CN102476288A - Special six-freedom-degree parallel mechanism - Google Patents
Special six-freedom-degree parallel mechanism Download PDFInfo
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- CN102476288A CN102476288A CN201010553317XA CN201010553317A CN102476288A CN 102476288 A CN102476288 A CN 102476288A CN 201010553317X A CN201010553317X A CN 201010553317XA CN 201010553317 A CN201010553317 A CN 201010553317A CN 102476288 A CN102476288 A CN 102476288A
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Abstract
The invention relates to a special six-freedom-degree parallel mechanism which comprises a moveable platform, a static platform, two mixing chains with the same structures and two simple opened chains with the same structures, wherein a space closed-loop structure of the mixing chains is composed of two ball pair-ball pair-rotating pair type branch chains which respectively comprise two components; two externally connected ball pairs of the two branch chains are in coaxial flexible connection and then are in compound ball pair connection with the moveable platform; the externally connected rotating pairs are respectively in mechanical connection with the static platform; the simple opened chains are formed by two components which are connected through a ball pair; one component is in mechanical connection with the static platform through the corresponding rotating pair; the other component is in mechanical connection with the moveable platform through a ball pair; the moveable platform can be controlled to realize three-dimensional translation and three-dimensional rotating output, under the condition of controlling the motion of six driving joints on the static platform; and the special six-freedom-degree parallel mechanism can be used as a measuring machine for a parallel structure, a numerical control machine for a virtual shaft and an executing mechanism for various moveable platforms.
Description
Technical field
The present invention relates to the executing agency of lathe, robot, coordinate measuring machine and multi-degree-of-freedom motion platform, specifically a kind of special-purpose six-degree-of-freedom parallel connection mechanism is provided for the virtual-axis nc machine tool of parallel-connection structure, imaginary axis parallel coordinate measuring machine and parallel robot.
Background technology
The parallel-connection structure Digit Control Machine Tool 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 is traditional Stewart mechanism or its improved mechanism mostly, and they mainly are made up of pedestal, motion platform and connecting rod, and the connecting rod two ends are respectively ball pair and universal joint; Through 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 close coupling; 8. the sky that moves is asked 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 D translation well linkage, and upper mounting plate is Three dimensional rotation parallel institution (US Ppatent, Tsar, PatentNember:5656905,1997).Its main feature is that forward kinematics solution is 8 times; Position and direction decoupling zero; Compare with Stewart mechanism, working 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 appearance 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 certainty of measurement 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 first 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; The about card in space is less, causes the difficulty of finding the solution of its end effector.
Owing to all contain more spherical pair in the above-mentioned several kinds of structures, so its manufacturing and assembling are all complicated.
In sum, the development of imaginary axis Digit Control Machine Tool and coordinate measuring machine, robot and practicability need create the new architecture that is superior to existing mechanism.
Summary of the invention
The present invention seeks to overcome the shortcoming of prior art, a kind of special-purpose 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 property, 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 parallelly connected imaginary axis measuring machine measurement model, measurement update and compensation model.
3. all CD-ROM drive motors all on silent flatform, can reduce the motion of mechanism load, improve dynamic performance.
In a word, the present invention is that flat the waiting bitterly for of virtual-axis nc machine tool, parallel coordinate measuring machine and robot, amusement provides the new architecture with These characteristics, helps its exploitation and practicability.
Description of drawings
Through accompanying drawing and instance technology of the present invention is given to explain further below.
