CN1597243A - Six-freedom parallel mechanism used for mechanical measuring machine and virtual shaft digital controlled machine tool - Google Patents
Six-freedom parallel mechanism used for mechanical measuring machine and virtual shaft digital controlled machine tool Download PDFInfo
- Publication number
- CN1597243A CN1597243A CN 200410041753 CN200410041753A CN1597243A CN 1597243 A CN1597243 A CN 1597243A CN 200410041753 CN200410041753 CN 200410041753 CN 200410041753 A CN200410041753 A CN 200410041753A CN 1597243 A CN1597243 A CN 1597243A
- Authority
- CN
- China
- Prior art keywords
- connection
- silent flatform
- ball
- platform
- parallel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
- Machine Tool Units (AREA)
- Numerical Control (AREA)
Abstract
A 6-freedom parallel mechansm used as mechanical measurer and numerally controlled machine-tool with virtual shaft is composed of a movable platform, a static platform, two mixed links and two simple open links. The space closed structure contained by mixed link consisting of two ball set-ball set-rotator set branch links. Said simple open link consists of two structural members and a ball set. Controlling the 6 joints on static platform can control the movable platform to do 3D movement.
Description
Technical field
The present invention relates to the topworks of lathe, robot, coordinate measuring machine and multi-degree-of-freedom motion platform, specifically virtual-axis nc machine tool, imaginary axis parallel coordinate measuring machine and the parallel robot for parallel-connection structure provides a kind of novel six-degree-of-freedom parallel connection mechanism.
Background technology
The parallel-connection structure numerically-controlled machine 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, China, the parallel institution that is adopted mostly is traditional Stewart mechanism or its improved mechanism greatly, they mainly are made up of pedestal, motion platform and connecting rod, the connecting rod two ends are respectively ball pair and universal joint, by controlling the length of 6 connecting rods, change the position of cutter in the space.Stewart mechanism and improved mechanism thereof have following shortcoming: 1. forward kinematics solution is found the solution difficulty; 2. the position of motion platform and direction are strong coupling; 3. space is less; 4. make the secondary difficulty of high-precise ball.Based on above-mentioned situation, Tsai proposes virtual-axis nc machine tool with two parallel institutions: lower platform is a parallel 2 D translation mechanism, and upper mounting plate is Three dimensional rotation parallel institution (US Patent, Tsai, Patent Nember:5656905,1997).Its principal feature is that forward kinematics solution is 8 times; Position and direction decoupling zero; Compare with Stewart mechanism, work space is bigger; Form parallel institution by revolute pair fully, compare easy manufacturing with spherical pair.The imaginary axis coordinate measuring machine of parallel-connection structure, it also is a major progress on the scientific measurement instrument in recent years, compare with the measuring machine of traditional cascaded structure, the parallel-connection structure coordinate measuring machine has uniquenesses such as structural rigidity is big, movement velocity is high, error does not superpose, and performances such as measuring accuracy and efficiency of measurement are greatly improved.At present, existing ripe relatively parallel coordinate measuring machine structure has 6-SPS 6-RSS and 3-RPS etc.For 6-SPS and 6-RSS mechanism, because its movable platform has 6 spatial degrees of freedom with respect to based platform, thereby the spatial pose of its end effector is more flexible, but because the structure of this mechanism is relatively complicated, space constraint is less, causes the difficulty of finding the solution of its end effector.
Owing to all contain more spherical pair in above-mentioned several structures, so its manufacturing and assembling are all complicated.
In sum, the development of imaginary axis numerically-controlled machine and coordinate measuring machine, robot and practicability need create the new architecture that is better than existing mechanism.
Summary of the invention
The present invention seeks to overcome the shortcoming of prior art, a kind of new six-degree-of-freedom parallel connection mechanism be provided, be characterized in:
1. mechanism's moving platform can be realized six degree of freedom (three translations and three rotations) motion output.
2. motion input-output has partly decoupled, can simplify the control problem of virtual-shaft machine tool and robot system; Also can reduce widely in the difficulty of setting up aspects such as imaginary axis measuring machine measurement model in parallel, measurement update and compensation model.
3. all CD-ROM drive motor all on silent flatform, can reduce the motion of mechanism load, improve dynamic performance.
In a word, the present invention helps its exploitation and practicability for virtual-axis nc machine tool, parallel coordinate measuring machine and robot, amusement platform etc. provides the new architecture with These characteristics.
