CN102626871A - High-flexibility three-DOF (Degree of Freedom) spatial parallel mechanism - Google Patents
High-flexibility three-DOF (Degree of Freedom) spatial parallel mechanism Download PDFInfo
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Abstract
The invention relates to a high-flexibility three-DOF (Degree of Freedom) spatial parallel mechanism, belonging to the technical field of numerical control machines, and comprising a mobile platform, a fixed platform, a first branched chain, a second branched chain and a third branched chain, wherein the mobile and fixed platforms are provided with an actuator respectively; the first and second branched chains are connected between the mobile and fixed platforms and have the same structure; and the third branched chain is connected between the mobile and fixed platforms and has a structure different from the structure of the first second branched chains. The first, second and third branched chains all contain an actively-driving kinematic pair and are respectively connected with the fixed and mobile platforms to form a spatial parallel closed-loop mechanism. The spatial parallel closed-loop mechanism drives the mobile platform to move by three input motions to realize one mobile DOF and two rotational DOFs. The spatial parallel mechanism has high flexibility, specific rotational axis, relatively simple associated movement and other characteristics, and the operation precision and quality of the mechanism can be ensured more easily.
Description
Technical field
The invention belongs to the numerical control machine tool technique field, particularly a kind of three-freedom degree spatial parallel structure with high flexible nature.
Background technology
The traditional mechanism a plurality of frees degree that adopt single open-chain structure form to realize the terminal more; Generally be referred to as serial mechanism; The parallel institution corresponding with it then is the closed loop mechanism that is made up of a plurality of side chains; Its number of degrees of freedom, is at most six, is called as the lower-mobility parallel institution and number of degrees of freedom, is less than six parallel institution, and 3-freedom parallel mechanism then is wherein most important one type.In recent years; 3-freedom parallel mechanism in the lower-mobility parallel institution more and more receives researcher's attention and favor; Especially have one dimension and move the space parallel mechanism that rotates with bidimensional; This type mechanism has turning power flexibly; The processing that is highly suitable for aircraft large thin-wall structural member and has typical space complex free curved surface parts, such 3-freedom parallel mechanism have obtained successful Application in industry, developed the Hermes main tapping of SprintZ3 parallel main shaft head and the development of Spain Fatronick company like the German DS Technologie employing 3-PRS of company 3-freedom parallel mechanism.SprintZ3 and Hermes main tapping are respectively as a parallelly connected module of ECOSPEED series numerical control machining center and Space-5H machining center; Having one dimension moves and the bidimensional rotational freedom; Adopt the parallel-connection structure form to realize that (around the rotating reference axis of the X of lathe axle is the A axle to traditional A/B joint yaw; Around the rotating reference axis of the Y of lathe axle is the B axle; Generally calling A/B joint yaw around the main tapping that X axle and Y axle rotate) function, such mechanism has turning power more flexibly.But; The pivot center of above-mentioned two types of mechanisms is indeterminate and all have complicated associated movement (associated movement is the forced movement that occurs on the constraint free degree direction; It is undesirable motion of when mechanism kinematic, supervening; But but be necessary to the realization of the mechanism kinematic free degree), increased the difficulty of kinematics analysis, and the associated movement meeting directly causes the decline of mechanism's performance accuracy and quality; Then can increase the difficulty of manufacturing, control and the demarcation of relevant device in the machine tool applications field, and then have influence on and added worker's precision.
Summary of the invention
The objective of the invention is in order to satisfy the high flexibility ratio demand of typical space complex free curved surface parts modern process equipment; A kind of three-freedom degree spatial parallel structure with high flexible nature is proposed; Can overcome or reduce the influence to mechanism's performance accuracy and quality such as the indeterminate and associated movement complicacy of pivot center in the existing process equipment, have the turning power height, pivot center is clear and definite and the relative characteristic of simple of associated movement.
A kind of three-freedom degree spatial parallel structure that the present invention proposes with high flexible nature; Comprise a moving platform and a fixed platform that actuator is installed; Connect first, second side chain between said moving platform and the fixed platform with same structure; And connecting three side chain different between said moving platform and the fixed platform with first, second branched structure, this first, second, third side chain all contains the kinematic pair of an active drive; It is characterized in that: said first, second is connected to form a space parallel closed loop mechanism with fixed platform and moving platform respectively with the 3rd side chain; This space parallel closed loop mechanism drives the moving platform motion through three input motions, realizes an one-movement-freedom-degree and two rotational freedoms; Said first, second side chain is not in same plane and about said the 3rd side chain initial position place plane symmetry; Plane, said first side chain place and angle between the plane, said second side chain place can be arbitrarily angled between 0 to 180 degree, but can not be that 0 degree or 180 is spent.
Characteristics of the present invention and technique effect
The present invention is based on existing free degree form, propose the space three-freedom connection-in-parallel mechanism that associated movement is simple and pivot center is clear and definite.
Three-freedom degree spatial parallel structure of the present invention drives the moving platform motion through the kinematic pair of three active drive; Realize an one-movement-freedom-degree and two rotational freedoms; This mechanism has higher flexibility, has higher turning power when having realized A/B joint yaw function; The one-movement-freedom-degree direction of this mechanism is the input direction of active drive; The rotation of a rotational freedom is on the line at the hinge center that first, second side chain is connected with moving platform; The rotation of another rotational freedom and the 3rd side chain initial position place plane parallel, the rotation of the revolute pair that is connected with moving platform for said the 3rd side chain; Article two, rotation axis measurement is clear and definite; And this mechanism is not around the rotation associated movement of moving platform normal vector; Associated movement is simple relatively; And then guaranteed the performance accuracy and the quality of mechanism from the principle configuration, and reduced the difficulty of manufacturing, control and the demarcation of relevant device when machine tool field is used, help the further raising of precision.
This space parallel mechanism has the following advantages:
(1) has high flexible nature; (2) pivot center is clear and definite and associated movement is simple relatively, guarantees mechanism's performance accuracy and quality more easily; (3) cooperate other device can realize multi-axis linkage numerical control processing to complex space free form surface type component.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention.
The specific embodiment
A kind of three-freedom degree spatial parallel structure with high flexible nature of the present invention combines accompanying drawing and embodiment to specify as follows:
A kind of three-freedom degree spatial parallel structure with high flexible nature that the present invention proposes comprises a moving platform and a fixed platform that actuator is installed, and connects first, second side chain with same structure between said moving platform and the fixed platform; It is characterized in that: also comprise three side chain different with first, second branched structure that connects between said moving platform and the fixed platform, this first, second, third side chain all contains the kinematic pair of an active drive; Said first, second is connected to form a space parallel closed loop mechanism with fixed platform and moving platform respectively with the 3rd side chain; This space parallel closed loop mechanism drives the moving platform motion through the kinematic pair of three active drive, realizes an one-movement-freedom-degree and two rotational freedoms; Said first, second side chain not in same plane and this two plane with respect to said the 3rd side chain initial position place plane symmetry, plane, said first side chain place is arbitrarily angled (but can not be that 0 degree or 180 is spent) between 0 to 180 degree with angle between the plane, said second side chain place.
Three-freedom degree spatial parallel structure of the present invention, first, second is PRS type movement branched chain, the 3rd side chain be PR (Pa) RR type movement branched chain (wherein; P represents moving sets, and R represents revolute pair, and S represents ball pivot; Pa represents parallel-crank mechanism, and moving sets P is the active drive kinematic pair).Specify as follows:
First, second side chain comprises: slide block, connecting rod and kinematic pair.Said kinematic pair has three, and one is the moving sets P that is connected between fixed platform and the slide block, and one is the revolute pair R that is connected between slide block and the connecting rod, and one is the ball pivot S that is connected between connecting rod and the moving platform.Wherein, the moving sets P that is connected between fixed platform and the slide block is an active drive, and this side chain is a PRS type movement branched chain.
