CN1126645C - Three-dimensional translation parallel mechanism for robot and virtual-axis machine measurer - Google Patents
Three-dimensional translation parallel mechanism for robot and virtual-axis machine measurer Download PDFInfo
- Publication number
- CN1126645C CN1126645C CN 01113520 CN01113520A CN1126645C CN 1126645 C CN1126645 C CN 1126645C CN 01113520 CN01113520 CN 01113520 CN 01113520 A CN01113520 A CN 01113520A CN 1126645 C CN1126645 C CN 1126645C
- Authority
- CN
- China
- Prior art keywords
- parallel
- pair
- branch
- revolute pair
- branch road
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The present invention provides ten kinds of three-dimensional translation parallel mechanisms. One of the parallel mechanisms is composed of a movable platform, a fixed platform and three branch circuits, wherein each branch circuit is formed by that a rotary pair and a cylindrical pair which are parallel and a mobile pair not parallel to the axial line of the rotary pair are connected in series. Both ends of the branch circuit are connected with the movable platform and the fixed platform. The axial lines of the rotary pairs of the two branch circuits are arranged in parallel, and the third branch circuit and the first two branch circuits are vertically arranged. Driving three mobile pairs on the fixed platform can control the three-dimensional translation output of the movable platform. The mechanism has simple structure has the advantages of simple structure, decoupling character of input and output, big working space, convenient manufacture and installation, etc. especially, the present invention greatly simplifies the control of the robot system and the planning complicacy of the trace. The present invention provides a novel model for machine tools with imaginary axes, robots, mechanical measuring machines with imaginary axes, etc. and provides the possibility for the development and the practicality of the machine tools with the imaginary axes, the robots, the mechanical measuring machines with the imaginary axes, etc.
Description
Technical field
The present invention relates to the executing agency of a kind of robot, mechanical measuring machine and lathe, specifically provide a class novel parallel institution for parallel robot, imaginary axis mechanical measuring machine and imaginary axis Digit Control Machine Tool.
Background technology
Imaginary axis 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.Developed the model machine of this lathe at present in states such as the U.S., Japan, the parallel institution that is adopted is traditional Stewart (Stewart) mechanism.The mechanism that position and the attitude of this control cutter in the space changes 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 the pose 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 Nember: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 of system and trajectory planning 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.
Coordinate measuring machine based on parallel institution also claims imaginary axis mechanical measuring machine, is a major progress on the scientific measurement instrument in recent years.Compare with traditional measuring machine that belongs to tandem mechanism, it is big that the coordinate measuring machine of parallel-connection structure has a structural rigidity, the movement velocity height, and error unique property such as do not superpose can make certainty of measurement and measure performances such as efficient to be 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 based platform, thereby the end effector spatial pose is more flexible, but this mechanism's complexity, forward kinematics solution and error analysis and correction be difficulty; To 3-RPS mechanism, the free degree is 3, and its spatial pose flexibility ratio is poor slightly, but simple in structure, because the non-desired output of 3-RPS mechanism is not that constant does not exist decoupling again, so its error analysis is still complicated with correction.In addition, above-mentioned three kinds of parallel institutions all contain a plurality of spherical pairs, and 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.
Summary of the invention
The object of the invention provides a class (10 kinds) parallel 2 D translation mechanism, that this mechanism has is simple in structure, motion input-output have decoupling, working space greatly, be convenient to advantages 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.For virtual axis machine, robot, jiggle robot and imaginary axis mechanical measuring machine etc. provide new architecture, for its exploitation and practicability provide possibility.
Accompanying drawing 1 is a schematic diagram of mechanism of the present invention.It is made up of moving platform (1), silent flatform (0) and three identical branch roads of structure.A revolute pair (3) that every route axis is parallel to each other and a garden post pair (2) and a moving sets (4) that is not parallel to the revolute pair axis are in series with member (5) and (6).Branch road two ends member connects firmly respectively on dynamic and static platform, but the revolute pair axis of two branch roads is a configured in parallel, and the revolute pair axis of the 3rd branch road and preceding two branch road revolute pair axis are arranged perpendicular or non-parallel, non-perpendicular configuration.Drive three moving sets (4) on the silent flatform (0), can control the D translation output of moving platform (1).
In the accompanying drawing 3, a line structure is identical in each bar branch road and the accompanying drawing 1, but three branch roads should make the garden post secondary axis coplane of three branch roads and be centrosymmetric (promptly being separated by 120 °) configuration in the connection of dynamic and static platform.
Accompanying drawing 1 parallel institution also can remove in two parallel legs, become the new architecture that has only two branch roads, its line structure is same as accompanying drawing 1, and the garden post secondary axis of two branch roads is arranged perpendicular or non-parallel, non-perpendicular configuration between dynamic and static platform, as shown in Figure 2.
Accompanying drawing 4 is a kind of three branch road new architectures, wherein two line structures are identical, be same as accompanying drawing 1, and be arranged perpendicular or non-parallel, non-perpendicular configuration, article three, branch road is configuration arbitrarily between dynamic and static platform for to be in series with member (8), (9) by two spherical pairs (7) and a moving sets (4).
Each branch road among the accompanying drawing 1-4 (removing a branch road that is formed by member (1), (8), (9) and (0) in the accompanying drawing 4) can substitute with a line structure of accompanying drawing 5, but the configuration mode of each branch road on dynamic and static platform still is same as accompanying drawing 1-4 respectively.Loop in accompanying drawing 5 branch roads is revolute pair (a 3) parallel-crank mechanism, and all the other two revolute pairs (13) still are parallel to each other, and its axis normal is in the axis of the revolute pair (3) of parallelogram.
Each branch road in the accompanying drawing 1 and 3 can substitute with a line structure of accompanying drawing 6, but the configuration mode of each branch road on dynamic and static platform still is same as accompanying drawing 1 and 3 respectively.Loop in accompanying drawing 6 branch roads is the parallelogram that 4 spherical pairs (7) are formed.Member 1 and two spherical pairs (3) of 12 make them have the partial rotational free degree respectively, have substituted two revolute pairs (13) in the accompanying drawing 5.
The present invention is the novel parallel institution of a class (10 kinds) D translation.This mechanism has following characteristics:
1. mechanism's workbench can be realized D translation motion output.
2. mechanism is simple, has in light weight, good rigidly, but advantages such as high-speed motion.
3. its forward kinematics solution is 4 times, promptly only needs to set up and find the solution two quadratic equation with one unknown, has separated analytic formula, has greatly simplified the control and the trajectory planning problem of lathe and robot system; The normal solution and the rectification building-out problem analysis of measuring machine have also been simplified greatly.
4. motion input-output has decoupling again, has further simplified system's control.
5. mechanism makes, installs comparatively simple, easily improves MECHANISM PRECISION.
6. working space is bigger.
7. mechanism shown in the accompanying drawing 1,2,3 and 5 only uses revolute pair and garden post pair, and easily Precision Machining and cost are lower, is beneficial to the kinematic accuracy that improves parallel institution.
The specific embodiment
Accompanying drawing 7 is depicted as the embodiment that the present invention is used for imaginary axis mechanical measuring machine.On moving platform (1), install and measure head (10), go up installation measured workpiece (11) at silent flatform (0) (pedestal), drive last 3 moving sets of pedestal (0), can control gage outfit on the moving platform (10), finish the specified measurement process in the position in space (three-dimensional moving).If the gage outfit (10) on accompanying drawing 7 moving platforms (1) is changed to the manipulator clamper, also can be considered the embodiment that the present invention only needing to be used for the assembly robot of D translation.
In a word, the present invention is an imaginary axis Digit Control Machine Tool, walking (contain and creep, climb wall etc.) robot, industrial robot (as assembling, stacking robot) and imaginary axis mechanical measuring machine etc., new architecture with These characteristics is provided, has been beneficial to the exploitation and the practicability of novel lathe, robot and mechanical measuring machine.
Claims (7)
1. three translation parallel mechanism that can be used for robot, imaginary axis Digit Control Machine Tool and imaginary axis mechanical measuring machine etc., its composition comprises dynamic and static platform and is connected in three branch roads between the dynamic and static platform, secondary and the moving sets three who is not parallel to the revolute pair axis of the revolute pair that it is characterized in that each route is parallel to each other and garden post is in series, article three, branch road with the configuration mode that two platforms connect is: the revolute pair axis of two branch roads is configured in parallel, the 3rd branch road revolute pair axis and preceding two branch roads are arranged perpendicular, perhaps non-parallel, non-perpendicular configuration.
2. according to the described parallel institution of claim 1, the revolute pair axis of three branch roads can be coplane and center symmetry (alternate 120 °) configuration on dynamic and static platform.
3. according to claim 1 or 2 described parallel institutions, the one-movement-freedom-degree of garden post pair can substitute with the revolute pair parallel-crank mechanism on every branch road, promptly props up two revolute pairs of route and a revolute pair parallel-crank mechanism and a moving sets and is in series.The revolute pair of preceding two revolute pairs and parallelogram is arranged perpendicular.
4. according to the described parallel institution of claim 3,4 revolute pairs in every branch road in the parallel-crank mechanism all substitute with spherical pair.。
5. according to the described parallel institution of claim 1, can remove arbitrary branch road in configured in parallel two branch roads, become the three translation parallel mechanism that has only two branch roads, two branch roads are arranged perpendicular or non-parallel, non-perpendicular configuration.
6. according to the described parallel institution of claim 5, the one-movement-freedom-degree of the garden post pair in two branch roads substitutes with the revolute pair parallel-crank mechanism.
7. according to the described parallel institution of claim 5, can add one again by two spherical pairs and the branch road that moving sets is composed in series between two platforms, this branch road is configuration arbitrarily between two platforms.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 01113520 CN1126645C (en) | 2001-04-10 | 2001-04-10 | Three-dimensional translation parallel mechanism for robot and virtual-axis machine measurer |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 01113520 CN1126645C (en) | 2001-04-10 | 2001-04-10 | Three-dimensional translation parallel mechanism for robot and virtual-axis machine measurer |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1310075A CN1310075A (en) | 2001-08-29 |
CN1126645C true CN1126645C (en) | 2003-11-05 |
Family
ID=4660241
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN 01113520 Expired - Fee Related CN1126645C (en) | 2001-04-10 | 2001-04-10 | Three-dimensional translation parallel mechanism for robot and virtual-axis machine measurer |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN1126645C (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102350696A (en) * | 2011-09-15 | 2012-02-15 | 常州大学 | Three-translational parallel movement device |
CN104959975B (en) * | 2015-07-27 | 2017-01-18 | 吉林大学 | Three-dimensional translational parallel mechanism based on motion decoupling |
CN105196280B (en) * | 2015-11-11 | 2020-04-14 | 山东理工大学 | Redundant driving type three-translation micro-operation robot |
-
2001
- 2001-04-10 CN CN 01113520 patent/CN1126645C/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
CN1310075A (en) | 2001-08-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN1219627C (en) | Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine | |
CN108555889B (en) | Space five-degree-of-freedom series-parallel processing equipment containing redundancy constraint and use method thereof | |
CN1117650C (en) | 3D parallel translation mechanism for virtual-axle machine tool and robot | |
CN108818502B (en) | Two-movement one-rotation parallel mechanism with spherical surface rotation freedom degree | |
Cai et al. | Development and study of a new kind of 3-DOF tripod | |
CN1528568A (en) | Three-translation-one-rotation parallel mechanism for imaginary axis machine tool and robot | |
CN1255245C (en) | Parallel mechanisms for imaginary axis machine tool, measurer, etc. | |
CN1126645C (en) | Three-dimensional translation parallel mechanism for robot and virtual-axis machine measurer | |
CN1651186A (en) | Three dimensional translation parallel connection mechanism used for robot operation | |
Su et al. | Type synthesis of freedom and constraint elements for design of flexure mechanisms | |
CN1528569A (en) | Three-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot | |
CN1225343C (en) | Two-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot | |
CN1121298C (en) | Three-dimensional translation parallel mechanism for virtual-axis numerically controlled machine tool and coordinate measuring machine | |
CN1342547A (en) | Parallel 2D translation mechanism for numerally controlled machine-tool with virtual axle and coordinate measuring machine | |
CN102476294A (en) | Special three-degree-of-freedom two-translation and one-rotation parallel mechanism | |
Nigatu et al. | Dimensionally Homogeneous Jacobian using Extended Selection Matrix for Performance Evaluation and Optimization of Parallel Manipulators | |
CN1586805A (en) | Two translation-rotary parallel connection mechanism for imaginary axis digital control machine tool and robot | |
CN1193862C (en) | Parallel mechanism with six degrees of freedom applicable to virtual axles numerically-controlled machine and mechanical measuring machine | |
CN1246120C (en) | One-translation-three-rotation parallel mechanism for imaginary axis machine tool and measuring machine | |
CN201073733Y (en) | 6-DOF parallel mechanism used for mechanic measuring machine and virtual axis NC machine tool | |
CN1544201A (en) | Parallel mechanism with six degrees of freedom used for virtual shaft numerical control machine tool and parallel robot | |
CN1189289C (en) | Three-dimensional translational parallel mechanism for virtual axle coordinate measuring machine and carving machine | |
CN1188247C (en) | Parallel translation-rotation mechanism containing planar loop for robot | |
CN1651187A (en) | Three dimensional translation parallel connection mechanism used for virtual axis coordinate measuring machine | |
CN1597243A (en) | Six-freedom parallel mechanism used for mechanical measuring machine and virtual shaft digital controlled machine tool |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C06 | Publication | ||
PB01 | Publication | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
C19 | Lapse of patent right due to non-payment of the annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |