CN1597244A - Six-freedom parallel mechanism used for virtual shaft digital controlled machine tool mechanical measuring machine - Google Patents
Six-freedom parallel mechanism used for virtual shaft digital controlled machine tool mechanical measuring machine Download PDFInfo
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- CN1597244A CN1597244A CN 200410041754 CN200410041754A CN1597244A CN 1597244 A CN1597244 A CN 1597244A CN 200410041754 CN200410041754 CN 200410041754 CN 200410041754 A CN200410041754 A CN 200410041754A CN 1597244 A CN1597244 A CN 1597244A
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- revolute pair
- parallel
- chain
- open
- silent flatform
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- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
A 6-ferrdom parallel mechanism used as the numerally controlled machine tool with virtual shaft and the mechanical measurer is composed of a movable platform, a static platform, two mixed links consisting of a closed-loop planar structure and an open link structure, and two simple open links comprising two structural member and a ball set. Controlling 6 drive joints on static platform can control the movable platform to do translationat and rotation 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 comprises one six bar 1,2,3,4,5,6 successively by six revolute pair R
11, R
12, R
13, R
7, R
8, R
10The planar closed-loop structure that connects and composes and one by member 7,8 by revolute pair R
6The open-chain structure that connects and composes is formed; The member 7 of open-chain structure with the member 4 of planar closed-loop structure with parallel axes in revolute pair R
6Revolute pair R
14Connect, member 8 and last moving platform 0 usefulness axis normal are in revolute pair R
6Revolute pair R
5Mechanical connection; And the member 1 and silent flatform 1 revolute pair R of planar closed-loop structure
11, R
10Mechanical attachment.Simple open chain passes through secondary S of ball by two members 9,10
4Connect to form, and member 9 and moving platform 0 secondary S of usefulness ball
3Mechanical connection, member 10 and silent flatform 1 revolute pair R
9Mechanical attachment.Therefore, there are two to connect revolute pair R on the moving platform 0
5, R
19And two secondary S of hitch ball
1, S
3, have six to connect revolute pair R on the silent flatform 1
10, R
11, R
24, R
23, R
15, R
9
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 made up of a planar closed-loop structure and an open-chain structure, and planar closed-loop structure is passed through six revolute pair R successively by one six bar 1,2,3,4,5,6
11, R
12, R
13, R
7, R
8, R
10Connect and compose, open-chain structure passes through revolute pair R by member 7,8
6Connect and compose, and the member 4 of member 7 and planar closed-loop structure with parallel axes in revolute pair R
6Revolute pair R
14Connect, member 8 and last moving platform 0 usefulness axis normal are in revolute pair R
6Revolute pair R
5Mechanical connection, and the member 2,6 of planar closed-loop structure respectively with silent flatform 1 revolute pair R
11, R
10Mechanical attachment.Simple open chain passes through secondary S of ball by two members 9,10
4Connect to form, and member 9 and moving platform 0 secondary S of usefulness ball
3Mechanical connection, member 10 and silent flatform 1 revolute pair R
9Mechanical attachment.Therefore, there are two to connect revolute pair R on the moving platform 0
5, R
19And two secondary S of hitch ball
1, S
3, have six to connect revolute pair R on the silent flatform
10, R
11, R
24, R
23, R
15, R
9, 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
10, R
11, R
24, R
23, R
15, R
9Motion, 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, the six-degree-of-freedom parallel connection mechanism that is used for virtual-axis nc machine tool, imaginary axis coordinate measuring machine and parallel robot, go up four legs of lower platform by last moving platform, following silent flatform and connection and form, it is characterized in that these four legs are two combination chain that contains planar closed-loop structure and open-chain structure and two simple open chains that structure is identical that structure is identical; The planar closed-loop structure that combination chain comprises is made of by six revolute pairs successively six members, and wherein a member is fixedlyed connected with silent flatform; Its open-chain structure is connected to form by a revolute pair by two members, and a member relative with frame is connected with the revolute pair of parallel axes in above-mentioned revolute pair in a member of open-chain structure and the planar closed-loop structure, and another member and moving platform with axis normal in the revolute pair mechanical connection of above-mentioned revolute pair; 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 200410041754 CN1597244A (en) | 2004-08-23 | 2004-08-23 | Six-freedom parallel mechanism used for virtual shaft digital controlled machine tool mechanical measuring machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410041754 CN1597244A (en) | 2004-08-23 | 2004-08-23 | Six-freedom parallel mechanism used for virtual shaft digital controlled machine tool mechanical measuring machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1597244A true CN1597244A (en) | 2005-03-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410041754 Pending CN1597244A (en) | 2004-08-23 | 2004-08-23 | Six-freedom parallel mechanism used for virtual shaft digital controlled machine tool mechanical measuring machine |
Country Status (1)
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| CN (1) | CN1597244A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227434A (en) * | 2014-06-26 | 2014-12-24 | 天津工业大学 | Two-translation-and-three-turning parallel mechanism used for virtual machine tool |
-
2004
- 2004-08-23 CN CN 200410041754 patent/CN1597244A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227434A (en) * | 2014-06-26 | 2014-12-24 | 天津工业大学 | Two-translation-and-three-turning parallel mechanism used for virtual machine tool |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |