CN1448246A - Three-dimensional translational parallel mechanism for virtual axle coordinate measuring machine and carving machine - Google Patents
Three-dimensional translational parallel mechanism for virtual axle coordinate measuring machine and carving machine Download PDFInfo
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- CN1448246A CN1448246A CN 03113354 CN03113354A CN1448246A CN 1448246 A CN1448246 A CN 1448246A CN 03113354 CN03113354 CN 03113354 CN 03113354 A CN03113354 A CN 03113354A CN 1448246 A CN1448246 A CN 1448246A
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Abstract
The 3D translating parallel mechanism for virtual axle coordinate measuring scribing machine and carving machine consists of upper movable platform, lower static platform, mixed chain leg and simple opened chain leg. The mixed chain leg includes one five-rod planar closed-loop mechanism comprising three parallel axis rotating pairs and two translating pairs on the lower static platform, one member hinged to the middle rotating pairs and one other member connected to two rotating pairs. The simple opened chain leg includes three members connected via two rotating pairs with parallel axes. Controlling the three translating members on the lower platform can obtain 3D translating output of the upper platform. The mechanism has input-output decoupling property and is easy to manufacture and install.
Description
Technical field
The present invention relates to the topworks of a kind of imaginary axis engraving machine, coordinate measuring machine, pen machine, specifically provide a kind of novel parallel institution for parallel-connection structure imaginary axis measurement of coordinates in parallel, pen machine, engraving machine and parallel robot.
Background technology
Since Gough and Stewart proposition parallel institution notion, parallel institution obtains widespread use in fields such as robot, virtual-shaft machine tool, coordinate measuring machine, emulation platform, microoperation mechanical arms, but most of research work mainly concentrate on 6DOF Stewart mechanism, example, general parallel-connection structure numerically-controlled machine is meant that with 6DOF Stewart parallel institution be the lathe of topworks, this lathe has been considered to the revolution of machine tool structure since the twentieth century, has developed the model machine of this lathe at present in states such as the U.S., Japan, China.And for example, the imaginary axis coordinate measuring machine of parallel-connection structure (contain and measure pen machine), it also is a major progress on the scientific measurement instrument in recent years, compare with traditional measuring machine that belongs to cascaded structure, the parallel-connection structure coordinate measuring machine has uniquenesses such as structural rigidity is big, movement velocity is high, error does not superpose, and performances such as measuring accuracy and efficiency of measurement are greatly improved.At present, existing ripe relatively parallel coordinate measuring machine structure has 6-SPS 6-RSS and 3-RPS etc., for 6-SPS and 6-RSS mechanism, because its movable platform has 6 spatial degrees of freedom with respect to based platform, thereby the spatial pose of its end effector is more flexible, but because the structure of this mechanism is relatively complicated, space constraint is less, cause the difficulty of finding the solution of its end effector, and for 3-RPS mechanism, the spatial degrees of freedom of its end effector is 3 (translation and two rotations), so its spatial pose flexibility ratio is relatively poor.But it is simple in structure.
Because the restriction of 6DOF parallel institution structure, the fine solution of failing of many gordian techniquies is arranged, strong as the motion coupling, forward kinematics solution is complicated, work space is less etc.In commercial Application, the normal parallel institution that requires to have 2～5DOF, for this reason, many scholar's research the three-dimensional pure flat output-parallel mechanism that moves, as Delta mechanism, Star Like mechanism etc.; Based on above-mentioned situation, Tsai proposes virtual-axis nc machine tool with two parallel institutions: lower platform is a parallel 2 D translation mechanism, and upper mounting plate is Three dimensional rotation parallel institution (US Pateat, Tsai, Patent Nember:5656905,1997).Its principal feature is that forward kinematics solution is 8 times; Position and direction decoupling zero; Compare with six leg Stewart mechanisms, work 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. D translation mechanism motion itself import-is output as strong 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. work space is still less relatively.
The Chinese scholar has also obtained important achievement (number of patent application: 01108297.6 in the pure flat research that moves output-parallel mechanism of novel three-dimensional and invention; 01113519.0; 01108297.6; 01108283.6 etc.)
In sum, the development of imaginary axis numerically-controlled machine in parallel and parallel coordinate measuring machine, engraving machine, pen machine and parallel robot and practicability need create the new architecture that is better than existing mechanism.
Summary of the invention
The present invention seeks to overcome the shortcoming of prior art, provide a class new parallel 2 D translation mechanism, that such mechanism has is simple in structure, input-output have decoupling, work space big, be convenient to make advantage such as installation, can greatly simplify the control of parallel-connection structure virtual-shaft machine tool, parallel coordinate measuring machine, engraving machine, pen machine and robot system and the complicacy of trajectory planning, for the exploitation of virtual axis machine, robot, imaginary axis coordinate measuring machine, engraving machine, pen machine and jiggle robot and practicability provide may.Description of drawings
1., accompanying drawing 1 is the flat deployable structure sketch of mechanism of the present invention.A combination chain leg and a simple open chain leg that it goes up lower platform by last moving platform 0, following silent flatform 1 and connection are formed.The combination chain leg comprises one by three revolute pair R that parallel to the axis
4, R
3, R
2Reach two and in same plane and with silent flatform 1, constitute moving sets P
1, P
5The five bar planar closed-loop structure formed of slide block 3,2, again at secondary R of output movement
3Last articulated element 6 is also used revolute pair R
6Connecting elements 7, and member 7 and moving platform 0 revolute pair R
7Mechanical connection, but revolute pair R
7, R
6Axis be parallel to each other, and with revolute pair R
4, R
3, R
2Axis normal; Simple open chain leg is by two the revolute pair Rs of three members 8,9,10 by parallel axes
9, R
10Connect to form its external slider component 10 and silent flatform 1 moving sets P
11Mechanical connection, another outer connection member 8 and moving platform 0 revolute pair R
8Mechanical connection, revolute pair R
8, R
9, R
10Axis and moving sets P
11Moving direction be parallel to each other.Moving sets P among the figure
1, P
5Moving direction and P
11Moving direction be not must be parallel or vertical, and available parallel axes is in revolute pair R
4, R
3, R
2Two revolute pairs replace.
2., accompanying drawing 2 is the replacement sketch of the simple open chain leg structure of press the orientation layout shown in the accompanying drawing 1, is one or four revolute pair R that parallel to the axis
1, R
2, R
3, R
4The parallelogram of forming, the one group to side rod 5,3 respectively with upper mounting plate 0, slider component 2 revolute pair R
6, R
5Connect, slider component 2 again with silent flatform 1 moving sets P
7Mechanical connection, its moving direction and revolute pair R
5, R
6Parallel axes, moving sets P
7Also available revolute pair replaces, but its revolute pair axis also should with revolute pair R
5, R
6Parallel axes.
Three motions that drive the joint on the control lower platform 1 with regard to position and the appearance will of moving platform on the may command in the space, realize the D translation output of X, Y, Z direction.As mounting cutter on last moving platform, promptly can be as the imaginary axis engraving machine of parallel-connection structure; Promptly can be as on last moving platform, probe being installed as parallel coordinate measuring machine, pen machine.
The present invention is the novel three-dimensional translation parallel connection 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. its forward kinematics solution is simple, is analytic solution, and motion input-output has decoupling again, has greatly simplified control problem.4. there is not passive constraint in mechanism, uses the secondary and P pair of R, can make mechanism make, install comparatively simple; Be beneficial to Precision Machining, and cost is lower.5. work space is bigger.
In a word, the present invention is that virtual-axis nc machine tool, measuring machine, engraving machine and parallel robot (as assembling, stacking robot) etc. provide the new architecture with exploitation and practical value, has good application prospect.
Embodiment
Below by accompanying drawing and example technology of the present invention is given to illustrate further.
Accompanying drawing 2 is the alternative structure synoptic diagram of the simple open chain leg shown in the accompanying drawing 1;
Parallel institution shown in the accompanying drawing 1 can be one embodiment of the present of invention. It is by upper moving platform 0, lower silent flatform 1 and connect one of upper lower platform Bar combination chain leg and a simple open chain leg form. The combination chain leg comprises one by three revolute pair R that parallel to the axis4、R
3、R
2And two secondary P of parallel1、P
5The five bar planar closed-loop structure that form are again at secondary R of output movement3Upper articulated element 6, and use revolute pair R6Connecting elements 7; The plane Two slide blocks 3 of closed circuit structure, 2 and silent flatform 1 by moving sets P1、P
5Mechanical connection, and member 7 and moving platform 0 revolute pair R7Mechanical connection, revolute pair R7、R
6Axis be parallel to each other, but with revolute pair R4、R
3、R
2Axis vertical; Simple open chain leg is by three members 8,9,10 By two parallel revolute pair R of axis9、R
10Connect to form its external slider component 10 and silent flatform 1 moving sets P11Mechanical connection, another external connection member 8 and moving platform 0 revolute pair R8Mechanical connection, revolute pair R8、R
9、R
10Axis and moving sets P11Moving direction mutual Parallel. Moving sets P among the figure11With P1、P
5Moving direction be parallel to each other.
When each bar linkage structure parameter and one timing of direction distributing position, three motions that drive slide blocks on the control lower platform 1 are with regard to controlled braking platform 0 Position and appearance will in the space realize the Three Dimensional Pure translation output of X, Y, Z direction. The structural design of this kind parallel institution and driving control etc. are all Mechanical ﹠ electrical technology is carried out design and installation routinely, as with the leg of this parallel institution as walking robot, can realize the walking manner that personalizes; Such as the piling executing agency that this parallel institution is used as container shipping, the translational motion on the three-dimensional that needing can realize; As on upper moving platform Probe is installed or is drawn cutter, namely can be as the executing agency of the parallel coordinate measuring machine of parallel-connection structure, pen machine, engraving machine.
Claims (4)
1., be used for the three-dimensional pure flat parallel institution that moves of imaginary axis digital-controlled carving machine, imaginary axis coordinate measuring machine, pen machine and parallel robot, by last moving platform, silent flatform and connect a combination chain leg and a simple open chain leg of going up lower platform and form down; It is characterized in that the combination chain leg comprises one by three revolute pairs that parallel to the axis, two five bar planar closed-loop structure that the moving sets on silent flatform constitutes, a hinged member also connects another member with a revolute pair on centre output revolute pair again, another revolute pair mechanical connection that this member parallels with axis with moving platform again, the axis normal of three revolute pairs that parallel to the axis in these two revolute pair axis and the five bar planar closed-loop structure; And simple open chain leg is connected to form by two revolute pairs of three members by parallel axes, outer connection member of one and silent flatform moving sets mechanical connection, another member and moving platform revolute pair mechanical connection, and three revolute pair axis on the simple open chain leg, a moving sets direction are parallel to each other, they again must be vertical with the revolute pair axis that is connected with moving platform on the combination chain leg, but be not must be parallel or vertical with the direction of two moving sets on the combination chain leg.
2., according to the 1. described parallel-connection structure of claim, it is characterized in that two moving sets in the five bar planar closed-loop structure can replace the axis of existing three the parallel to the axis revolute pairs of its parallel axes in this closed circuit structure on the combination chain leg with two revolute pairs.
3., according to the 1. described parallel-connection structure of claim, it is characterized in that simple open chain leg can be replaced by the structure that contains the parallelogram that four revolute pairs that parallel to the axis form, one group of this parallelogram is connected with revolute pair with upper mounting plate, slider component respectively side rod, and slider component and silent flatform moving sets mechanical connection, that group of its moving direction and parallelogram is to the parallel axes of two revolute pairs on the side rod;
4., according to the 3. described parallel-connection structure of claim, that moving sets that it is characterized in that containing on the simple open chain leg of parallelogram can replace with revolute pair, but the axis of its revolute pair should with that group of parallelogram to two turns auxiliary shaft line parallels on the side rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031133541A CN1189289C (en) | 2003-04-29 | 2003-04-29 | Three-dimensional translational parallel mechanism for virtual axle coordinate measuring machine and carving machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031133541A CN1189289C (en) | 2003-04-29 | 2003-04-29 | Three-dimensional translational parallel mechanism for virtual axle coordinate measuring machine and carving machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1448246A true CN1448246A (en) | 2003-10-15 |
| CN1189289C CN1189289C (en) | 2005-02-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031133541A Expired - Fee Related CN1189289C (en) | 2003-04-29 | 2003-04-29 | Three-dimensional translational parallel mechanism for virtual axle coordinate measuring machine and carving machine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100374244C (en) * | 2005-03-03 | 2008-03-12 | 江苏工业学院 | Three dimensional translation parallel connection mechanism used for robot operation |
| CN103817685A (en) * | 2014-02-25 | 2014-05-28 | 河南科技大学 | Three-translation parallel mechanism and branched chain thereof |
| CN104210301A (en) * | 2013-05-31 | 2014-12-17 | 曹欣 | Automatic levelling multifunctional caving machine |
| CN105563459A (en) * | 2014-10-15 | 2016-05-11 | 上海工程技术大学 | Decoupling two-rotation serial mechanism used for minimally invasive surgery |
| CN113319820A (en) * | 2021-02-06 | 2021-08-31 | 常州大学 | Large-corner zero-coupling-degree two-translation one-rotation robot with characteristic chain |
-
2003
- 2003-04-29 CN CNB031133541A patent/CN1189289C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100374244C (en) * | 2005-03-03 | 2008-03-12 | 江苏工业学院 | Three dimensional translation parallel connection mechanism used for robot operation |
| CN104210301A (en) * | 2013-05-31 | 2014-12-17 | 曹欣 | Automatic levelling multifunctional caving machine |
| CN103817685A (en) * | 2014-02-25 | 2014-05-28 | 河南科技大学 | Three-translation parallel mechanism and branched chain thereof |
| CN105563459A (en) * | 2014-10-15 | 2016-05-11 | 上海工程技术大学 | Decoupling two-rotation serial mechanism used for minimally invasive surgery |
| CN105563459B (en) * | 2014-10-15 | 2017-09-05 | 上海工程技术大学 | Decoupling two for Minimally Invasive Surgery rotates serial mechanism |
| CN113319820A (en) * | 2021-02-06 | 2021-08-31 | 常州大学 | Large-corner zero-coupling-degree two-translation one-rotation robot with characteristic chain |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1189289C (en) | 2005-02-16 |
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