DE102004058450A1 - Movement device has powered axle arranged per serially parallel kinematic element whereby lower part of each element has guiding device firmly attached for linear thrust elements - Google Patents
Movement device has powered axle arranged per serially parallel kinematic element whereby lower part of each element has guiding device firmly attached for linear thrust elements Download PDFInfo
- Publication number
- DE102004058450A1 DE102004058450A1 DE102004058450A DE102004058450A DE102004058450A1 DE 102004058450 A1 DE102004058450 A1 DE 102004058450A1 DE 102004058450 A DE102004058450 A DE 102004058450A DE 102004058450 A DE102004058450 A DE 102004058450A DE 102004058450 A1 DE102004058450 A1 DE 102004058450A1
- Authority
- DE
- Germany
- Prior art keywords
- elements
- movement
- parallel structure
- kinematics
- movement device
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
- B08B9/045—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes the cleaning devices being rotated while moved, e.g. flexible rotating shaft or "snake"
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1625—Truss-manipulator for snake-like motion
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
Description
Die
Erfindung betrifft eine Bewegungsstruktur bestehend aus einer seriellen
Kombination von Parallel-Kinematiken mit mindestens einer angetriebenen
Achse pro Parallel-Kinematik-Element.
Jedes Parallel-Kinematik-Element besteht aus einem Unterteil mit
darauf fest angeordneten Führungselementen
für die
aktiven linearen Schubelemente und einem Oberteil, welches zum einen
die Verbindung zu dem nächsten
Parallel-Kinematik-Element herstellt und andererseits die Führung für 3 Bewegungselemente
bildet, die durch einen Kopplungsmechanismus mit den linearen Schubelementen
derart verbunden sind, daß eine
lineare Verschiebung der Schubelemente eine Positions- und Orientierungsänderung
des Oberteils gegenüber
dem Unterteil in maximal 3 Freiheitsgraden (f=3, d.h. zwei Rotationen und
eine Translation) pro Parallel-Kinematik-Element ermöglicht.
Durch serielle Aneinanderreihung von mehreren dieser Parallel-Kinematik-Elemente
lassen sich Bewegungsvorrichtungen mit einer beliebigen Anzahl von
Freiheitsgraden erzeugen. (
Bewegungsvorrichtungen mit mehreren Freiheitsgraden, allgemein unter der Bezeichnung Roboter bekannt, sind heute in den vielfältigsten Strukturen im Einsatz. Bekannte rein serielle Strukturen stellen kartesische Roboter, Scara-Roboter und Knickarm-Roboter dar. Parallele Strukturen wie Hexapoden, Systeme wie die Flexpicker-Roboter von ABB und Tripoden-Strukturen wie der ABB IRB940 bilden den heutigen Stand der Technik.movers with several degrees of freedom, generally called robots known today are in the most diverse Structures in use. Known purely serial structures Cartesian robots, Scara robots and articulated robots. Parallel Structures like hexapods, systems like the flexpicker robot of ABB and tripod structures like the ABB IRB940 form the state of the art.
Basierend auf diesen Systemen werden auch die kinematischen Ketten für die Lauf- und Greifsysteme von mobilen Robotern gebildet.Based on these systems, the kinematic chains for the running and gripping systems formed by mobile robots.
