CN1526514A - Parallel mechanisms for imaginary axis machine tool, measurer, etc. - Google Patents

Parallel mechanisms for imaginary axis machine tool, measurer, etc. Download PDF

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Publication number
CN1526514A
CN1526514A CNA031583067A CN03158306A CN1526514A CN 1526514 A CN1526514 A CN 1526514A CN A031583067 A CNA031583067 A CN A031583067A CN 03158306 A CN03158306 A CN 03158306A CN 1526514 A CN1526514 A CN 1526514A
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pair
axis
moving sets
branch road
spherical
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CN1255245C (en
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杨廷力
金琼
沈惠平
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Abstract

One kind of three-freedom parallel mechanisms are provided, one of which consists of dynamic platform, static platform and three branches. The first branch consists of one translation pair and one spherical pair connected serially; the second of one translation pair, one rotating pair and one spherical pair connected serially; and the third of one translation pair and two spherical pair connected serially. These three branches are so configured between these two platforms that the axes of the first and the second branches are perpendicular to the axis of the rotating pair. Driving the three translation pairs on the static platform can control the one-translation and two-rotation output of the dynamic platform. The mechanism has the advantages of non-expected motion output constant, controlled motion input-output part decoupling, easy kinetic normal solution, simple structure, high rigidity, etc. The mechanism may be used as the executing mechanism of imaginary axis machine tool, robot, etc.

Description

A class (the translation two is rotated) parallel institution that is used for virtual axis machine and measuring machine etc.
Technical field
The present invention relates to the executing agency of a class lathe, robot and coordinate measuring machine etc., specifically, be to provide the novel 3DOF of a class (6 kinds) (translation two is rotated) parallel institution for parallel-connection structure virtual axis machine, parallel robot and imaginary axis coordinate measuring machine etc.
Background technology
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 (as the related lathe of the Variax type of U.S. Giddings andLewis company) 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.
The imaginary axis coordinate measuring machine of parallel institution, it also is a major progress of measuring machine in recent years, the measuring machine that belongs to cascaded structure with tradition is compared, and has characteristics such as rigidity is big, movement velocity is high, error does not superpose, and can make certainty of measurement and measurement efficient etc. that bigger improvement is arranged.Present existing parallel institution measuring machine adopts Stewart mechanism (as KNM-750 type 3 coordinate measuring machines of Russian Lapic company) more.Its moving platform has 6 spatial degrees of freedom with respect to based platform, but structure is relatively complicated, and the end effector pose is found the solution difficulty.
In a word, the development and the practicability of virtual axis machine, imaginary axis measuring machine and robot etc. need create the new architecture that is better than existing mechanism.
Summary of the invention
The object of the invention provides a class (6 kinds) 3DOF (translation two is rotated) parallel institution.That this mechanism has is simple in structure, working space is big, be convenient to advantages such as manufacturing, installation.Particularly can realize controlling decoupling zero and forward kinematics solution is comparatively simple, significantly simplify the control of parallel-connection structure virtual axis machine and robot system and the complexity of trajectory planning.For virtual axis machine, imaginary axis measuring machine, robot, fine motion operator etc. provide new architecture, for its exploitation provides possibility with practicability.
Description of drawings
Accompanying drawing 1 is a schematic diagram of mechanism of the present invention.It is made up of incomplete three the identical branch roads of moving platform (1), silent flatform (0) and structure.Article one, props up moving sets (P of three members of route (0,2,1) series connection 1) and a spherical pair (S 2) form.Second props up moving sets (P of four members of route (0,4,3,1) series connection 5), a revolute pair (R 4) and a spherical pair (S 3) form.Article three, prop up moving sets (P of four members of route (0,6,5,1) series connection 8) and two spherical pair (S 7With S 6) form.All branch roads two ends member connects firmly respectively on dynamic and static platform, but should make two moving sets (P 1With P 5) axis normal in moving sets (R 4) axis.
Accompanying drawing 2 is the parallel institution of deriving of parallel institution shown in the accompanying drawing 1.It is made up of incomplete three the identical branch roads of moving platform 1, silent flatform (0) and structure.Article one, props up revolute pair (R of route 1), a screw pair (H 2) and a spherical pair (S 3) be in series, but revolute pair (R on the same member 1) and screw pair (H 2) both axis are for overlapping configuration, and by spherical pair (S 3) the centre of sphere.Second props up revolute pair (R of route 7), a screw pair (H 6), a revolute pair (R 5) and a spherical pair (S 4) be in series, but the revolute pair (R on the same member 5) and screw pair (H 6) both axis are for overlapping configuration, and by revolute pair (R 5) axis.Article three, prop up screw pair (H of route 8) and two spherical pair (S 9With S 10) be in series, and screw pair (H 8) axis by spherical pair (S 9) the centre of sphere.All branch roads two ends member connects firmly respectively on dynamic and static platform, but should make revolute pair (R 1With R 7) axis all perpendicular to revolute pair (R 5) axis.
Accompanying drawing 3 is the parallel institution of deriving of parallel institution shown in the accompanying drawing 1.It is made up of moving platform (1), silent flatform (0) two branch roads different with structure.Article one, props up two moving sets (P of route 1With P 5) and three revolute pair (R 2, R 3With R 4) plane 5 rods circuit the formed revolute pair (R that connects again 6) form R 6Axis normal and by two revolute pair (R 2With R 3) axis.Article three, prop up route one moving sets (P 9) and two spherical pair (S 7With S 8) be in series, and the moving sets axis is by spherical pair (S 8) the centre of sphere.All branch roads two ends member connects firmly respectively on dynamic and static platform.
Accompanying drawing 4 is the parallel institution of deriving of parallel institution shown in the accompanying drawing 3.Wherein, the moving sets (P of accompanying drawing 3 article one branch roads 1) with the series connection and the revolute pair (R of dead in line 1) and screw pair (H 2) substitute; Moving sets (the P of second branch road 5) with the series connection and the revolute pair (R of dead in line 7) and screw pair (H 6) substitute; Article three, the moving sets (R of branch road 7) usefulness screw pair (H 7) substitute, thereby obtain parallel institution shown in the accompanying drawing 4.
Accompanying drawing 5 is the parallel institution of deriving of parallel institution shown in the accompanying drawing 1.It is made up of incomplete three the identical branch roads of moving platform (1), silent flatform (0) and structure.Article one, props up route moving sets (P 1), revolute pair (R 2) and revolute pair (R 3) be in series, and two revolute pair (R 2With R 3) axes intersect in a bit, moving sets (P 1) axis and revolute pair (R 2) dead in line; Second props up route moving sets (P 4) and two spherical pair (S 5, S 6) be in series, and P 4Axis pass through S 5The center; Article three, prop up route moving sets (P 7) and two spherical pair (S 8, S 9) be in series, and P 7Axis pass through S 8The center.All branch roads two ends member connects firmly respectively on dynamic and static platform.
Accompanying drawing 6 is the parallel institution of deriving of mechanism shown in the accompanying drawing 5.Wherein, the moving sets P of 5 three branch roads of accompanying drawing 1, P 4With P 7Use screw pair H respectively 1, H 4With H 7Substitute, thereby obtain parallel institution shown in the accompanying drawing 6.
The present invention is a class 3DOF (translation two is rotated) methodology of novel parallel mechanism. Such mechanism has following characteristics:
(1) mechanism's moving platform has a translation two rotation outputs, and unexpected movement output is constant;
(2) motion of mechanism input---output has partly decoupled, can realize partly controlling decoupling zero;
(3) kinematics analysis of parallel institution shown in accompanying drawing 1～accompanying drawing 4 can be found the solution separately two fundamental circuits successively, is better simply analytic expression, helps realizing the real-time control and online, the off-line motion planning of robot;
(4) mechanism structure is simple, working space is bigger.In a word, the present invention is virtual axis machine, robot, imaginary axis measuring machine, 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, measuring machine, fine motion operator.
The specific embodiment
Parallel institution shown in the accompanying drawing 1 can be considered the embodiment that the present invention is used for imaginary axis measuring machine, accompanying drawing 1 explanation as described above of its concrete structure.On moving platform (0), install and measure head (A).After each member scale parameter of mechanism was determined, last 3 of control silent flatform (0) drove secondary (moving sets P 1, P 5With P 8) input motion, with regard to the three-dimensional coordinate of the gage outfit (A) on the controllable brake platform (0), promptly can be the executing agency of imaginary axis mechanical measuring machine.

Claims (6)

1. a 3DOF that can be used for virtual axis machine, robot and imaginary axis mechanical measuring machine etc. (translation two is rotated) parallel institution, its composition comprises dynamic and static platform and is connected in 3 branch roads between the dynamic and static platform: the 1st route one moving sets and a spherical pair are in series, article 2, propping up route one moving sets, a revolute pair and a spherical pair is in series, article 3, prop up route one moving sets and two spherical pairs and be in series, the configuration mode of 3 branch roads between two platforms is: 1st, two of 2 liang of branch roads moving sets axis are all perpendicular to the revolute pair axis.
2. require described parallel institution according to right 1, article 1, the moving sets of branch road substitutes with a revolute pair and a screw pair of series connection and dead in line, its axis is by the center of this branch road spherical pair, article 2, the moving sets of branch road also substitutes with a revolute pair and a screw pair of series connection and dead in line, its axis is by the revolute pair axis of this branch road, article 3, the moving sets of branch road substitutes with a screw pair, and its axis is by adjacent spherical pair center.
3. require described parallel institution according to right 1, the 1st substitutes with connect the again mixing branch road of a revolute pair of the plane 5 rods circuit that the 2 two branch road formed with 2 moving sets and 3 revolute pairs, and the 3rd line structure is constant.
4. require described parallel institution according to right 3, two moving sets of plane 5 rods circuit substitute with a revolute pair and a screw pair of series connection and dead in line respectively, its axis normal is in the revolute pair axis of 5 bar planar loops, the moving sets of another branch road substitutes with a screw pair, and its axis is by the center of adjacent spherical pair.
5. require described parallel institution according to right 1, the spherical pair of the 1st branch road substitutes with two vertical and crossing mutually series connection revolute pairs of axis; Article 2, branch road substitutes with the branch road that a moving sets and two spherical pairs are in series; Article 3, it is constant to prop up line structure.
6. require described parallel institution according to right 5, the moving sets of the 1st branch road substitutes with a screw pair, and axis overlaps with the adjacent rotated secondary axis; 2nd, the moving sets of 3 liang of branch roads substitutes with a screw pair, and axis is by adjacent spherical pair center.
CN 03158306 2003-09-24 2003-09-24 Parallel mechanisms for imaginary axis machine tool, measurer, etc. Expired - Fee Related CN1255245C (en)

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CN101249651B (en) * 2008-04-09 2010-06-09 东华大学 Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism
CN102120214A (en) * 2011-04-21 2011-07-13 江苏大学 Three-degree-of-freedom series and parallel connection vibrating screen
CN102511221A (en) * 2011-12-29 2012-06-27 江苏大学 Level adjusting mechanism for field seedling raising precision seeding machine
CN102783292A (en) * 2012-07-31 2012-11-21 江苏大学 Horizontal adjusting mechanism of precision seeding machine for field seedling raising
CN102881338A (en) * 2012-09-21 2013-01-16 江苏大学 1T2R parallel three-degree-of-freedom pose alignment platform
CN102922515A (en) * 2012-11-12 2013-02-13 天津理工大学 Two-rotation one-movement parallel mechanism capable of realizing motion decoupling
CN103567141A (en) * 2013-07-17 2014-02-12 江苏大学 Three-dimensional moving vibrating screen mechanism
CN103624559A (en) * 2013-11-25 2014-03-12 燕山大学 Two-rotating complete decoupling parallel mechanism
CN103753235A (en) * 2014-01-03 2014-04-30 清华大学 Multi-axis linkage based on modules in parallel
CN104602870A (en) * 2012-09-11 2015-05-06 赫克斯冈技术中心 Coordinate measuring machine
CN112008700A (en) * 2020-09-18 2020-12-01 河南科技大学 Decoupling parallel mechanism with two rotation and one movement
CN113319816A (en) * 2021-02-06 2021-08-31 常州大学 Large-rotation-angle one-coupling-degree one-translation two-rotation parallel platform with two fully-hinged constraint branched chains

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CN101954593B (en) * 2010-09-07 2012-06-13 上海工程技术大学 Triple rotating parallel mechanism for virtual axis machine tool and robot
CN102114599B (en) * 2011-02-11 2012-08-08 上海工程技术大学 Decoupling three-rotation parallel mechanism for imaginary axis lathe and robot

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101249651B (en) * 2008-04-09 2010-06-09 东华大学 Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism
CN102120214A (en) * 2011-04-21 2011-07-13 江苏大学 Three-degree-of-freedom series and parallel connection vibrating screen
CN102120214B (en) * 2011-04-21 2012-12-19 江苏大学 Three-degree-of-freedom series and parallel connection vibrating screen
CN102511221A (en) * 2011-12-29 2012-06-27 江苏大学 Level adjusting mechanism for field seedling raising precision seeding machine
CN102783292A (en) * 2012-07-31 2012-11-21 江苏大学 Horizontal adjusting mechanism of precision seeding machine for field seedling raising
CN104602870A (en) * 2012-09-11 2015-05-06 赫克斯冈技术中心 Coordinate measuring machine
US10107618B2 (en) 2012-09-11 2018-10-23 Hexagon Technology Center Gmbh Coordinate measuring machine
CN102881338A (en) * 2012-09-21 2013-01-16 江苏大学 1T2R parallel three-degree-of-freedom pose alignment platform
CN102881338B (en) * 2012-09-21 2014-12-03 江苏大学 1T2R parallel three-degree-of-freedom pose alignment platform
CN102922515A (en) * 2012-11-12 2013-02-13 天津理工大学 Two-rotation one-movement parallel mechanism capable of realizing motion decoupling
CN103567141A (en) * 2013-07-17 2014-02-12 江苏大学 Three-dimensional moving vibrating screen mechanism
CN103624559A (en) * 2013-11-25 2014-03-12 燕山大学 Two-rotating complete decoupling parallel mechanism
CN103624559B (en) * 2013-11-25 2016-05-04 燕山大学 A kind of two rotate full decoupled parallel institution
CN103753235B (en) * 2014-01-03 2016-09-21 清华大学 A kind of multi-axis linkages based on parallel module
CN103753235A (en) * 2014-01-03 2014-04-30 清华大学 Multi-axis linkage based on modules in parallel
CN112008700A (en) * 2020-09-18 2020-12-01 河南科技大学 Decoupling parallel mechanism with two rotation and one movement
CN113319816A (en) * 2021-02-06 2021-08-31 常州大学 Large-rotation-angle one-coupling-degree one-translation two-rotation parallel platform with two fully-hinged constraint branched chains
CN113319816B (en) * 2021-02-06 2022-07-05 常州大学 Large-rotation-angle one-coupling-degree one-translation two-rotation parallel platform with fully-hinged two constraint branched chains

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