at silent flatform.
Accompanying drawing 3 should be an a kind of translation three one-rotation parallel mechanisms.It is made up of moving platform (1), 4 branch roads that silent flatform (0) is identical with structure.Article 1, prop up moving sets (P of route
2) and four revolute pair (R
1, R
3, R
4With R
5) be in series, and P
2Two revolute pair (the R that are parallel to each other perpendicular to axis
1With R
3), other is two revolute pair (R
4With R
5) axes intersect is in a bit; Similarly, to the 2nd branch road, moving sets (P
7) the two revolute pair (R that are parallel to each other perpendicular to axis
6With R
8), other is two revolute pair (R
9With R
10) axes intersect is in a bit; To the 3rd branch road, moving sets (P
12) the two revolute pair (R that are parallel to each other perpendicular to axis
11With R
13), other is two revolute pair (R
14With R
15) axes intersect is in a bit; To the 4th branch road, moving sets (P
17) the two revolute pair (R that are parallel to each other perpendicular to axis
16With R
18), other is two revolute pair (R
19With R
20) axes intersect is in a bit.Article 4, the connect firmly mode of branch road two ends member between dynamic and static platform: 4 groups of axis of 4 branch roads meet at 8 the revolute pair (R of a bit
4, R
5, R
9, R
10, R
14, R
15, R
19With R
20) axis meet at same point; Article 1, the revolute pair (R of branch road
1) axis is parallel to the revolute pair (R of the 4th branch road
16) axis; Article 2, the revolute pair (R of branch road
6) axis is parallel to the revolute pair (R of the 3rd branch road
11) axis.
The present invention is a class 4DOF (translation three is rotated) methodology of novel parallel mechanism. Such mechanism has following characteristics:
(1) mechanism's moving platform has a translation three rotation outputs, and unexpected movement output is constant;
(2) accompanying drawing 1 can realize partly controlling decoupling zero with the input of accompanying drawing 2 motion of mechanism---output has partly decoupled;
(3) kinematics analysis of parallel institution shown in the accompanying drawing 2 can be found the solution separately three fundamental circuits successively, is better simply analytic expression, helps realizing the real-time control and online, the off-line motion planning of robot;
(4) mechanism structure is simple, working space is bigger.
(5) parallel institution shown in the accompanying drawing 2 has been avoided the manufacturing difficulty of double spherical pair.
In a word, the present invention is virtual axis machine, robot, imaginary axis measuring machine, 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, measuring machine, fine motion operator.
The specific embodiment
Parallel institution shown in the accompanying drawing 2 can be considered the embodiment that the present invention is used for imaginary axis measuring machine, accompanying drawing 2 explanations as described above of its concrete structure.On moving platform (1), install and measure head (A).After each member scale parameter of mechanism is determined, control 4 and drive secondary (moving sets P
1, P
4, P
7With P
9) input motion, with regard to the three-dimensional coordinate of the gage outfit (A) on the controllable brake platform (1), promptly can be the executing agency of imaginary axis mechanical measuring machine.Because of 4 initiatively inputs are arranged, help avoiding the unusual position shape of mechanism.
Claims (3)
1. a 4DOF that can be used for virtual axis machine, robot and imaginary axis mechanical measuring machine etc. (translation three is rotated) parallel institution, its composition comprises dynamic and static platform and is connected in 4 branch roads between the dynamic and static platform: the 1st route one moving sets and a spherical pair are in series, article 2,, the 3rd be in series by a moving sets and two spherical pairs all respectively with the 4th branch road, 4 branch road two ends members connect firmly respectively on dynamic and static platform.
2. require described parallel institution according to right 1, the 3rd and the 4 two branch road substitute with a new branch road, newly prop up 5 rods circuits that route two moving sets and three spherical pairs the form spherical pair of connecting again and form.
3. require described parallel institution according to right 1, article 1,, article 2,, article 3, substitute with the identical new branch road of structure respectively with the 4th branch road, new moving sets of route and 4 revolute pairs are in series, and two revolute pairs that moving sets is parallel to each other perpendicular to axis, two revolute pair axis intersect at a point in addition, article 4, branch road is moving, configuration mode between quiet two platforms: 4 groups of axes intersect of 4 branch roads should meet at same point in 8 the revolute pair axis of a bit, article 4, branch road divides two groups, and 4 revolute pair axis that 2 groups of axis of every group of 2 branch roads are parallel to each other should be parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310106014 CN1246120C (en) | 2003-10-08 | 2003-10-08 | One-translation-three-rotation parallel mechanism for imaginary axis machine tool and measuring machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310106014 CN1246120C (en) | 2003-10-08 | 2003-10-08 | One-translation-three-rotation parallel mechanism for imaginary axis machine tool and measuring machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1528560A true CN1528560A (en) | 2004-09-15 |
| CN1246120C CN1246120C (en) | 2006-03-22 |
Family
ID=34304370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200310106014 Expired - Fee Related CN1246120C (en) | 2003-10-08 | 2003-10-08 | One-translation-three-rotation parallel mechanism for imaginary axis machine tool and measuring machine |
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| Country | Link |
|---|---|
| CN (1) | CN1246120C (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100366400C (en) * | 2005-06-21 | 2008-02-06 | 南京航空航天大学 | Flexible rope driven three and four degree of freedom decoupling parallel mechanism |
| CN103386682A (en) * | 2013-08-06 | 2013-11-13 | 常州大学 | Two-input one-translation three-rotation output parallel-connection movement mechanism |
| CN114559422A (en) * | 2022-04-24 | 2022-05-31 | 西安德普赛科计量设备有限责任公司 | Completely-decoupled 3R1T parallel mechanism |
-
2003
- 2003-10-08 CN CN 200310106014 patent/CN1246120C/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100366400C (en) * | 2005-06-21 | 2008-02-06 | 南京航空航天大学 | Flexible rope driven three and four degree of freedom decoupling parallel mechanism |
| CN103386682A (en) * | 2013-08-06 | 2013-11-13 | 常州大学 | Two-input one-translation three-rotation output parallel-connection movement mechanism |
| CN103386682B (en) * | 2013-08-06 | 2015-08-12 | 常州大学 | Output-parallel motion is rotated in a kind of two input one translations three |
| CN114559422A (en) * | 2022-04-24 | 2022-05-31 | 西安德普赛科计量设备有限责任公司 | Completely-decoupled 3R1T parallel mechanism |
| CN114559422B (en) * | 2022-04-24 | 2022-07-29 | 西安德普赛科计量设备有限责任公司 | Completely-decoupled 3R1T parallel mechanism |
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| Publication number | Publication date |
|---|---|
| CN1246120C (en) | 2006-03-22 |
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