The 3rd side chain comprises: slide block, parallel-crank mechanism Pa, connector and kinematic pair.Said kinematic pair has four; One is the moving sets P that is connected between fixed platform and the slide block; One is that to be connected in revolute pair R between slide block and the parallel-crank mechanism, one be the revolute pair R that is connected between parallel-crank mechanism and the connector, and another is the revolute pair R that is connected between connector and the moving platform; Four revolute pair R that are parallel to each other that said parallel-crank mechanism comprises connecting rod, lower link, left connecting rod, right connecting rod and connects above-mentioned rod member.Wherein, the moving sets P that is connected between fixed platform and the slide block is an active drive, and this side chain is PR (Pa) RR type movement branched chain.
Embodiment:
It is as shown in Figure 1 that present embodiment a kind of has the structure of three-freedom degree spatial parallel structure of high flexible nature; Comprise fixed platform 11, fixed platform 16, fixed platform 111, moving platform 113 and first, second, third side chain; Said three side chains are connected between fixed platform 11, fixed platform 16, fixed platform 111 and the moving platform 113, and with fixed platform 11, fixed platform 16, fixed platform 111 and moving platform 113 formation space closed loop mechanisms.
Said first, second side chain is a PRS type movement branched chain, comprising: slide block 12, slide block 110, connecting rod 114, connecting rod 112 and kinematic pair.Said kinematic pair has three; One is the moving sets P that is connected between fixed platform 11, fixed platform 111 and slide block 12, the slide block 110; One is the revolute pair R that is connected between slide block 12, slide block 110 and connecting rod 114, the connecting rod 112, and one is the ball pivot S that is connected between connecting rod 114, connecting rod 112 and the moving platform 113.Wherein, the moving sets P that is connected between fixed platform 11, fixed platform 111 and slide block 12, the slide block 110 is an active drive.
Said the 3rd side chain is PR (Pa) RR type movement branched chain, comprising: slide block 15, parallel-crank mechanism Pa, connector 13 and kinematic pair.Said kinematic pair has four; One is the moving sets P that is connected between fixed platform 16 and the slide block 15; One is that to be connected in revolute pair R between slide block 15 and the parallel-crank mechanism Pa, one be the revolute pair R that is connected between parallel-crank mechanism Pa and the connector 13, and another is the revolute pair R that is connected between connector 13 and the moving platform 113; Four revolute pair R that are parallel to each other that said parallel-crank mechanism Pa comprises connecting rod 17, lower link 19, left connecting rod 18, right connecting rod 14 and connects above-mentioned rod member.Wherein, the moving sets P that is connected between fixed platform 16 and the slide block 15 is an active drive.
Said first, second connects and composes space closed loop mechanism with the 3rd side chain and fixed platform 11, fixed platform 16, fixed platform 111 and moving platform 113; Drive the moving platform motion through three active drive moving sets between fixed platform 111 and slide block 110, fixed platform 11 and slide block 12, fixed platform 16 and the slide block 15, realize an one-movement-freedom-degree and two rotational freedoms.
Said first, second side chain all is limited in the plane separately; Said first side chain plane, place and plane, said second side chain place are with respect to said the 3rd side chain initial position place plane symmetry; Plane, said first side chain place and angle between the plane, said second side chain place are arbitrarily angled between 0 to 180 degree, but can not be that 0 degree or 180 is spent.In the present embodiment, the angle between said first side chain plane, place and the plane, said second side chain place is 90 degree.
Claims (2)
1. the three-freedom degree spatial parallel structure with high flexible nature comprises a moving platform and a fixed platform that actuator is installed, and connects three side chains between said moving platform and the fixed platform; Identical the including of said first, second branched structure: slide block, connecting rod and kinematic pair; Said kinematic pair has three, and one is the moving sets (P) that is connected between fixed platform and the slide block, and one is the revolute pair (R) that is connected between slide block and the connecting rod; One is the ball pivot (S) that is connected between connecting rod and the moving platform; Wherein, the moving sets (P) that is connected between fixed platform and the slide block is an active drive, and this side chain is a PRS type movement branched chain; It is characterized in that: said the 3rd side chain comprises: slide block, parallel-crank mechanism (Pa), connector and kinematic pair; Said kinematic pair has four; One is the moving sets (P) that is connected between fixed platform and the slide block; One is that to be connected in revolute pair (R) between slide block and the parallel-crank mechanism, one be the revolute pair (R) that is connected between parallel-crank mechanism and the connector; Another is the revolute pair (R) that is connected between connector and the moving platform, four revolute pairs (R) that are parallel to each other that said parallel-crank mechanism comprises connecting rod, lower link, left connecting rod, right connecting rod and connects above-mentioned rod member, wherein; The moving sets (P) that is connected between fixed platform and the slide block is an active drive, and this side chain is PR (Pa) RR type movement branched chain; Said first, second is connected to form a space parallel closed loop mechanism with fixed platform and moving platform respectively with the 3rd side chain; This space parallel closed loop mechanism drives the moving platform motion through three input motions, realizes an one-movement-freedom-degree and two rotational freedoms.
