CN1238156C - Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool - Google Patents
Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool Download PDFInfo
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- CN1238156C CN1238156C CN 200410069387 CN200410069387A CN1238156C CN 1238156 C CN1238156 C CN 1238156C CN 200410069387 CN200410069387 CN 200410069387 CN 200410069387 A CN200410069387 A CN 200410069387A CN 1238156 C CN1238156 C CN 1238156C
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- freedom
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- branched chain
- slide rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
The present invention relates to a three-freedom redundancy parallel mechanism having two rotations and one translation. The parallel mechanism comprises a fixed platform, a movable platform, three single-freedom non-redundant branched chains and a single-freedom redundant branched chain, wherein one end of each of the three single-freedom non-redundant branched chains is connected with the fixed platform by a rotating pair, and the other end of each single-freedom non-redundant branched chain is connected with the movable platform by a spherical hinge. Both ends of the single-freedom redundant branched chain are spherical hinges. The present invention has the advantages of improving the precision and the rigidity of the parallel mechanism and enlarging the swinging attitude space of the mechanism, and is suitable for manufacturing numerical control parallel machine tools with high precision and large attitude angles.
Description
Technical field
The invention belongs to mechanical manufacturing field, relate in particular to a kind of three freedom redundancy parallel mechanism that can be used for parallel machine.
Background technology
Parallel machine is called void (plan) axle lathe again, is the novel numerical control process equipment that comes out the mid-90 in last century, is considered to the revolution of machine tool field.From the U.S. in 1994 base jackscrew and Lai Weisi (Giddings; Lewis) company and Ingersoll (Ingersoll) company has released since the parallel machine, have the colleges and universities of countries such as Germany, Japan, Russia, Switzerland and scientific research institutions to carry out research work to this type of lathe in succession, existing both at home and abroad so far many parallel machines occur.The lathe of this new structure has carried out replenishing greatly to traditional lathe based on cascaded structure.Such as, in the traditional machine tool structure, realize 5 processing, need on 3 lathes of tradition, increase the attitude that two axles are controlled cutter again, all these axles are all arranged according to cascaded structure.When an axle motion, need to drive all axles motion together of back on the series connection kinematic chain, so its motional inertia is big, dynamic property is relatively poor.For general parallel institution, realize the 5DOF motion, only need the several expansion links of control or the motion of slide block just can realize, the motion of its moving platform is the result of several side chain kinematic synthesis, therefore the lathe of this structure is easy to realize the multi-coordinate motion, has the fast characteristics of response speed.In addition, under this motion mode, the kinematic error of mechanism's end-effector is the accumulation of each axis error unlike series system, but the error of each side chain can be offset a part, so its theoretical precision is better than the lathe of traditional structure.
But along with people to progressively the discovering of parallel machine, parallel machine has made the performance of parallel machine have a greatly reduced quality in the problem that aspects such as precision, rigidity, unusual, working space exist.This wherein has many reasons.Such as aspect the precision, the precision of parallel machine depends on critical components such as ball pivot, Hooke's hinge to a great extent, and the manufacturing of the hinge of high accuracy and rigidity difficulty relatively.This point makes the precision advantage of parallel machine to show, and sometimes shows also poorlyer than the series connection lathe on the contrary.The working space of parallel institution is little in addition, and especially configuration space is little, and it is that mechanism self can't overcome that there is problem such as unusual in configuration inside.
In patent documentation CN1267586, disclose the parallel institution of four side chains of a kind of employing, but wherein revolute pair and ball pair are adopted in the two ends of two side chains, the secondary and ball pair of Hooke is adopted at two other side chain two ends, this invention can realize four frees degree, does not belong to redundancy parallel mechanism.
Summary of the invention
The objective of the invention is to propose the above-mentioned shortcoming that a kind of parallel institution that has redundancy branched chain overcomes parallel institution.It is big that this mechanism has a working space, the kinematic accuracy height, and advantages such as good rigidly make such parallel machine practical more.
