CN1544201A - Parallel mechanism with six degrees of freedom used for virtual shaft numerical control machine tool and parallel robot - Google Patents

Parallel mechanism with six degrees of freedom used for virtual shaft numerical control machine tool and parallel robot Download PDF

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Publication number
CN1544201A
CN1544201A CNA2003101064587A CN200310106458A CN1544201A CN 1544201 A CN1544201 A CN 1544201A CN A2003101064587 A CNA2003101064587 A CN A2003101064587A CN 200310106458 A CN200310106458 A CN 200310106458A CN 1544201 A CN1544201 A CN 1544201A
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chain
revolute pair
parallel
members
connection
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CNA2003101064587A
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Chinese (zh)
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沈惠平
杨廷力
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Jiangsu University
Jiangsu Polytechnic University
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Jiangsu Polytechnic University
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Priority to CNA2003101064587A priority Critical patent/CN1544201A/en
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Abstract

The invention is a six-freedom parallel used in virtual shaft digital controlled machine tool, measurer and parallel robot, composed of dynamic platform, static platform and a mixed chain leg and four same simply open chain legs. The mixed chain leg is composed of a planar closed-loop structure and an open-chain structure, the planar closed-loop structure is composed of five rods by five rotary auxiliaries in turn, two components of the planar closed-loop structure are mechanically connected with the static platform through rotary auxiliaries; the open-chain structure is composed of three components by two parallel-axis rotary auxiliaries, respectively, one end and two planar-rotating components in the planar closed-loop structure compose a compound hinge, and the other end is connected with the dynamic platform through a rotary auxiliary, mechanically; the simple open-chain structure is composed of two components connected by a ball auxiliary, one component is connected with the static platform and the other component is connected with the dynamic platform. Control of the motion of six driving joints on the static platform can control the platform to implement 3D translation and 3D rotary output.

Description

The six-degree-of-freedom parallel connection mechanism that is used for virtual-axis nc machine tool and parallel robot
Technical field
The present invention relates to the topworks of a class lathe, robot and coordinate measuring machine, specifically virtual-axis nc machine tool, imaginary axis parallel coordinate measuring machine and the parallel robot for parallel-connection structure provides a class (4 kinds) novel six-degree-of-freedom parallel connection mechanism.
Background technology
The parallel-connection structure numerically-controlled machine is meant with the parallel institution to be the lathe of topworks, 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, China, the parallel institution that is adopted mostly is traditional Stewart mechanism or its improved mechanism greatly.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.Have 6 connecting rods in this mechanism, but the adjustable length of connecting rod by controlling the length of 6 connecting rods, changes the position of cutter in the space.Stewart mechanism and improved mechanism thereof have following shortcoming: 1. forward kinematics solution is found the solution difficulty; 2. the position of motion platform and direction are strong coupling; 3. space is less; 4. make the secondary difficulty of high-precise ball.
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 Patent, 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 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 imaginary axis coordinate measuring machine of parallel-connection structure, 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, causes the difficulty of finding the solution of its end effector.
Owing to all contain more spherical pair in above-mentioned several structures, so its manufacturing and assembling are all complicated.
In sum, the development of imaginary axis numerically-controlled machine and coordinate measuring machine, 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 (4 kinds) new six-degree-of-freedom parallel connection mechanism, such mechanism's input-output have decoupling, work space big, be convenient to make and install, can simplify the control of parallel-connection structure virtual-shaft machine tool, coordinate measuring machine and robot system and the complicacy of trajectory planning; Also can reduce widely in the difficulty of setting up aspects such as imaginary axis measuring machine measurement model in parallel, measurement update and compensation model, for the exploitation of novel parallel virtual-shaft machine tool, robot, coordinate measuring machine etc. and practicability provide may.
Description of drawings:
Accompanying drawing 1 is a six-degree-of-freedom parallel connection mechanism structure diagram of the present invention, and it is by last moving platform 0, following silent flatform 1 and connect combination chain leg going up lower platform simple open chain leg identical with four structures and form.The combination chain leg comprises one five bar (1,2,3,4,5) successively by five revolute pair (R 20, R 13, R 12, R 14, R 15) planar closed-loop structure and two revolute pair (R that are parallel to each other by axis by member 6,7,8 of connecting to form 11, R 10) open-chain structure formed; The member 3,4 of doing plane motion in the member 6 of open-chain structure and the planar closed-loop structure constitutes secondary R of compound hinges 12(promptly the center of rotation of three members 6,3,4 is at R 12The place overlaps), the member 8 and the last moving platform 0 revolute pair R of open-chain structure 9Mechanical connection; And the member 1 of planar closed-loop structure and silent flatform 1 affixed (be member 2,5 respectively with silent flatform 1 revolute pair R 20, R 15Mechanical attachment); Simple open chain leg is connected to form by ball secondary S2 by two members 9,10, and member 9 and moving platform 0 secondary S of usefulness ball 1Mechanical connection, member 10 and silent flatform 1 revolute pair R 18Mechanical attachment.Therefore, moving platform 0 has five interface (R 9, S 5, S 7, S 1, S 3), silent flatform has six interface (R 15, R 16, R 17, R 18, R 19, R 20).
Accompanying drawing 2～accompanying drawing 4 is three kinds of derived structure synoptic diagram of the combination chain leg of the six-degree-of-freedom parallel connection mechanism shown in the accompanying drawing 1: 1, accompanying drawing 2 substitutes sketch for the derived structure of the combination chain leg of parallel institution shown in the accompanying drawing 1.It passes through revolute pair (R successively by one five bar (1,2,3,4,5) 6, R 7, R 3, R 4, R 5) planar closed-loop structure that connects and composes and member 6 form, the member 2,5 of planar closed-loop structure respectively with silent flatform 1 revolute pair R 6, R 5Mechanical attachment, member 3 and member 6 are with revolute pair R 2Mechanical connection, and member 6 and last moving platform 0 secondary S of usefulness ball 1Mechanical connection.
2, accompanying drawing 3 is the alternative sketch of another derived structure of the combination chain leg of parallel institution shown in the accompanying drawing 1.It passes through six revolute pair (R successively by one six bar (1,2,3,4,5,6) 1, R 2, R 3, R 5, R 6, R 7) planar closed-loop structure that connects and composes and one by member 7,8 by revolute pair (R 8) open-chain structure that connects and composes forms; The member 7 of open-chain structure with the member 4 of planar closed-loop structure with parallel axes in revolute pair R 8Revolute pair R 4Connect member 8 and last moving platform 0 revolute pair R 9Mechanical connection; And the member 2,6 of planar closed-loop structure respectively with silent flatform 1 revolute pair R 1, R 7Mechanical attachment.
3, accompanying drawing 4 is the alternative sketch of another derived structure of the combination chain leg of parallel institution shown in the accompanying drawing 1.It is the closed circuit structure in a space, by two ball pair-ball pair-rotation paratype side chain (S that comprise two members (2,3) or (4,5) respectively 1-S 2-R 3) or (S 1-S 5-R 4) form two secondary S of circumsphere of two side chains 1After the centre of sphere flexibly connects altogether, constitute compound spherical joint S with moving platform 0 again 1Connect, and its external revolute pair R 4, R 3Respectively with silent flatform 1 mechanical connection.
When the combination chain leg in the above-mentioned three kinds alternative respectively accompanying drawings 1 of the combination chain legs of deriving, can constitute other three different six-degree-of-freedom parallel connection mechanisms, all can realize three translations of mechanism's moving platform and three rotation outputs.
The motion of six CD-ROM drive motor under the control accompanying drawing 1 described six-degree-of-freedom parallel connection mechanism on the silent flatform 1, with regard to position and the appearance will of moving platform on the may command 0 in the space, implementation space general motion, i.e. D translation and Three dimensional rotation output.As unit head and cutter are installed on moving platform, promptly can be as the virtual-axis nc machine tool of parallel-connection structure; Promptly can be as on moving platform, gauge head being installed as parallel coordinate measuring machine.
The present invention is a class (4 kinds) six-degree-of-freedom parallel connection mechanism, has following characteristics:
1. mechanism's moving platform can be realized six degree of freedom (three translations and three rotations) movement output.
2. mechanism is simpler, has in light weight, good rigidly, but advantages such as high-speed motion.
3. motion input-output has partly decoupled, can simplify the control problem of virtual-shaft machine tool and robot system; Also can reduce widely in the difficulty of setting up aspects such as imaginary axis measuring machine measurement model in parallel, measurement update and compensation model.
4. all CD-ROM drive motor all on silent flatform, can reduce the motion of mechanism load, improve dynamic performance.
In a word, the present invention is that virtual-axis nc machine tool, parallel coordinate measuring machine and robot (containing walking, climbing robot, jiggle robot, industrial robot) etc. provide the new architecture with These characteristics, helps the exploitation and the practicability of New Type Virtual Axis Machine Tool, novel parallel coordinate measuring machine and novel parallel robot.
Embodiment
Below by accompanying drawing and example technology of the present invention is given to illustrate further.
Parallel institution shown in the accompanying drawing 1 can be one embodiment of the present of invention, and it is by last moving platform 0, following silent flatform 1 and connect combination chain leg going up lower platform simple open chain leg identical with four structures and form.The combination chain leg is made up of a planar closed-loop structure and an open-chain structure, and planar closed-loop structure is passed through five revolute pair (R successively by one five bar (1,2,3,4,5) 20, R 13, R 12, R 14, R 15) connect to form, its member 2,5 respectively with silent flatform 1 usefulness revolute pair (R 20, R 15) mechanical attachment; Two revolute pair (R that the member 6,7,8 of open-chain structure is parallel to each other by axis respectively 11, R 10) form, and make the member 3,4 of plane motion at revolute pair R in member 6 and the planar closed-loop structure 12The place constitutes compound hinges, member 8 and last moving platform 0 revolute pair R 9Mechanical connection; And simple open chain leg passes through secondary S of ball by two members 9,10 2Connect to form, and member 9 and moving platform 0 secondary S of usefulness ball 1Mechanical connection, member 10 and silent flatform 1 revolute pair R 18Mechanical attachment.Therefore, this parallel institution silent flatform has six interface (R 15, R 16, R 17, R 18, R 19, R 20), moving platform has four interface (R 9, S 5, S 7, S 1, S 3).But six revolute pairs on the silent flatform can replace with six moving sets.
When three bar linkage structure dimensional parameters and one timings of the distributing position on dynamic and static platform thereof that connect leg, six drive joint (R on the control silent flatform 1 15, R 16, R 17, R 18, R 19, R 20) motion, with regard to general position and the attitude of controllable brake platform 0, realize the output of D translation and Three dimensional rotation in the space.The structural design of this kind parallel institution and drive controlling etc. all routinely mechanical ﹠ electrical technology carry out design and installation.The moving platform of this parallel institution can be used as the topworks of robot; As mounting cutter on moving platform or probe, promptly can be as the topworks of the virtual-axis nc machine tool and the imaginary axis parallel coordinate measuring machine of parallel-connection structure.