2. a kind of three-freedom degree spatial parallel structure as claimed in claim 1 with high flexible nature; It is characterized in that; Plane, said first side chain place and plane, said second side chain place be about said the 3rd side chain initial position place plane symmetry, and it is 0 to 180 arbitrarily angled between spending that plane, said first side chain place and said second side chain belong to angle between the plane.
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| CN102909569A (en) * | 2012-11-01 | 2013-02-06 | 北京创航科技发展有限公司 | 1T2R three-degree of freedom spatial parallel mechanism |
| CN102922310A (en) * | 2012-11-01 | 2013-02-13 | 北京创航科技发展有限公司 | 2T1R three-degree-of-freedom spatial parallel mechanism |
| CN104400446A (en) * | 2014-09-29 | 2015-03-11 | 清华大学 | Parallel main shaft head mechanism based on four-bar mechanisms |
| CN105643295A (en) * | 2016-03-23 | 2016-06-08 | 中北大学 | Large-tilt-angle five-axis linkage hybrid machine tool |
| CN107139163A (en) * | 2017-06-12 | 2017-09-08 | 中国矿业大学 | A kind of parallel institution formula transfer robot |
| CN113348055A (en) * | 2019-01-31 | 2021-09-03 | 苏州迈澜科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| CN115138964A (en) * | 2022-07-21 | 2022-10-04 | 中国地质大学（武汉） | Oversized working space parallel robot for laser processing of complex parts |
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Cited By (12)
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| CN102909569A (en) * | 2012-11-01 | 2013-02-06 | 北京创航科技发展有限公司 | 1T2R three-degree of freedom spatial parallel mechanism |
| CN102922310A (en) * | 2012-11-01 | 2013-02-13 | 北京创航科技发展有限公司 | 2T1R three-degree-of-freedom spatial parallel mechanism |
| CN102909569B (en) * | 2012-11-01 | 2015-05-06 | 北京创航科技发展有限公司 | 1T2R three-degree of freedom spatial parallel mechanism |
| CN104400446A (en) * | 2014-09-29 | 2015-03-11 | 清华大学 | Parallel main shaft head mechanism based on four-bar mechanisms |
| CN104400446B (en) * | 2014-09-29 | 2016-09-28 | 清华大学 | A kind of parallel main shaft head mechanism based on four-bar mechanism |
| CN105643295A (en) * | 2016-03-23 | 2016-06-08 | 中北大学 | Large-tilt-angle five-axis linkage hybrid machine tool |
| CN107139163A (en) * | 2017-06-12 | 2017-09-08 | 中国矿业大学 | A kind of parallel institution formula transfer robot |
| CN107139163B (en) * | 2017-06-12 | 2020-04-14 | 中国矿业大学 | Parallel mechanism type transfer robot |
| CN113348055A (en) * | 2019-01-31 | 2021-09-03 | 苏州迈澜科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| CN113348055B (en) * | 2019-01-31 | 2022-06-03 | 苏州迈澜科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| CN115138964A (en) * | 2022-07-21 | 2022-10-04 | 中国地质大学（武汉） | Oversized working space parallel robot for laser processing of complex parts |
| CN115138964B (en) * | 2022-07-21 | 2023-09-22 | 中国地质大学（武汉） | Ultra-large working space parallel robot for laser processing of complex parts |
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