CN1528561A - Two-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot - Google Patents
Two-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot Download PDFInfo
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- CN1528561A CN1528561A CNA2003101060158A CN200310106015A CN1528561A CN 1528561 A CN1528561 A CN 1528561A CN A2003101060158 A CNA2003101060158 A CN A2003101060158A CN 200310106015 A CN200310106015 A CN 200310106015A CN 1528561 A CN1528561 A CN 1528561A
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Abstract
The invention provides a class (3 kinds) of 5-freedom (two shifts and three rotations) parallel mechanism applied to imaginary axis machine tool, robot and so on, one of them is composed of dynamic platform, static platform and three branches. The first branch is composed of plane 5-rod loop and a spherical auxiliary connecting in series, where the 5-rod loop is composed of two moving auxiliaries and three rotary auxiliaries, the second branch 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 5 moving auxiliaries can control the two-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.
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) 5DOF (two translations three are 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) 5DOF (two translations three 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 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 2 is the parallel institution of deriving of parallel institution shown in the accompanying drawing 1.It is made up of moving platform (1), silent flatform (0) and 3 branch roads.Its 1st, the 2nd branch road is same as the 1st, the 2nd branch road of accompanying drawing 1 mechanism respectively, the 3rd two moving sets (P of route
11With P
13) and three spherical pair (S
10, S
12With S
14) 5 rods circuits the formed spherical pair (S that connects again
15) form.Article 3, the two ends member of branch road connects firmly respectively on dynamic and static two platforms.
Accompanying drawing 3 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.Its 1st, the 2nd branch road is same as the 1st, the 2nd branch road of accompanying drawing 1 mechanism respectively, the 3rd two moving sets (P of route
11With P
13) and three revolute pair (R
10, R
12, R
14) plane 5 rods circuit the formed revolute pair (R that connects again
15) and spherical pair (S
16) form, and R
15With R
12Two revolute pair axis overlap.Article 3, branch road two ends member connects firmly respectively on dynamic and static platform, and the plane, place of the 1st two plane 5 rods circuits that comprise respectively with the 3rd branch road is parallel to each other.
The present invention is a class (3 kinds) 5DOF (two translations three are rotated) methodology of novel parallel mechanism. Such mechanism has following characteristics:
(1) moving platform has two translations, three rotation outputs, and unexpected movement output is constant;
(2) motion input---output has partly decoupled, can realize partly controlling decoupling zero;
(3) kinematic analysis of mechanism can be found the solution separately each fundamental circuit successively, and each loop is the secondary 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.
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 mechanical 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 5 and drive secondary (moving sets P
2, P
4, P
8, P
11With P
13) 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 5 initiatively inputs are arranged, help avoiding the unusual position shape of mechanism.
Claims (3)
1. a 5DOF that can be used for virtual axis machine, robot and imaginary axis mechanical measuring machine etc. (two translations three are 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 two moving sets of route and the plane 5 rods circuit of three the revolute pairs compositions spherical pair of connecting again forms, article 2,, the 3rd identical with the 4th line structure, all be in series by a moving sets and two spherical pairs, the two ends member of 4 branch roads connects firmly respectively on dynamic and static two platforms.
2. require described mechanism according to right 1, its 3rd and the 4th two branch road substitute with a new branch road, newly prop up two moving sets of route and 5 rods circuits of three the spherical pairs compositions spherical pair of connecting again and form.
3. require described mechanism according to right 1, its the 3rd and the 4th two routes, one new branch road substitute, new two moving sets of route and the plane 5 rods circuit of three the revolute pairs compositions spherical pair of connecting again forms, and the place plane parallel of this 5 rods circuit is in the plane, place of the plane 5 rods circuit of the 1st branch road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310106015 CN1225343C (en) | 2003-10-08 | 2003-10-08 | Two-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310106015 CN1225343C (en) | 2003-10-08 | 2003-10-08 | Two-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1528561A true CN1528561A (en) | 2004-09-15 |
| CN1225343C CN1225343C (en) | 2005-11-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200310106015 Expired - Fee Related CN1225343C (en) | 2003-10-08 | 2003-10-08 | Two-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102581842A (en) * | 2012-03-09 | 2012-07-18 | 常州大学 | Complete analytic space parallel manipulator with three degrees of freedom |
| CN102581844A (en) * | 2012-03-09 | 2012-07-18 | 常州大学 | All-analytic decoupling parallel operation platform with six degrees of freedom |
| CN102825597A (en) * | 2012-09-19 | 2012-12-19 | 常州大学 | Three-rotation parallel-connection motion device with positive solution of position analysis |
| CN103472852A (en) * | 2013-09-10 | 2013-12-25 | 常州大学 | Two-degree-of-freedom two-rotation parallel mechanism |
| CN103753234A (en) * | 2014-01-03 | 2014-04-30 | 清华大学 | Novel multi-axis linkage device |
| CN105643601A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Three-translation and one-rotation parallel robot platform of low-coupling-degree three-kinematic-pair movable platform |
| CN107901026A (en) * | 2017-11-07 | 2018-04-13 | 燕山大学 | A kind of two turn of one motion three-freedom-degree parallel mechanism based on the output of few input array |
| CN109278024A (en) * | 2018-10-26 | 2019-01-29 | 昆明理工大学 | A kind of parallel institution of two-dimensional movement Three dimensional rotation |
-
2003
- 2003-10-08 CN CN 200310106015 patent/CN1225343C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102581842A (en) * | 2012-03-09 | 2012-07-18 | 常州大学 | Complete analytic space parallel manipulator with three degrees of freedom |
| CN102581844A (en) * | 2012-03-09 | 2012-07-18 | 常州大学 | All-analytic decoupling parallel operation platform with six degrees of freedom |
| CN102825597A (en) * | 2012-09-19 | 2012-12-19 | 常州大学 | Three-rotation parallel-connection motion device with positive solution of position analysis |
| CN103472852A (en) * | 2013-09-10 | 2013-12-25 | 常州大学 | Two-degree-of-freedom two-rotation parallel mechanism |
| CN103753234A (en) * | 2014-01-03 | 2014-04-30 | 清华大学 | Novel multi-axis linkage device |
| CN105643601A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Three-translation and one-rotation parallel robot platform of low-coupling-degree three-kinematic-pair movable platform |
| CN105643601B (en) * | 2016-03-12 | 2017-11-17 | 常州大学 | A kind of three one rotating parallel device people's platforms of translation of the kinematic pair moving platform of weak coupling three |
| CN107901026A (en) * | 2017-11-07 | 2018-04-13 | 燕山大学 | A kind of two turn of one motion three-freedom-degree parallel mechanism based on the output of few input array |
| CN109278024A (en) * | 2018-10-26 | 2019-01-29 | 昆明理工大学 | A kind of parallel institution of two-dimensional movement Three dimensional rotation |
| CN109278024B (en) * | 2018-10-26 | 2023-09-15 | 昆明理工大学 | Parallel mechanism capable of moving in two dimensions and rotating in three dimensions |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1225343C (en) | 2005-11-02 |
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