Nachteil dieser Lösungen ist entweder ein ungünstiges Verhältnis zwischen bewegter Gesamtmasse und Nutzlast und/oder ein ungünstiges Verhältnis zwischen Arbeitsraum und Bewegungsraum und/oder ein ungünstiges Verhältnis zwischen Bauraum der Gelenke und möglichen Freiheitsgraden. Das ungünstige Verhältnis zwischen Gesamtmasse und Nutzlast tritt insbesondere bei seriellen Strukturen auf, da jedes Gelenk j die Masse aller nachfolgenden Gelenke (j + 1) + .. + (j + n) mitbewegen muß. Das ungünstige Verhältnis zwischen Arbeitsraum und Bauraum ist insbesondere bei Parallelstrukturen zu beobachten, wo durch das Reservieren von Bewegungsraum für die Gelenkstrukturen wertvoller Bauraum für die Applikation verloren geht. Das ungünstige Verhältnis zwischen Bauraum und der Anzahl der Freiheitsgrade ist besonders bei seriellen Strukturen zu beobachten, da jeder zusätzliche Freiheitsgrad ein zusätzliches Gelenk benötigt. Nachteil aller bekannten Tripoden-Strukturen ist die Notwendigkeit, die Antriebselemente um mindestens eine Achse kippbar zu gestalten.disadvantage of these solutions is either an unfavorable one relationship between moving mass and payload and / or unfavorable relationship between working space and movement space and / or unfavorable relationship between space of the joints and possible degrees of freedom. The unfavorable relationship between total mass and payload occurs especially in serial Structures on, since each joint j the mass of all subsequent Joints (j + 1) + .. + (j + n) must move. The unfavorable relationship between working space and Space is particularly observed in parallel structures, where by reserving space of movement for the hinge structures more valuable Space for the application is lost. The unfavorable relationship between space and the number of degrees of freedom is especially good for serial structures watch as each extra Degree of freedom an additional Joint needed. Disadvantage of all known tripod structures is the need to Drive elements to make at least one axis tiltable.
Alle bisher bekannten Strukturen sind aufgrund der unterschiedlichen Gelenkausprägungen und/oder der hohen Anzahl einzelner Gelenkelemente in ihrer Herstellung nur schwer automatisierbar und werden fast ausschließlich in manufakturähnlichen Fertigungen unter hohen Kosten hergestellt.All hitherto known structures are due to the different Joint characteristics and / or the high number of individual joint elements in their production only difficult to automate and are almost exclusively in manufakturähnlichen Produced at a high cost.
Der Erfindung liegt die Aufgabe zugrunde, eine Bewegungsvorrichtung zu erschaffen, welche die Vorteile der Parallelstruktur hinsichtlich Anzahl der Freiheitsgrade pro Strukturelement und hinsichtlich dem günstigen Nutzlast/Gesamtmasse-Verhältnis übernimmt, den Nachteil in Bezug auf Bauraum zu Arbeitsbereich ausgleicht und mit einem hohen Automatisierungsgrad hergestellt werden kann.Of the Invention is based on the object, a movement device to create the advantages of the parallel structure Number of degrees of freedom per structural element and in terms of Great Payload / total mass ratio takes over, compensates the disadvantage in terms of space to work area and can be produced with a high degree of automation.
Die Aufgabe wird erfindungsgemäß dadurch gelöst, daß
- – mindestens 2 dreiachsige Parallel-Kinematik-Elemente seriell nacheinander angeordnet werden
- – die aktiv bewegten Achsen jedes Parallel-Kinematik-Elementes eine reine Linearbewegung ausführen, wobei der Richtungsvektor der Linearbewegung in einem konstanten Winkel zu dem Unterteil steht
- – die Endpunkte der bewegten Achsen ein Dreieck aufspannen, in welchem 3 Führungselemente derart angeordnet sind, daß sich ihre Bewegungsachsen in einem ausgezeichneten Punkt des Dreiecks und/oder ausgezeichneten Normalenvektor der Dreiecksebene unter einem immer konstanten Winkel schneiden
- – eine Bewegung des Oberteils zum festen Unterteil mit maximal 3 Freiheitsgraden pro Gelenk erfolgt (zwei rotatorische und ein translatorischer Freiheitsgrad)
- – die rotatorische Bewegung über ein Verkippen des Oberteils, bedingt durch unterschiedliche Abstände der Endpunkte der bewegten Linearachsen zu dem festen Unterteil, erfolgt
- – die translatorische Bewegung durch gleichzeitige Verschiebung aller drei bewegten Linearachsen erfolgt
- – die Kopplungsmechanismen zwischen den bewegten Achsen und innerhalb der Führungselemente immer 4 Freiheitsgrade aufweisen
- – durch eine Fixierung von einzelnen Linearachsen eine Einschränkung der Freiheitsgrade des Parallel-Kinematik-Elementes möglich ist, um eine Minimierung der Anzahl der aktiven Elemente zu erzielen
- – durch das mögliche Zusammen- und Auseinanderziehen der gesamten Struktur (Bewegung in z-Richtung) eine optimale Ausnutzung und Anpassung des Arbeitsraumes möglich wird
- – das Oberteil des vorhergehenden Gelenks und das Unterteil des nachfolgenden Gelenks eine mechanische Einheit bilden können
- - At least two triaxial parallel kinematics elements are arranged serially one after the other
- - The actively moved axes of each parallel kinematics element perform a pure linear motion, wherein the direction vector of the linear movement is at a constant angle to the lower part
- - The end points of the moving axes span a triangle in which 3 guide elements are arranged such that intersect their axes of movement in an excellent point of the triangle and / or excellent normal vector of the triangular plane at an always constant angle
- A movement of the upper part to the fixed lower part takes place with a maximum of 3 degrees of freedom per joint (two rotational and one translational degree of freedom)
- - The rotational movement via a tilting of the upper part, due to different distances between the end points of the moving linear axes to the fixed base, takes place
- - The translational movement by simultaneous displacement of all three moving linear axes takes place
- - Have the coupling mechanisms between the moving axes and within the guide elements always 4 degrees of freedom
- - By fixing individual linear axes, a restriction of the degrees of freedom of the parallel kinematics element is possible in order to achieve a minimization of the number of active elements
- - By the possible merging and pulling apart of the entire structure (movement in the z direction) optimal utilization and to Adjustment of the work space is possible
- - The upper part of the previous joint and the lower part of the subsequent joint can form a mechanical unit
Die zweckmäßige Ausführung der erfindungsgemäßen Lösung ermöglicht:
- – den Ersatz von kartesischen, Scara- und Knickarm-Robotern durch eine einheitliche Bewegungsvorrichtung, welche die Nachteile der einzelnen Systeme beseitigt und die deren Vorteile übernimmt
- – die einfache und hochautomatisierte Fertigung der Parallel-Kinematik-Elemente, da sie eine hohe Anzahl von Gleichteilen aufweisen und drei Antriebssysteme und damit drei Freiheitsgrade in einem Bauteil in einem Arbeitsschritt produziert werden können
- – die Nutzung von Linearachsen, Linearmotoren, Shaft-Motoren und Zugankern für die Ausführung der aktiven Linear-Bewegung
- – den Einsatz der Bewegungseinrichtung als Basisstruktur für die Bewegungselemente von Laufrobotern und sonstigen mobilen Robotersystemen
- - The replacement of Cartesian, Scara- and articulated arm robots by a single motion device, which eliminates the disadvantages of each system and takes over their advantages
- - The simple and highly automated production of parallel kinematics elements, since they have a high number of identical parts and three drive systems and thus three degrees of freedom in one component can be produced in one step
- - The use of linear axes, linear motors, Shaft motors and tie rods for the execution of the active linear motion
- - The use of the movement device as a basic structure for the movement elements of running robots and other mobile robot systems
In den Zeichnungen sind verschiedene Ausführungsformen, Anwendungen und Kopplungsmechanismen dargestellt. Es zeigen:In The drawings are various embodiments, applications and Coupling mechanisms shown. Show it:
Für die konstruktive
Ausprägung
werden in
Die
unbeweglichen Führungselemente
(
Für den Einsatz in Reinraum- und/oder aggressiven Umgebungen ist die erfindungsgemäße Bewegungsvorrichtung abzudichten. Dabei können zwei Varianten unterschieden werden, die Gesamtabdichtung und die Teile-bezogene Abdichtung. Beide Varianten können auch kombiniert werden.For use in cleanroom and / or aggressive environments is the movement device according to the invention seal. There can be two Variants are different, the total seal and the parts-related Seal. Both variants can can also be combined.
Da die Rotation des Gelenk-Oberteils immer mit einer Positions- und Raumwinkel-Änderung der Bewegungselemente, welche im Oberteil des Gelenks geführt werden, verbunden ist, kann durch Fixierung dieser Bewegungselemente durch Haltebremsen eine Blockierung der beiden rotatorischen Freiheitsgrade des Gelenkes erfolgen.There the rotation of the joint upper part always with a change in position and solid angle the movement elements which are guided in the upper part of the joint, can be connected by fixing these movement elements by Holding brakes blocking the two rotational degrees of freedom of the joint.
Claims (12)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004058450A DE102004058450A1 (en) | 2004-12-03 | 2004-12-03 | Movement device has powered axle arranged per serially parallel kinematic element whereby lower part of each element has guiding device firmly attached for linear thrust elements |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004058450A DE102004058450A1 (en) | 2004-12-03 | 2004-12-03 | Movement device has powered axle arranged per serially parallel kinematic element whereby lower part of each element has guiding device firmly attached for linear thrust elements |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102004058450A1 true DE102004058450A1 (en) | 2006-06-08 |
Family
ID=36441690
Family Applications (1)
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---|---|---|---|
DE102004058450A Withdrawn DE102004058450A1 (en) | 2004-12-03 | 2004-12-03 | Movement device has powered axle arranged per serially parallel kinematic element whereby lower part of each element has guiding device firmly attached for linear thrust elements |
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Cited By (52)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2008052581A1 (en) | 2006-10-31 | 2008-05-08 | Force Dimension S.A.R.L. | Parallel kinematic structure |
DE102008010269A1 (en) | 2008-02-19 | 2009-08-20 | Volkswagen Ag | Positioning device for moving and aligning mounting platform, has drive arrangement driving mounting platform with respect to base platform such that translatory degrees of freedom of mounting platform are defined by drive arrangement |
ITFI20080201A1 (en) * | 2008-10-20 | 2010-04-21 | Scuola Superiore Di Studi Universit Ari E Di Perfe | ENDOLUMINAL ROBOTIC SYSTEM |
CN101332604B (en) * | 2008-06-20 | 2010-06-09 | 哈尔滨工业大学 | Control method of man machine interaction mechanical arm |
CN102059560A (en) * | 2010-11-30 | 2011-05-18 | 北京航空航天大学 | Parallel platform mechanism with two degrees of freedom |
FR2957011A1 (en) * | 2010-03-05 | 2011-09-09 | Francois Nicolas | Parallel robot for use as e.g. haptic device, has passive articulation whose position is determined by combination of position of moving part of actuators and independent from action exerted by subassembly of motion setting unit on platform |
FR2957014A1 (en) * | 2010-03-05 | 2011-09-09 | Francois Nicolas | Parallel robot for moving e.g. medical measurement device, has articulation whose fixed part connects platform with mobile structure, so that center of rotation of articulation coincides with single point of sub assembly |
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-
2004
- 2004-12-03 DE DE102004058450A patent/DE102004058450A1/en not_active Withdrawn
Cited By (63)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8984982B2 (en) | 2006-10-31 | 2015-03-24 | Force Dimension S.A.R.L. | Parallel kinematic structure |
WO2008052581A1 (en) | 2006-10-31 | 2008-05-08 | Force Dimension S.A.R.L. | Parallel kinematic structure |
DE102008010269A1 (en) | 2008-02-19 | 2009-08-20 | Volkswagen Ag | Positioning device for moving and aligning mounting platform, has drive arrangement driving mounting platform with respect to base platform such that translatory degrees of freedom of mounting platform are defined by drive arrangement |
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