Redundancy parallel mechanism of the present invention comprises silent flatform, moving platform, three single-degree-of-freedom nonredundancy side chains and a single-degree-of-freedom redundancy branched chain, one end of described three single-degree-of-freedom nonredundancy side chains connects silent flatform by revolute pair, the other end connects moving platform by ball pivot, and the two ends of described single-degree-of-freedom redundancy branched chain are ball pivot.
Can be preferably, described three single-degree-of-freedom nonredundancy side chains and described single-degree-of-freedom redundancy branched chain all adopt leading screw and nut structure to realize that the single-degree-of-freedom of each side chain is flexible.
Preferablely be, described three single-degree-of-freedom nonredundancy side chains and described single-degree-of-freedom redundancy branched chain all adopt the slide rail of fixed length connecting rod and the single dof mobility that slide block structure is realized each side chain, and described slide rail is fixed on the column that is connected with silent flatform, and slide block is moved on slide rail.
In addition, described three single-degree-of-freedom nonredundancy side chains and described single-degree-of-freedom redundancy branched chain can adopt slide rail and slide block structure or leading screw and nut structure respectively.
Control the position and the attitude of moving platform by the single dof mobility of controlling each side chain.The moving platform of this mechanism can be realized the rotation of two-freedom and the translation of one degree of freedom, altogether three degree of freedom.Mechanism has four inputs, and wherein the motion of single-degree-of-freedom redundancy branched chain is redundant input, so its motion input will coordinate mutually with the motion of other three side chains, and mechanism could realize definite motion.
In the above-mentioned redundancy parallel mechanism, because the existence of redundancy branched chain can overcome some problems that parallel institution exists at present.At first, increase a side chain and obviously can improve the rigidity of mechanism.In addition, the kinematic error of the moving platform that hinge gap causes because the constraint of many side chains can reduce improves precision.Simultaneously, when parallel institution is in singular position, moving platform is uncontrollable owing to have the unnecessary free degree, can make mechanism stride across this singular position this moment by the driving of this redundancy branched chain, thereby two adjacent configuration spaces are merged, effectively increased the working space of parallel institution.
The invention has the advantages that:
1, on the basis of nonredundancy parallel institution, increases a side chain, can improve the rigidity of mechanism;
2, redundancy branched chain can reduce because the kinematic error that hinge gap causes improves kinematic accuracy;
3, drive the redundant unusual position shape that can eliminate the nonredundancy parallel institution, increase working space;
4, the mechanics that improves mechanism transmits performance, improves the dynamic individual features of mechanism;
5, remove the problem of separating of position normal solution more.
Parallel institution of the present invention props up chain length for layout, platform size and the connecting rod of dynamic and static platform upper hinge point does not have specific restriction, can determine above-mentioned parameter according to concrete designing requirement.Below by accompanying drawing the present invention is described further.
Description of drawings
Fig. 1 is an embodiment of parallel institution of the present invention;
Fig. 2 is an embodiment of parallel institution of the present invention.
