CN1095417C - Six-freedom parallel mechanism with triaxial nearly orthogonal - Google Patents
Six-freedom parallel mechanism with triaxial nearly orthogonal Download PDFInfo
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- CN1095417C CN1095417C CN00102901A CN00102901A CN1095417C CN 1095417 C CN1095417 C CN 1095417C CN 00102901 A CN00102901 A CN 00102901A CN 00102901 A CN00102901 A CN 00102901A CN 1095417 C CN1095417 C CN 1095417C
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Abstract
The present invention relates to a six-freedom parallel mechanism whose three axes are nearly orthogonal, which comprises a static table body, a movable table body and six drive rods, wherein the length of the six drive rods can be changed by extending and contracting, and each drive rod is hinged with the static table body and the movable table body through spherical hinges on both ends of each drive rod. The present invention is characterized in that the six drive rods are respectively in the three (X, Y, Z) orthogonal or approximately orthogonal directions, and two drive rods are in one direction. The movable table body can be positioned in the center of the space of the six drive rods or positioned above the six drive rods or below the drive rods. When the movable table body is in the central position, the three axes(X, Y, Z) are in a decoupling state, so that the present invention has the advantages of simple regulation, easy control and wide application.
Description
The present invention relates to a kind of frame for movement of adjusting locus of novel structure, exactly, relate to a kind of six-degree-of-freedom parallel connection mechanism of triaxial nearly orthogonal.This mechanism can be applied to metal working machine tool, and the fields such as sensor of power and moment.
Parallel institution can be applied to the adjusting of two rigid objects relative positions.The relative position of two rigid bodies can adopt along x generally speaking, y, and axial three of z moves and around x, y, three rotations of z axle represent, altogether six-freedom degree.Parallel institution originates from stewart platform mechanism (Stewart Platform), referring to Fig. 1, Fig. 2, this mechanism is normally by the rod member 1 ' of the scalable adjusting of 3-6 root, and use respectively at the two ends of these rod members ball pivot (that is: sphere is paid) 2 ' or star coupling (that is: each hinge of tiger or ball pin are paid or rotated and pay a hinge) connect two rigid bodies 3 ', 4 ' constitute.Usually, one in these two rigid bodies is actionless, is called as silent flatform or quiet stage body 3 ' and generally uses as frame, and another moves, and can finish various operations, is commonly referred to moving platform or moving stage body 4 '.In the initial stewart platform mechanism, its dynamic and static two rigid bodies all are the planes, and all connecting rods 1 ' are all located in one plane with the hinge 2 ' of rigid body 4 ' with rigid body 3 ' or rod member 1 ' in other words.Began to occur the stage body formula mechanism of usage space afterwards, promptly hinge 2 ' not all at grade, this is general parallel institution.Parallel institution has a lot of application industrial, as makees manipulator, position adjusting mechanism, the sensor of power and moment, vivid platform of recreation ground or the like.People do virtual-shaft machine tool or are called for short virtual axis machine with it recently.Such lathe has a lot of special advantages, and as simple in structure, rigidity is big, control accuracy is high, transmission speed is fast etc., has the very high ratio of performance to price, is called as the lathe of 21 century.
For application scenarios such as the sensor that resembles virtual axis machine, power and moment, position adjusting mechanisms, adopt which type of position adjustments frame for movement, just can obtain the good as far as possible mechanism of combination property, be an important problems.Now, it is that 6 driving variablees are the smaller the better for the conditional number of moving the Jacobian of changing 6 variablees of stage body position and attitude to function that people generally believe from independent variable, and the minimal condition number is 1 in theory.It is 1 that yet people could satisfy its conditional number for which type of mechanism, that is to say in the parallel institution hinge on the rigid body should how to distribute in the space be only the most reasonable, and unclear.Even up to the present, also do not obtain definite conclusion.
Main purpose of the present invention provides a kind of six-degree-of-freedom parallel connection mechanism of triaxial nearly orthogonal; Just provide a kind of conditional number that satisfies above-mentioned Jacobian to be minimum stage body formula mechanism.
Main purpose of the present invention is achieved in that a kind of six-degree-of-freedom parallel connection mechanism of triaxial nearly orthogonal, include: quiet stage body, moving stage body and six roots of sensation drive rod, the telescopic of this six roots of sensation drive rod is variable, and wherein each drive rod all is hinged with quiet stage body, moving stage body respectively by its two ends ball pivot or universal joint separately; The direction of this six roots of sensation drive rod lays respectively at x, y, and the direction of three orthogonal directions of z or nearly orthogonal, and each direction respectively has two drive rods; It is characterized in that: six hinged ball pivots of above-mentioned six roots of sensation drive rod and moving stage body can lay respectively at the center of hexahedral six faces.
Describe structure of the present invention, feature and effect in detail below in conjunction with accompanying drawing.
Fig. 1 is the structural representation of a kind of stewart platform mechanism.
Fig. 2 is the structural representation of another kind of stewart platform mechanism.
Fig. 3 is moving stage body of the present invention and group of drive rods a kind of embodiment schematic diagram altogether.
Fig. 4 is the schematic diagram behind the quiet stage body of increase among Fig. 3.
Fig. 5 is moving stage body of the present invention and group of drive rods another kind of embodiment schematic diagram altogether.
Fig. 6 is the schematic diagram behind the quiet stage body of increase among Fig. 5.
Fig. 7 is another embodiment schematic diagram of the present invention.This mechanism makes its diagonal point to vertical direction through the rotation of certain angle, drive this moment rod member no longer with x, y, the z axle is parallel.
Fig. 8 is another embodiment schematic diagram of the present invention.
Referring to Fig. 3, of the present invention a kind of embodiment schematic diagram shown in Figure 4.The present invention is a kind of six-degree-of-freedom parallel connection mechanism of triaxial nearly orthogonal, it includes: quiet stage body 3, moving stage body 4 and six roots of sensation drive rod 1, the length of this six roots of sensation drive rod 1 all is flexible variable, and wherein each drive rod 1 all is hinged with quiet stage body 3, moving stage body 4 respectively by its two ends ball pivot 2 separately, and be characterized in: above-mentioned six roots of sensation drive rod 1 lays respectively at x, y, three orthogonal directions of z, and each direction respectively has two drive rods 1.
The above-mentioned moving stage body 4 that is positioned at six roots of sensation drive rod 1 space center position shown in Figure 3 is hexahedrons, and each ball pivot 2 in this six roots of sensation drive rod 1 all lays respectively on each surface of above-mentioned moving stage body 4.Moving stage body 4 links by six ball pivots 2 and the adjustable length drive rod 1 of the six roots of sensation, and this six roots of sensation drive rod 1 links with quiet stage body 3 by other six ball pivots 2 of its other end again.The rigid body of strip shown in Figure 4 is promptly represented quiet stage body 3 or frame, and at x, y has two drive rods on each direction of three directions of z.When moving stage body is Fig. 3 or position shown in Figure 4 in the center, above-mentioned x, y, the drive rod mutually orthogonal of three directions of z, its conditional number is 1, has promptly reached the minimum of a value of Jacobian.Near this minimum of a value, i.e. x, y is when the drive rod of three directions of z is nearly orthogonal mutually, though that its conditional number is slightly larger than 1 its value is still less.Therefore adopt this mechanism to have some special advantages.
Mechanism at first of the present invention is therein on the heart position, for x, and y, axial three of z moves and around x, y, three of the z axle are rotated mutual decoupling zeros.As everyone knows, generally speaking, the relative position of two rigid bodies can adopt along x, y, three directions of z move and around x, y, the rotation that z is three represents, altogether six-freedom degree.In general parallel institution, when wherein the driving of certain direction changes, can cause the rotation of the mobile and moving stage body of two other direction of moving stage body simultaneously, this phenomenon is called the coupling between the motion, for example when wishing that moving stage body is purely when the x direction is moved, not only need axial drive operation, and need y, the cooperation motion simultaneously of the driver of z both direction along x; Only there is one, two drive operation can not obtain moving along the x direction purely in other words.Stage body formula of the present invention mechanism is therein on the heart position, since x, y, three orthogonal quadratures of z, therefore to x, y, three of z are decoupling zeros.That is to say that moving stage body is when the x axle moves, two other direction y, four drivers of z can not regulate or seldom regulate and get final product.
Parallel institution of the present invention when reality is used, is very easily as position adjusting mechanism.When driving with axial two of speed, equidirectional adjusting x, moving stage body is along the translation of x direction of principal axis.When these two drivings were moved in the other direction with speed, moving stage body then rotated around the z axle.Cause that because of the motion of these two drive rods other axial amounts of exercise are very little or be zero, so for obtain pure along the x axle move or around the rotation of z axle, four drive rods of other both directions or drive secondary driving amount can be very little or be zero (being the high-order infinitesimal).And, when moving along y axle or z axle, or when x axle or y axle rotate, the situation all fours.So moving stage body of the present invention is near above-mentioned center, three directions are similar to decoupling zeros.Therefore in the undemanding occasion of ask for something, the position of all directions and corner can be regulated respectively, therefore regulate easily.In addition, because the orthogonal thereto or nearly orthogonal of adjusting of three directions, the sensitivity for adjusting of all directions is also relatively more balanced.
Secondly, six drive rods in the mechanism are changed into the fixing bar of length, and add a sensor above the drive rod, can be transformed to the present invention the sensor of power and moment at each.This sensor can separate the power of three directions and moment naturally.For example: when having only the x direction of principal axis stressed, then only output is arranged along two sensors of x axle, its value be two sensors and.When having only when the z axle has moment, then only output is arranged along the pair of sensors of x axle, its value multiply by this to the distance between the drive rod for this difference to sensor.Because the displacement of moving stage body is very little, so have quite high precision.
If mechanism of the present invention is used in some special advantages are arranged also on the virtual-axis nc machine tool.Because its conditional number is approximately 1, belong to optimal state.So under kindred circumstances, the machining accuracy height, the lathe working space is big, and operating rate height that can reach or the like is a kind of machine tool structure form with good application prospect.
Because the position of mechanism kinematic decoupling zero of the present invention is at the center of moving stage body, is among the encirclement of several ball pivots, when pretending to virtual axis machine or other purposes, it is very not convenient to use.Therefore the present invention can do some improvement, be about to above-mentioned six roots of sensation drive rod in twos in groups three of above-mentioned moving stage body of being hinged on be x, y, on the surface of z quadrature,, shown in Figure 6 referring to Fig. 5.Wherein Fig. 5 is the topology layout schematic diagram of stage body 4 and drive rod 1 and ball pivot 2, add quiet stage body 3 after, then as shown in Figure 6.At this moment, moving stage body 4 is positioned at a side of this six roots of sensation drive rod 1, adopts this kind structure, and when moving stage body therein during heart position, the conditional number of Jacobian still is 1.But its adjusting rule is different when doing pure rotation.
If, make a diagonal of stage body change into vertical direction, and quiet stage body made change slightly, referring to Fig. 7 angle of mechanism's rotation of the present invention.It is very similar to present virtual axis machine as can be seen.Only the direction of its drive rod is mutually orthogonal or nearly orthogonal, and the distribution of ball pivot is special.Just because of having these characteristics, make lathe have the machining accuracy height, the lathe working space is big, the operating rate advantages of higher that can reach.If the z axle is chosen as vertical direction, then three orthogonal directions no longer are x, y, and the z axle, and only be three drive rod directions when the center.
Can also there be other distortion in mechanism of the present invention.As shown in Figure 8, the length of six legs 1 between the every pair of ball pivot 2 is fixed, and six sliding pairs 5 regulating length and drive rod thereof are installed on the frame 3, can reach the purpose of regulating moving stage body 4 positions equally.At this moment, the free degree remains six, and still having kept in the center conditional number is 1 advantage, but when calculating its positive and negative separating, computational methods, computing formula are inequality.
Claims (1)
1, a kind of six-degree-of-freedom parallel connection mechanism of triaxial nearly orthogonal, include: quiet stage body, moving stage body and six roots of sensation drive rod, the telescopic of this six roots of sensation drive rod is variable, and wherein each drive rod all is hinged with quiet stage body, moving stage body respectively by its two ends ball pivot or universal joint separately; The direction of this six roots of sensation drive rod lays respectively at x, y, and the direction of three orthogonal directions of z or nearly orthogonal, and each direction respectively has two drive rods; It is characterized in that: six hinged ball pivots of above-mentioned six roots of sensation drive rod and moving stage body can lay respectively at the center of hexahedral six faces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN00102901A CN1095417C (en) | 2000-03-09 | 2000-03-09 | Six-freedom parallel mechanism with triaxial nearly orthogonal |
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| Application Number | Priority Date | Filing Date | Title |
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| CN00102901A CN1095417C (en) | 2000-03-09 | 2000-03-09 | Six-freedom parallel mechanism with triaxial nearly orthogonal |
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| CN1263807A CN1263807A (en) | 2000-08-23 |
| CN1095417C true CN1095417C (en) | 2002-12-04 |
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| CN00102901A Expired - Fee Related CN1095417C (en) | 2000-03-09 | 2000-03-09 | Six-freedom parallel mechanism with triaxial nearly orthogonal |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1313248C (en) * | 2004-09-02 | 2007-05-02 | 中国科学院数学与系统科学研究院 | Parallel mechanism of formed by circular pair, circular pair and spherical pair |
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| US9400170B2 (en) | 2010-04-21 | 2016-07-26 | Faro Technologies, Inc. | Automatic measurement of dimensional data within an acceptance region by a laser tracker |
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| GB2504890A (en) * | 2011-04-15 | 2014-02-12 | Faro Tech Inc | Enhanced position detector in laser tracker |
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| US9041914B2 (en) | 2013-03-15 | 2015-05-26 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
| CN103177636B (en) * | 2013-03-26 | 2014-10-08 | 北京航空航天大学 | Reconfigurable flexible teaching aid for demonstrating the duality relation of freedom degree and restraint in mechanical principle teaching |
| CN103381601B (en) * | 2013-07-01 | 2016-05-25 | 上海交通大学 | Six degree of freedom 3-3 orthogonal type parallel robot |
| US9395174B2 (en) | 2014-06-27 | 2016-07-19 | Faro Technologies, Inc. | Determining retroreflector orientation by optimizing spatial fit |
| CN106142051B (en) * | 2016-07-26 | 2018-06-26 | 南京林业大学 | The method for solving of stage body type parallel institution and its position forecast |
| CN109406302B (en) * | 2018-12-27 | 2023-09-26 | 贵州理工学院 | Manual portable soil triaxial apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07250500A (en) * | 1994-03-10 | 1995-09-26 | Fuji Electric Co Ltd | Variable speed controller for induction motor |
| CN1261018A (en) * | 1999-11-03 | 2000-07-26 | 燕山大学 | Machine-tool with 6-freedom virtual axle |
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- 2000-03-09 CN CN00102901A patent/CN1095417C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07250500A (en) * | 1994-03-10 | 1995-09-26 | Fuji Electric Co Ltd | Variable speed controller for induction motor |
| CN1261018A (en) * | 1999-11-03 | 2000-07-26 | 燕山大学 | Machine-tool with 6-freedom virtual axle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1313248C (en) * | 2004-09-02 | 2007-05-02 | 中国科学院数学与系统科学研究院 | Parallel mechanism of formed by circular pair, circular pair and spherical pair |
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| CN1263807A (en) | 2000-08-23 |
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