CN1463821A - Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot - Google Patents

Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot Download PDF

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Publication number
CN1463821A
CN1463821A CN 02137856 CN02137856A CN1463821A CN 1463821 A CN1463821 A CN 1463821A CN 02137856 CN02137856 CN 02137856 CN 02137856 A CN02137856 A CN 02137856A CN 1463821 A CN1463821 A CN 1463821A
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China
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parallel
broad sense
pairs
revolute
axis
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CN 02137856
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Chinese (zh)
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CN1204998C (en
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杨廷力
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杨廷力
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Priority to CN 02137856 priority Critical patent/CN1204998C/en
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Publication of CN1204998C publication Critical patent/CN1204998C/en

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Abstract

One kind of parallel mechanism with four freedoms is provided. The parallel mechanism consists of dynamic platform, static platform and two generalized branches. Of the generalized branches, the first one consists of one planar six-rod loop of six rotating pairs and one serially connected rotating pair; and the second consists of one planar six-rod loop of six rotating pairs and two serially connected parallel rotating pairs. The configuration mode of branches and the platforms includes configuring two rotating pairs in the dynamic platform belonging to the two generalized branches parallelly, configuring four rotating pairs in the static platform belonging to the two generalized branches parallelly, and driving the four rotating pairs in the static platform to control the two-translation and two-rotation output of the dynamic platform. The mechanism may be used in development and application of virtual shaft machine tool and robots.

Description

Two translations, two one-rotation parallel mechanisms that contain biplane circuit that are used for virtual axis machine and robot
The present invention relates to the executing agency of a kind of lathe, robot etc., specifically, is to provide a class novel parallel institution for parallel-connection structure imaginary axis Digit Control Machine Tool, parallel robot.
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.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.There are 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.But this class mechanism has a lot of guardian techniques to fail to solve fully.As, (1) forward kinematics solution difficulty; (2) the motion platform pose is the close coupling of input, is unfavorable for control; (3) mechanism's complexity makes its working space less; (4) make the secondary difficulty of high-precise ball etc.
For virtual axis machine, many occasions need provide the free degree greater than 3 and less than 6 simpler parallel institution.For example, general working angles only need be controlled the feed motion of five axles, and the rotation that adds main shaft can be processed the interior any free form surface of its working space.Therefore,, provide the feed motion of 4DOF, realize moving of a direction by the workbench of clamping workpiece again, easily simple, the 5-shaft linkage numerical control lathe that is easy to control of implementation structure to main shaft if with the parallel connection platform mechanism of 4DOF.
In a word, the development and the practicability of imaginary axis Digit Control Machine Tool, robot etc. need create the new architecture that is better than existing mechanism.
The object of the invention provides a class (8 kinds) 4DOF (two translations two are rotated) parallel institution.That this mechanism has is simple in structure, working space is big, be convenient to advantages such as manufacturing, installation.Particularly forward kinematics solution comparatively simply and is partly controlled decoupling, can simplify the control of parallel-connection structure virtual axis machine and robot system and the complexity of trajectory planning.For virtual axis machine, robot, fine motion operator etc. provide new architecture, for its exploitation provides possibility with practicability.
Accompanying drawing 1 is a schematic diagram of mechanism of the present invention.It is made up of incomplete two the identical broad sense branch roads of moving platform (1), silent flatform (2) and structure.Article one, broad sense is propped up 6 revolute pair (R of route 3) revolute pair (R of plane 6 rods circuit series connection 4) (its axis overlaps with one of 6 bars line of centres) composition; Second broad sense is propped up 6 revolute pair (R of route 5) two revolute pair (R that are parallel to each other of plane 6 rods circuit series connection 6) composition (axis of one of them revolute pair (6) overlaps with the line of centres of one of 6 bars) composition.Broad sense branch road two ends member connects firmly respectively on dynamic and static platform.But be positioned at adhere to two branch roads on the moving platform separately 2 revolute pairs for the configuration that is parallel to each other, also be the configuration that is parallel to each other and be positioned at 4 revolute pairs that adhere to two branch roads on the silent flatform separately.
Accompanying drawing 1 first broad sense branch road, available 4 revolute pair (R that are parallel to each other 7) and 2 ball pair (S 8) plane 6 rods circuit substitute the second broad sense branch road, available 4 revolute pair (R that are parallel to each other 9) and 2 ball pair (S 10) the plane 6 rods circuit and the revolute pair (R that on the member of the secondary place of 2 balls, connects again 11) (this kinematic pair axis is parallel to 2 ball lines of centres) broad sense branch road of forming substitutes.As shown in Figure 2.
In the accompanying drawing 1,2,4 revolute pairs can be used moving sets (P on the silent flatform 12) substitute, but moving sets should be perpendicular to replaced revolute pair direction, as shown in Figure 3.
In the accompanying drawing 1,2,3, the first broad sense branch road can be used by 5 revolute pair (R 13) universal joint (T of plane 5 rods circuit series connection 14) (a revolute pair axis of universal joint overlaps with a revolute pair axis in loop) broad sense branch road of forming substitutes, as shown in Figure 4.
The present invention is the novel parallel institution of a class 4DOF (two translations two are rotated).This mechanism has following characteristics:
(1) mechanism's workbench has two translations, two rotational motions output, and non-desired motion is output as constant;
(2) there was the constraint loop in mechanism, and its good rigidly, structure are simpler;
(3) forward kinematics solution is simpler, and exists part to control decoupling;
(4) when mechanism of the present invention is made up of revolute pair, moving sets and universal joint, be easy to Precision Machining, be beneficial to the kinematic accuracy that improves parallel institution.
In a word, the present invention is imaginary axis Digit Control Machine Tool, robot, fine motion operator etc., and the new architecture with These characteristics is provided, and is beneficial to the exploitation and the practicability of novel lathe, robot, fine motion operator.

Claims (4)

1. a 4DOF that can be used for imaginary axis Digit Control Machine Tool, robot etc. (two translations two are rotated) parallel institution, its composition comprise dynamic and static platform and be connected in two broad sense branch roads between the dynamic and static platform: a broad sense is propped up a plane 6 rods circuit revolute pair of series connection (its axis overlaps with the line of centres of one of the 6 bars) composition of 6 revolute pairs of route; Another broad sense is propped up plane 6 rods circuit 2 revolute pairs that are parallel to each other of series connection (wherein an axis overlaps with the line of centres of one of 6 bars) of 6 revolute pairs of route and is formed.The configuration mode of branch road between two platforms is: 2 revolute pairs that adhere to two broad sense branch roads on the moving platform separately are the configuration that is parallel to each other, and 4 revolute pairs that adhere to two broad sense branch roads on the silent flatform separately also are the configuration that is parallel to each other.
2. require described parallel institution according to right 1, the first broad sense branch road can substitute with 6 rods circuits of 4 revolute pairs that are parallel to each other and 2 ball pairs; The second broad sense loop can substitute with the broad sense branch road that revolute pair of 6 rods circuits series connection (its axis is parallel to the secondary line of centres of 2 balls) of 4 revolute pairs that are parallel to each other and 2 ball pairs is formed.
3. require described parallel institution according to right 1, the first broad sense branch road can substitute with the broad sense branch road that a plane 5 rods circuit universal joint of series connection (the one axis overlaps with one of loop revolute pair axis) of 5 revolute pairs is formed.
4. require described parallel institution according to right 1 or 2 or 3,4 revolute pairs can substitute with moving sets on the silent flatform, but moving sets should be perpendicular to replaced revolute pair axis.
CN 02137856 2002-06-28 2002-06-28 Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot CN1204998C (en)

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Application Number Priority Date Filing Date Title
CN 02137856 CN1204998C (en) 2002-06-28 2002-06-28 Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 02137856 CN1204998C (en) 2002-06-28 2002-06-28 Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot

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CN1463821A true CN1463821A (en) 2003-12-31
CN1204998C CN1204998C (en) 2005-06-08

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100358672C (en) * 2005-03-03 2008-01-02 江苏工业学院 Bitranslation one rotation virtual axis digital controlled machine tool and parallel connected robot mechanism
CN100374244C (en) * 2005-03-03 2008-03-12 江苏工业学院 Three dimensional translation parallel connection mechanism used for robot operation
CN100462208C (en) * 2007-06-01 2009-02-18 浙江理工大学 Four-freedom redundantly driven parallel robot mechanism
CN102602859A (en) * 2012-03-28 2012-07-25 厦门大学 Wire-traction wall lifting and carrying combining mechanism
CN103438169A (en) * 2013-09-03 2013-12-11 常州大学 Double-input double-translation double-rotation output-parallel motion device

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100358672C (en) * 2005-03-03 2008-01-02 江苏工业学院 Bitranslation one rotation virtual axis digital controlled machine tool and parallel connected robot mechanism
CN100374244C (en) * 2005-03-03 2008-03-12 江苏工业学院 Three dimensional translation parallel connection mechanism used for robot operation
CN100462208C (en) * 2007-06-01 2009-02-18 浙江理工大学 Four-freedom redundantly driven parallel robot mechanism
CN102602859A (en) * 2012-03-28 2012-07-25 厦门大学 Wire-traction wall lifting and carrying combining mechanism
CN102602859B (en) * 2012-03-28 2015-01-21 厦门大学 Wire-traction wall lifting and carrying combining mechanism
CN103438169A (en) * 2013-09-03 2013-12-11 常州大学 Double-input double-translation double-rotation output-parallel motion device

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