CN1106912C - Parallel 2D translation mechanism for numerally controlled machine-tool with virtual axle and coordinate measuring machine - Google Patents
Parallel 2D translation mechanism for numerally controlled machine-tool with virtual axle and coordinate measuring machine Download PDFInfo
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- CN1106912C CN1106912C CN 01113519 CN01113519A CN1106912C CN 1106912 C CN1106912 C CN 1106912C CN 01113519 CN01113519 CN 01113519 CN 01113519 A CN01113519 A CN 01113519A CN 1106912 C CN1106912 C CN 1106912C
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Abstract
The present invention relates to three parallel 3D translation mechanisms, one of the three parallel 3D translation mechanisms comprises a movable platform, a fixed platform and three branch circuits, wherein the three branch circuits are connected between the movable platform and the fixed platform. The present invention is characterized in that each branch circuit is composed of a rotary pair, a cylindrical pair and a universal hinge which are connected in series, wherein two rotary pairs of the rotary pair, the cylindrical pair and the universal hinge are mutually parallel. The connection of the three branch circuits and the two platforms has the collocation mode that the planes of the three universal hinges of the branch circuits do not have a common intersecting line. The present invention has the advantages of simple structure, input-output decoupling property, large working space, convenient manufacture and installation, etc. and particularly greatly simplifies the control of robot systems and the complexity of track programs. The present invention provides a new machine type for imaginary axis machine tools and robots and imaginary axis mechanical measuring machines and provides possibility for the development and the practicality of the imaginary axis machine tools and robots and the imaginary axis mechanical measuring machines.
Description
The present invention relates to the executing agency of lathe, robot and mechanical measuring machine, specifically provide a class novel parallel institution for parallel-connection structure imaginary axis Digit Control Machine Tool, parallel robot and imaginary axis mechanical measuring machine.
The parallel-connection structure Digit Control Machine Tool is meant with the parallel institution to be the lathe of executing agency, and this lathe has been considered to the revolution of machine tool structure since the twentieth century.At the U.S., Japan and the domestic model machine of having developed this lathe, the parallel institution that is adopted is traditional Stewart (Stewart) mechanism at present.This mechanism is used for controlling position and the attitude of cutter in the space and changes, and it mainly is made up of pedestal, motion platform and connecting rod, is linked to each other by connecting rod between pedestal and the motion platform, and the connecting rod two ends are respectively ball pair and universal joint.Have 6 connecting rods in this mechanism, but the adjustable length of connecting rod by controlling the length of 6 connecting rods, changes position and the attitude of cutter in the space.
Stewart mechanism has following shortcoming: 1. forward kinematics solution is very difficult; 2. the position of motion platform and direction are close coupling; 3. space is less; 4. make the secondary difficulty of high-precise ball.
Based on above-mentioned situation, Tsai proposes imaginary axis Digit Control Machine Tool with two parallel institutions: moving platform is a parallel 2 D translation mechanism, and silent flatform is Three dimensional rotation parallel institution (US Patent, Tsai, Patent Number:5656905,1997).Its main feature is that forward kinematics solution is 8 times; Position and direction decoupling zero; Compare with six leg Stewart mechanisms, working space is bigger; Form parallel institution by revolute pair fully, compare easy manufacturing with spherical pair.But Tsai mechanism still has following shortcoming:
1. forward kinematics solution is that 8 sealings are separated, and need set up monobasic 8 equation of n th order n and finds the solution, and this makes the control and the track of system
Planning is comparatively complicated.
2. the D translation motion of mechanism import-is output as close coupling, makes system's control very complicated.
3. there is passive constraint in mechanism, and it is complicated that it is made with assembling.
4. working space is still less relatively.
Based on the coordinate measuring machine (also claiming imaginary axis mechanical measuring machine) of parallel institution, be a major progress on the scientific measurement instrument in recent years.Compare with traditional measuring machine that belongs to tandem mechanism, the coordinate measuring machine of parallel-connection structure has good characteristics such as structural rigidity is big, movement velocity is high, error does not superpose, and performances such as certainty of measurement and measurement efficient are greatly improved.At present, the parallel institution that has been used for coordinate measuring machine has 6-SPS 6-RSS and 3-RPS etc.For 6-SPS and 6-RSS mechanism, its movable platform has 6 spatial degrees of freedom with respect to base platform, thereby the spatial pose of end effector is more flexible, but this mechanism structure complexity, kinematics is just difficult against separating with error analysis and correction.To 3-RPS mechanism, its free degree is 3, and the spatial pose flexibility ratio is poor slightly, but simple in structure.Because the non-desired output of 3-RPS mechanism is not a constant, does not have decoupling again, so though its error analysis has improvement with correction than 6-SPS mechanism, but still complicated.All contain a plurality of spherical pairs in above-mentioned in addition several structures, so its manufacturing and assembling are all complicated, are unfavorable for improving certainty of measurement.
In sum, the development of imaginary axis Digit Control Machine Tool, robot and imaginary axis mechanical measuring machine and practicability need create the new architecture that is better than existing mechanism.
The present invention seeks to overcome the shortcoming of existing mechanism, provide a class (3 kinds) new parallel 2 D translation mechanism.That mechanism has is simple in structure, motion input-output have decoupling, working space greatly, be convenient to advantage such as manufacturing installation, particularly greatly simplified the control of parallel-connection structure virtual axis machine and robot system and the complexity of trajectory planning.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.For virtual axis machine, robot, imaginary axis coordinate measuring machine and jiggle robot provide new architecture, for they exploitation and practicability provide may.
Accompanying drawing 1 is the structure diagram of a kind of mechanism among the present invention.It is made up of moving platform (1), silent flatform (2) and three identical branch roads of structure.Every a revolute pair of route (3), a cylindrical pair (4) and a universal hinge (5) are in series, and make three's axis keep being parallel to each other (being R//C//R ⊥ R).Branch road two ends member connects firmly respectively on dynamic and static platform, and three branch roads with the configuration mode that two platforms connect are: the plane, 3 universal hinge places of 3 branch roads does not have public intersection.
Every also available its derived structure of branch road substitutes in the accompanying drawing 1, as shown in Figure 2.But the configuration mode on dynamic and static platform is constant.Loop in Fig. 2 branch road is the revolute pair parallel-crank mechanism, and other revolute pair still is parallel to each other.
Every also available its derived structure of branch road substitutes in the accompanying drawing 1, as shown in Figure 3.Every 5 revolute pairs of route are in series, and wherein 3 revolute pairs are answered keeping parallelism, two revolute pair keeping parallelisms in addition, and two groups of two adjacent revolute pairs can be formed universal hinge; Article 3, branch road with the configuration mode that two platforms connect is: the plane, 3 universal hinge places of 3 branch roads does not have public intersection.
Three motions that drive joint (i.e. three revolute pairs) on the control silent flatform with regard to the position of controllable brake platform in the space, realize D translation output.As unit head and cutter are installed on last moving platform, promptly can be as the virtual-axis nc machine tool of parallel-connection structure; Promptly can be as on last moving platform, probe being installed as parallel coordinate measuring machine.
The present invention is the novel parallel institution of a class (3 kinds) D translation.This mechanism has following characteristics: 1. mechanism's workbench can be realized D translation motion output, does not have any rotation.2. mechanism is simple, has in light weight, good rigidly, but advantages such as high-speed motion.3. forward kinematics solution is 8 times, promptly only needs to set up and find the solution three quadratic equation with one unknown, separates to be analytic formula, and the motion input---output has partly decoupled again, has greatly simplified 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.4. there is not passive constraint in mechanism, makes mechanism make, install comparatively simple.5. use revolute pair and cylindrical pair, be easy to Precision Machining and cost is lower, be beneficial to the kinematic accuracy that improves parallel institution.And cost is lower.6. working space is bigger.
In a word, the present invention is that imaginary axis Digit Control Machine Tool, imaginary axis mechanical measuring machine, walking (contain and creep, climb wall etc.) robot, industrial robot (as assembling, stacking robot) etc. provide the new architecture with These characteristics, helps the exploitation and the practicability of novel lathe, novel mechanical measuring machine and novel robot.
Claims (3)
1. a kind of three translation parallel mechanism that can be used for imaginary axis Digit Control Machine Tool, robot, imaginary axis mechanical measuring machine etc., its composition comprise dynamic and static platform and are connected in three branch roads between the dynamic and static platform; It is characterized in that: every revolute pair of route, a cylindrical pair and a universal hinge are in series, and wherein a maintenance in two revolute pairs that comprised in revolute pair, cylindrical pair and the universal hinge is parallel to each other; Article three, branch road with the configuration mode that two platforms connect is: the plane, 3 universal hinge places of 3 branch roads does not have public intersection.
2. according to the described parallel institution of claim 1, the one-movement-freedom-degree of garden post pair can substitute with the revolute pair parallel-crank mechanism on every branch road, promptly propping up two revolute pairs of route, a revolute pair parallel-crank mechanism and a universal hinge is in series, 4 revolute pair axis of the axis of preceding two revolute pairs and parallelogram are arranged perpendicular, and a maintenance that is comprised in two revolute pairs in preceding two revolute pairs and the universal hinge is parallel to each other.
3. according to the described parallel institution of claim 1, every branch road can substitute with the branch road that 5 revolute pairs are in series, and wherein 3 revolute pairs are answered keeping parallelism, two revolute pair keeping parallelisms in addition, and two groups of two adjacent revolute pairs can be formed universal hinge; Article 3, branch road with the configuration mode that two platforms connect is: the plane, 3 universal hinge places of 3 branch roads does not have public intersection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 01113519 CN1106912C (en) | 2001-04-10 | 2001-04-10 | Parallel 2D translation mechanism for numerally controlled machine-tool with virtual axle and coordinate measuring machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 01113519 CN1106912C (en) | 2001-04-10 | 2001-04-10 | Parallel 2D translation mechanism for numerally controlled machine-tool with virtual axle and coordinate measuring machine |
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| CN1106912C true CN1106912C (en) | 2003-04-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102626920A (en) * | 2012-03-22 | 2012-08-08 | 燕山大学 | Non-concurrent axis symmetric three-dimensional-rotation parallel mechanism with two-degree of freedom planar subchains |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100406209C (en) * | 2004-09-02 | 2008-07-30 | 中国科学院数学与系统科学研究院 | Parallel connection mechanism constituted of circular pair, circular pair and spherical pair |
| CN100357070C (en) * | 2005-09-20 | 2007-12-26 | 江苏大学 | Serial-parallel TCM massage robot |
| CN102248532A (en) * | 2011-06-13 | 2011-11-23 | 天津理工大学 | Spatial three-degree-of-freedom parallel robot mechanism |
| CN102825595B (en) * | 2012-08-24 | 2015-04-08 | 燕山大学 | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism |
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2001
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102626920A (en) * | 2012-03-22 | 2012-08-08 | 燕山大学 | Non-concurrent axis symmetric three-dimensional-rotation parallel mechanism with two-degree of freedom planar subchains |
| CN102626920B (en) * | 2012-03-22 | 2014-07-23 | 燕山大学 | Non-concurrent axis symmetric three-dimensional-rotation parallel mechanism with two-degree of freedom planar subchains |
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