The specific embodiment
Describe the present invention below in conjunction with Fig. 1 and Fig. 2.Wherein, each Reference numeral is represented respectively in Fig. 1: 1 moving platform; 2 ball pivots; 3,6,7 nonredundancy side chains; 4 revolute pairs; 5 silent flatforms; 8,10 ball pivots; 9 redundancy branched chains.As can be seen from Figure 1 it is one and is made up of moving platform 1 and silent flatform 5 and four side chains.Wherein nonredundancy side chain 3,6 and 7 one ends are connected silent flatform 5 by the hinge identical with revolute pair 4, and the other end connects moving platform 1 by the hinge identical with ball pivot 2.9 is the redundancy branched chain of this mechanism, and its two ends are connected two platforms by ball pivot 8 with 10.Mechanism realizes that by the length of control side chain 3,6,7,9 moving platform 1 is with respect to the position of silent flatform 5 and the variation of attitude at the volley.Reference numeral in Fig. 2 is represented respectively: 11 frameworks; 12 columns; 13 slide blocks; 14 revolute pairs; 15,16,23 nonredundancy side chains; 17 ball pivots; 18 workpiece; 19 workbench; 20 cutters; 21 moving platforms; 22,25 ball pivots; 24 redundancy branched chains; 26 slide blocks.As shown in Figure 2, mechanism mainly is made up of framework 11, four root posts 12, connecting rod 15,16,23,24 and moving platform 21.On the column 12 slide rail is housed, slide block moving up and down is housed on the slide rail.Each side chain connects column by the slide block identical with 13, thereby realizes moving up and down.Connecting rod 15,16,23,24 is the fixed length connecting rod.Wherein, connecting rod 15,16,23 1 ends connect moving platform 21 by ball pivot, and the other end connects each corresponding slide block by revolute pair.Redundancy branched chain 24 two ends are ball pivot and connect moving platform 21 and slide block 26.Cutting tool 20 is installed on the moving platform 21 among the figure, and the workbench 19 that can move along two directions also is housed among the figure, can finish five coordinate digital control processings of complex parts in conjunction with this lathe of this workbench.
Four side chains of another example of this invention can adopt fixed length connecting rod and shrinking connecting-rod respectively, when adopting the fixed length connecting rod, its single dof mobility adopts slide rail and slide block to realize, when adopting the expansion link side chain, its single dof mobility adopts screw-nut structure to realize.
Claims (4)
1, a kind of three freedom redundancy parallel mechanism with two rotations and a translation, it is characterized in that: this parallel institution comprises silent flatform, moving platform, three single-degree-of-freedom nonredundancy side chains and a single-degree-of-freedom redundancy branched chain, one end of described three single-degree-of-freedom nonredundancy side chains connects silent flatform by revolute pair, the other end connects moving platform by ball pivot, and the two ends of described single-degree-of-freedom redundancy branched chain are ball pivot.
2, according to the described three freedom redundancy parallel mechanism of claim 1, it is characterized in that described three single-degree-of-freedom nonredundancy side chains and described single-degree-of-freedom redundancy branched chain all adopt the leading screw of shrinking connecting-rod and the single dof mobility that nut structure is realized each side chain.
3, according to the described three freedom redundancy parallel mechanism of claim 1, it is characterized in that, described three single-degree-of-freedom nonredundancy side chains and described single-degree-of-freedom redundancy branched chain all adopt the slide rail of fixed length connecting rod and the single dof mobility that slide block structure is realized each side chain, and described slide rail is fixed on the column that is connected with silent flatform, and slide block is moved on slide rail.
4, according to the described three freedom redundancy parallel mechanism of claim 1, it is characterized in that, described three single-degree-of-freedom nonredundancy side chains and described single-degree-of-freedom redundancy branched chain can adopt the slide rail of fixed length connecting rod and the leading screw and the nut structure of slide block structure or shrinking connecting-rod respectively, and when side chain adopts the slide rail of fixed length connecting rod and slide block mechanism, described slide rail is fixed on is fixed on silent flatform with silent flatform so on the column that connects, and slide block is moved on slide rail.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200410069387 CN1238156C (en) | 2004-07-22 | 2004-07-22 | Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool |
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| CN 200410069387 CN1238156C (en) | 2004-07-22 | 2004-07-22 | Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool |
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| CN1586806A CN1586806A (en) | 2005-03-02 |
| CN1238156C true CN1238156C (en) | 2006-01-25 |
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| CN 200410069387 Expired - Fee Related CN1238156C (en) | 2004-07-22 | 2004-07-22 | Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool |
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Cited By (1)
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2004
- 2004-07-22 CN CN 200410069387 patent/CN1238156C/en not_active Expired - Fee Related
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| CN100372657C (en) * | 2006-04-18 | 2008-03-05 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
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