Description of drawings:
Below by accompanying drawing and example technology of the present invention is given to illustrate further.
Accompanying drawing 1 is the structural representation of six-degree-of-freedom parallel connection mechanism of the present invention, and it is by last moving platform 0, following silent flatform 1 and connect the identical combination chain of two structures the going up lower platform simple open chain identical with two structures and form.Combination chain is the closed circuit structure in a space, by two ball pair-ball pair-rotation paratype side chain S that comprise two members 2,3 or 4,5 respectively
8-S
9-R
13Or S
8-S
10-R
12Form two secondary S of circumsphere of two side chains
8After the movable connection of the centre of sphere, constitute compound spherical joint S with moving platform 0 again altogether
8Connect, and its external revolute pair R
13, R
12Respectively with silent flatform 1 mechanical connection.And simple open chain passes through secondary S of ball by two members 6,7
2Connect to form, and member 6 and moving platform 0 secondary S of usefulness ball
1Mechanical connection, member 7 and silent flatform 1 revolute pair R
11Mechanical attachment.Therefore, there are two to connect spherical pair S on the moving platform 0
1, S
3And two secondary S of composite sphere
8, S
5, have six to connect revolute pair R on the silent flatform 1
13, R
16, R
15, R
14, R
11, R
12
Embodiment
Parallel institution shown in the accompanying drawing 1 can be one embodiment of the present of invention, and it is by last moving platform 0, following silent flatform 1 and connect the identical combination chain of two structures the going up lower platform simple open chain identical with two structures and form.Combination chain is the closed circuit structure in a space, by two ball pair-ball pair-rotation paratype side chain S that comprise two members 2,3 or 4,5 respectively
8-S
9-R
13Or S
8-S
10-R
12Form two secondary S of circumsphere of two side chains
8After the movable connection of the centre of sphere, constitute compound spherical joint S with moving platform 0 again altogether
8Connect, and its external revolute pair R
13, R
12Respectively with silent flatform 1 mechanical connection; And simple open chain passes through secondary S of ball by two members 6,7
2Connect to form, and member 6 and moving platform 0 secondary S of usefulness ball
1Mechanical connection, member 7 and silent flatform 1 revolute pair R
11Mechanical attachment.Therefore, two secondary S of hitch ball are arranged on the moving platform 0
1, S
3And two compound spherical joint S
8, S
5, have six to connect revolute pair R on the silent flatform 1
13, R
16, R
15, R
14, R
11, R
12, but six revolute pairs on the silent flatform can replace with six moving sets.
When all bar linkage structure dimensional parameters and one timing of the distributing position on dynamic and static platform thereof, six drive joint R on the control silent flatform 1
13, R
16, R
15, R
14, R
11, R
12Motion, with regard to general position and the attitude of controllable brake platform 0, realize the output of D translation and Three dimensional rotation in the space.The structural design of this kind parallel institution and drive controlling etc. all routinely mechanical ﹠ electrical technology carry out design and installation, as mounting cutter on moving platform or probe, this parallel institution promptly can be as the topworks of the virtual-axis nc machine tool and the imaginary axis parallel coordinate measuring machine of parallel-connection structure.
Claims (2)
1,, goes up the identical combination chain that contains the closed circuit structure in space and two simple open chains that structure is identical of two structures of lower platform by last moving platform, following silent flatform and connection as the six-degree-of-freedom parallel connection mechanism of virtual-axis nc machine tool, imaginary axis coordinate measuring machine and parallel robot; It is characterized in that the closed circuit structure in space that combination chain comprises is made up of two ball pair-ball pair-rotation paratype side chains that comprise two members respectively, article two, the secondary centre of sphere altogether of two circumspheres of side chain is after movable the connection, constitute compound spherical joint with moving platform again and be connected, its external revolute pair respectively with the silent flatform mechanical connection; And simple open chain is connected to form by a ball pair by two members, and one component and silent flatform revolute pair mechanical connection, another member and moving platform are also used the secondary mechanical connection of a ball.
2,, it is characterized in that six revolute pairs on the silent flatform can replace with six moving sets according to the described parallel-connection structure of claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410041753 CN1597243A (en) | 2004-08-23 | 2004-08-23 | Six-freedom parallel mechanism used for mechanical measuring machine and virtual shaft digital controlled machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410041753 CN1597243A (en) | 2004-08-23 | 2004-08-23 | Six-freedom parallel mechanism used for mechanical measuring machine and virtual shaft digital controlled machine tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1597243A true CN1597243A (en) | 2005-03-23 |
Family
ID=34665238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410041753 Pending CN1597243A (en) | 2004-08-23 | 2004-08-23 | Six-freedom parallel mechanism used for mechanical measuring machine and virtual shaft digital controlled machine tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1597243A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699906A (en) * | 2012-03-09 | 2012-10-03 | 常州视觉龙机电设备有限公司 | Partial decoupling full resolution six-degree-of-freedom parallel operation platform |
| CN103753234A (en) * | 2014-01-03 | 2014-04-30 | 清华大学 | Novel multi-axis linkage device |
| CN108858142A (en) * | 2018-06-30 | 2018-11-23 | 郑州大学 | Five-freedom parallel device people |
| CN109857250A (en) * | 2019-01-10 | 2019-06-07 | 安徽师范大学 | Device for force feedback under a kind of reality environment |
-
2004
- 2004-08-23 CN CN 200410041753 patent/CN1597243A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699906A (en) * | 2012-03-09 | 2012-10-03 | 常州视觉龙机电设备有限公司 | Partial decoupling full resolution six-degree-of-freedom parallel operation platform |
| CN103753234A (en) * | 2014-01-03 | 2014-04-30 | 清华大学 | Novel multi-axis linkage device |
| CN108858142A (en) * | 2018-06-30 | 2018-11-23 | 郑州大学 | Five-freedom parallel device people |
| CN109857250A (en) * | 2019-01-10 | 2019-06-07 | 安徽师范大学 | Device for force feedback under a kind of reality environment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1219627C (en) | Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine | |
| CN1651188A (en) | Bitranslation one rotation virtual axis digital controlled machine tool and parallel connected robot mechanism | |
| WO2005009693A1 (en) | Parallel kinematics mechanism with a concentric spherical joint | |
| CN101767335A (en) | Twin-translation-rotation partial decoupling parallel mechanism | |
| CN1528568A (en) | Three-translation-one-rotation parallel mechanism for imaginary axis machine tool and robot | |
| CN101214647A (en) | Spherical surface two-freedom symmetrical parallel connection robot mechanism with redundancy drive | |
| CN100374244C (en) | Three dimensional translation parallel connection mechanism used for robot operation | |
| CN1255245C (en) | Parallel mechanisms for imaginary axis machine tool, measurer, etc. | |
| CN102476288A (en) | Special six-freedom-degree parallel mechanism | |
| CN106671062A (en) | Three-translation one-rotation four-degree-of-freedom parallel mechanism | |
| CN1304820A (en) | 3D parallel translation mechanism for virtual-axle machine tool and robot | |
| CN1597243A (en) | Six-freedom parallel mechanism used for mechanical measuring machine and virtual shaft digital controlled machine tool | |
| CN201073733Y (en) | 6-DOF parallel mechanism used for mechanic measuring machine and virtual axis NC machine tool | |
| CN1193862C (en) | Parallel mechanism with six degrees of freedom applicable to virtual axles numerically-controlled machine and mechanical measuring machine | |
| CN200960608Y (en) | Six freedom degree parallel mechanism used as dummy shaft digital control machine tool and machinery measuring machine | |
| CN1586805A (en) | Two translation-rotary parallel connection mechanism for imaginary axis digital control machine tool and robot | |
| CN1225343C (en) | Two-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot | |
| CN1188246C (en) | Two-translation and one-rotation parallel mechanismsfor virtual axis machine tools, robot, etc. | |
| CN1597244A (en) | Six-freedom parallel mechanism used for virtual shaft digital controlled machine tool mechanical measuring machine | |
| CN102476294A (en) | Special three-degree-of-freedom two-translation and one-rotation parallel mechanism | |
| CN1106912C (en) | Parallel 2D translation mechanism for numerally controlled machine-tool with virtual axle and coordinate measuring machine | |
| CN1189289C (en) | Three-dimensional translational parallel mechanism for virtual axle coordinate measuring machine and carving machine | |
| CN1307951A (en) | Three-dimensional translation parallel mechanism for virtual-axis numerically controlled machine tool and coordinate measuring machine | |
| CN1544201A (en) | Parallel mechanism with six degrees of freedom used for virtual shaft numerical control machine tool and parallel robot | |
| CN1204998C (en) | Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |