CN1207130C - Six-freedom parallel/serial position and posture measurer based on three-freedom parallel mechanism - Google Patents
Six-freedom parallel/serial position and posture measurer based on three-freedom parallel mechanism Download PDFInfo
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- CN1207130C CN1207130C CN 01114193 CN01114193A CN1207130C CN 1207130 C CN1207130 C CN 1207130C CN 01114193 CN01114193 CN 01114193 CN 01114193 A CN01114193 A CN 01114193A CN 1207130 C CN1207130 C CN 1207130C
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- freedom
- freedom parallel
- parallel mechanism
- ball pair
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The present invention relates to a six-freedom parallel-series position and posture measurer based on a three-freedom parallel mechanism, which comprises a measuring head, a ball pair and the three-freedom parallel mechanism, wherein the parallel mechanism is composed of three branches. One end of each branch is connected with a fixed plane by a universal joint, and the other end and the other two branches are converged to the center of the ball pair to form a triangular taper. The ball pair is formed by the series connection of three rotation pairs, the axial lines of which are converged to one point to become the series structure of the three freedom rotation pairs; a rotary encoder is respectively arranged on each output shaft of the rotation pairs. The present invention has the characteristics of high measurement precision, wide measurement range and real-time rapid resolution.
Description
Technical field
The present invention relates to a kind of mechanical measurement equipment, specifically be based on the 6 degree-of-freedom paralleling-serial measurer of 3-freedom parallel mechanism.
Background technology
In the prior art, six coordinate measuring machines mainly divide two kinds of forms, and a kind of is the cascaded structure form; A kind of is the parallel-connection structure form.The cascaded structure form mainly is composed in series by six-freedom degree (revolute pair or moving sets), and rectilinear transducer is equipped with in mobile vice division chief, rotates vice division chief rotary encoder is housed.Because the normal solution of serial mechanism has demonstration to separate, and unique, so this measuring machine can directly be measured the pose of testee.But along with the increase of measurement category, the rigidity of system can descend significantly, and certainty of measurement also can obviously reduce.Further, serial mechanism has the error enlarging function, and the measure error that promptly is installed in the sensor of chassis or waist can be exaggerated at the measuring machine end, wants to improve certainty of measurement, must increase substantially the precision and the resolution ratio of sensor.The measuring machine of parallel-connection structure form, mainly be based on stewart platform form, such measuring machine certainty of measurement height, system stiffness are big, but such measuring machine does not have analytic solutions, position and the attitude of calculating testee need adopt the method for receiving rope that iterates, thereby amount of calculation is big, and not unique, so bring inconvenience when measuring.
Summary of the invention
In order to overcome the deficiency of above-mentioned measuring machine, the purpose of this invention is to provide a kind of certainty of measurement height, measurement category extensively, the 6 degree-of-freedom paralleling-serial measurer based on 3-freedom parallel mechanism of analytic solutions real-time.
The object of the present invention is achieved like this: comprise gage outfit, ball pair, 3-freedom parallel mechanism, gage outfit links to each other with 3-freedom parallel mechanism by the ball pair, wherein parallel institution is made of three branches, one end of each branch is connected with fixed pan with universal joint, the other end and two other branch intersect at the center of ball pair, become triangular pyramidal;
Described ball pair is composed in series by three revolute pairs, and the axis of described three revolute pairs intersects at a bit, is three degree of freedom revolute pair cascaded structure, on its each output shaft rotary encoder is housed respectively; Described each branch is made up of guide rail, slide block, linear displacement transducer, and slide block is installed on the guide rail, and connects with the ball parafacies, and guide rail one end links to each other with fixed pan by universal joint, and linear displacement transducer is between ball pair and universal joint; The pyrometric cone side surface that described parallel institution forms is an arbitrary triangle.
The present invention has following advantage:
1. the present invention utilizes 3-freedom parallel mechanism to realize the testee pose measurement, has that real time parsing is separated, precision height, speed be fast.
2. the present invention has avoided the shortcoming and defect of in parallel and series connection measuring machine in the prior art, under the situation of wide-measuring range, still can guarantee high measurement accuracy.
3. the present invention combines advantage in parallel and series connection form measuring machine, and applied range can be measured in real time to various curved surfaces.
4. simple in structure, low cost of manufacture.
Description of drawings
Fig. 1 is a schematic diagram of mechanism of the present invention.
Fig. 2 is the secondary schematic diagram of mechanism of the ball among Fig. 1.
Fig. 3 is single branch sketch among Fig. 1.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
As shown in Figure 1, the present invention includes gage outfit 1, ball pair 2,3-freedom parallel mechanism, gage outfit 1 links to each other with 3-freedom parallel mechanism by ball pair 2, wherein parallel institution is made of three branches 33, one end of each branch 33 is connected with fixed pan 35 with universal joint 34, the other end and two other branch intersect at the center of ball pair 2, become triangular pyramidal;
As shown in Figure 2, described ball pair 2 is composed in series by three revolute pairs, and axis intersects at a bit, is three degree of freedom revolute pair cascaded structure, on its each output shaft rotary encoder is housed respectively;
As shown in Figure 3, each branch 33 is made up of guide rail 331, slide block 332, linear displacement transducer 333, slide block 332 is installed on the guide rail 331, and link to each other with ball secondary 2, guide rail 331 1 ends link to each other with fixed pan 35 by universal joint 34, linear displacement transducer 333 can provide branch length in real time between ball secondary 2 and universal joint 34.
Operation principle of the present invention is:
The length of every single branch 33 is from the information calculations of linear displacement transducer 333, in case the length of three branches 33 determines that the apex coordinate of 3-freedom parallel mechanism is promptly determined; When gage outfit 1 with after testee contacts, testee tested surface attitude just can directly be obtained with analytic solutions by three rotary encoders of servo-actuated.That is to say,, can directly provide the attitude of tested surface by the value of three rotary encoders when gage outfit 1 and tested surface are face when contacting; When gage outfit 1 contacted for point with tested surface, coordinate figure (by the length and the Attitude Calculation of the gage outfit 1) algebraical sum that the apex coordinate value of the 3-freedom parallel mechanism of triangular pyramidal and gage outfit 1 length derive from was the position coordinates of measured point.
Claims (3)
1. 6 degree-of-freedom paralleling-serial measurer based on 3-freedom parallel mechanism, it is characterized in that: comprise gage outfit (1), ball pair (2), 3-freedom parallel mechanism, gage outfit (1) links to each other with 3-freedom parallel mechanism by ball pair (2), wherein parallel institution is made of three branches (33), one end of each branch (33) is connected with fixed pan (35) with universal joint (34), the other end and two other branch intersect at the center of ball pair (2), become triangular pyramidal; Described ball pair (2) is composed in series by three revolute pairs, and the axis of described three revolute pairs intersects at a bit, is three degree of freedom revolute pair cascaded structure, on its each output shaft rotary encoder is housed respectively.
2. according to the described 6 degree-of-freedom paralleling-serial measurer of claim 1 based on 3-freedom parallel mechanism, it is characterized in that: described each branch (33) is made up of guide rail (331), slide block (332), linear displacement transducer (333), slide block (332) is installed on the guide rail (331), and link to each other with ball pair (2), guide rail (331) one ends link to each other with fixed pan (35) by universal joint (34), and linear displacement transducer (333) is positioned between ball pair (2) and the universal joint (34).
3. according to the described 6 degree-of-freedom paralleling-serial measurer based on 3-freedom parallel mechanism of claim 1, it is characterized in that: the pyrometric cone side surface that described parallel institution forms is an arbitrary triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01114193 CN1207130C (en) | 2001-07-04 | 2001-07-04 | Six-freedom parallel/serial position and posture measurer based on three-freedom parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01114193 CN1207130C (en) | 2001-07-04 | 2001-07-04 | Six-freedom parallel/serial position and posture measurer based on three-freedom parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1393321A CN1393321A (en) | 2003-01-29 |
| CN1207130C true CN1207130C (en) | 2005-06-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01114193 Expired - Fee Related CN1207130C (en) | 2001-07-04 | 2001-07-04 | Six-freedom parallel/serial position and posture measurer based on three-freedom parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1207130C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100447528C (en) * | 2006-05-31 | 2008-12-31 | 中国科学院沈阳自动化研究所 | Pose measuring plane sensor |
| CN101497193B (en) * | 2008-02-03 | 2010-12-08 | 中国科学院沈阳自动化研究所 | Laser processing robot mechanism |
| CN101850547B (en) * | 2010-04-20 | 2011-10-26 | 上海大学 | Six-degree-of-freedom series-connected robot with target positioning |
| CN102506274A (en) * | 2011-10-21 | 2012-06-20 | 四川大学 | Novel spherical positioning mechanism |
| CN104240548A (en) * | 2014-09-04 | 2014-12-24 | 燕山大学 | Six-degree-of-freedom motion simulation platform with three composite drive branched chains |
-
2001
- 2001-07-04 CN CN 01114193 patent/CN1207130C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1393321A (en) | 2003-01-29 |
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