Accompanying drawing 1 is the structural representation of a kind of special-purpose six-degree-of-freedom parallel connection mechanism of the present invention, and the identical combination chain of two structures that it goes up lower platform by last moving platform O, following silent flatform 1 and connection is formed with two identical simple open chains of structure.Combination chain is the closed circuit structure in a space, rotates paratype side chain S by two secondary balls secondary of ball that comprise two members 2,3 or 4,5 respectively
8-S
9-S
13Or S
8-S
10-S
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
1Mechanical connection, and its external revolute pair R
L3, 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 O are with secondary S of ball
1Mechanical connection, member 7 is used revolute pair R with silent flatform l
11Mechanical attachment.Therefore, there are two to connect spherical pair S on the moving platform O
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
The specific embodiment
Parallel institution shown in the accompanying drawing l can be a real ancient type of banner hoisted on a featherdecked mast example of the present invention, and the identical combination chain of two structures that it goes up lower platform by last moving platform O, following silent flatform l and connection is formed with two identical simple open chains of structure.Combination chain has been to ask closed circuit structure, rotates paratype side chain S by two secondary balls secondary of ball that comprise two members 2,3 or 4,5 respectively
8-S
9-S
13Or S
8-S
10-S
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 O again altogether
8Connect, and its external revolute pair R
L3, 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 O are with secondary S of ball
1Mechanical connection, member 7 is used revolute pair R with silent flatform 1
11Mechanical attachment.Therefore, two secondary S of hitch ball are arranged on the moving platform O
1, S
3And two compound spherical joint S
8, S
5, have six to connect revolute pair R on the silent flatform l
13, R
16, R
15, R
14, R
11, R
12, but six revolute pairs on the silent flatform can use six moving sets to replace.
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 O, 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 can be carried out design and installation by conventional mechanical & electrical technology; Like mounting cutter on moving platform or probe, this parallel institution promptly can be as the executing agency of the virtual-axis nc machine tool and the imaginary axis parallel coordinate measuring machine of parallel-connection structure.
Claims (1)
1. special-purpose six-degree-of-freedom parallel connection mechanism is by last moving platform, silent flatform and connect 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 going up lower platform down; It is characterized in that the closed circuit structure in space that combination chain comprises rotates the paratype side chains by two secondary balls secondary of ball that comprise two members respectively and form; 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 through a ball pair by two members, and one component and silent flatform are used the revolute pair mechanical connection, and another member and moving platform are also used the secondary mechanical connection of a ball, and six revolute pairs on the silent flatform can use six moving sets to replace.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010553317XA CN102476288A (en) | 2010-11-22 | 2010-11-22 | Special six-freedom-degree parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010553317XA CN102476288A (en) | 2010-11-22 | 2010-11-22 | Special six-freedom-degree parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102476288A true CN102476288A (en) | 2012-05-30 |
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ID=46089128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010553317XA Pending CN102476288A (en) | 2010-11-22 | 2010-11-22 | Special six-freedom-degree parallel mechanism |
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| CN (1) | CN102476288A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103234442A (en) * | 2013-04-17 | 2013-08-07 | 吉林大学 | Device for measuring six degrees of freedom of platform |
| CN103605896A (en) * | 2013-11-21 | 2014-02-26 | 哈尔滨工业大学 | Standard six-degree-of-freedom parallel mechanism global optimization design method |
| 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 |
| CN112917180A (en) * | 2021-01-25 | 2021-06-08 | 西安方元明科技股份有限公司 | Full-electric high-precision six-degree-of-freedom platform realized through inverse solution method |
-
2010
- 2010-11-22 CN CN201010553317XA patent/CN102476288A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103234442A (en) * | 2013-04-17 | 2013-08-07 | 吉林大学 | Device for measuring six degrees of freedom of platform |
| CN103234442B (en) * | 2013-04-17 | 2015-05-27 | 吉林大学 | Device for measuring six degrees of freedom of platform |
| CN103605896A (en) * | 2013-11-21 | 2014-02-26 | 哈尔滨工业大学 | Standard six-degree-of-freedom parallel mechanism global optimization design method |
| CN103605896B (en) * | 2013-11-21 | 2016-08-17 | 哈尔滨工业大学 | A kind of standard six-degree-of-freedoparallel parallel mechanism global optimization design method |
| 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 |
| CN112917180A (en) * | 2021-01-25 | 2021-06-08 | 西安方元明科技股份有限公司 | Full-electric high-precision six-degree-of-freedom platform realized through inverse solution method |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120530 |