Claims (5)

1., be used for virtual-axis nc machine tool, the six-degree-of-freedom parallel connection mechanism of imaginary axis coordinate measuring machine and parallel robot, by last moving platform, following silent flatform and connection are gone up five legs of lower platform and are formed, it is characterized in that these five legs are combination chain leg and four the identical simple open chain legs that contain the loop: the combination chain leg comprises a planar closed-loop structure of being made up of by five revolute pairs successively five members and one by two the open-chain structures that revolute pair form of three members by parallel axes, two members of planar closed-loop structure and silent flatform are by the revolute pair mechanical connection, and two members of doing plane motion in an outer connection member of open-chain structure and the planar closed-loop structure constitute compound hinges, and its another outer connection member and moving platform are with a revolute pair mechanical connection; And simple open chain leg is connected to form by a ball pair by two members, and one component and silent flatform revolute pair mechanical connection, another member and moving platform are also used the secondary mechanical connection of a ball.
2., according to the 1. described parallel-connection structure of claim, it is characterized in that the planar closed-loop structure of combination chain leg still is made of by five revolute pairs successively five members, wherein two members and silent flatform are by the revolute pair mechanical connection; And open-chain structure can be replaced by a member, but a member of doing plane motion in an end of this member and the planar closed-loop structure is with a revolute pair mechanical connection, the other end and moving platform usefulness ball pair mechanical connection.
3., according to the 1. described parallel-connection structure of claim, it is characterized in that the planar closed-loop structure of combination chain leg is made of by six revolute pairs successively six members, wherein two members and silent flatform are by the revolute pair mechanical connection; And open-chain structure is connected to form by a revolute pair by two members, and a member relative with frame is connected with the revolute pair of parallel axes in above-mentioned revolute pair in a member of open-chain structure and the planar closed-loop structure, and another member and moving platform are also used the revolute pair mechanical connection.
4., according to the 1. described parallel-connection structure of claim, it is characterized in that the combination chain leg is the closed circuit structure in a space, it is made up of two ball pair-ball pair-rotation paratype side chains that comprise two members respectively, article two, after the flexible connection of the secondary centre of sphere altogether of two circumspheres of side chain, constitute compound spherical joint with moving platform again and be connected, and its external revolute pair is passed through the revolute pair mechanical connection with silent flatform respectively.
5. according to claim 1., 2., 3., 4. described parallel-connection structure, it is characterized in that six revolute pairs on the silent flatform can replace with six moving sets.
CNA2003101064587A 2003-11-28 2003-11-28 Parallel mechanism with six degrees of freedom used for virtual shaft numerical control machine tool and parallel robot Pending CN1544201A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103465044A (en) * 2013-09-13 2013-12-25 常州大学 Single-input three-translational three-rotational output parallel mechanism
CN104227434A (en) * 2014-06-26 2014-12-24 天津工业大学 Two-translation-and-three-turning parallel mechanism used for virtual machine tool
CN105437214A (en) * 2015-12-17 2016-03-30 天津大学 Multi-closed-loop three-rotation catching and releasing mechanism

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103465044A (en) * 2013-09-13 2013-12-25 常州大学 Single-input three-translational three-rotational output parallel mechanism
CN104227434A (en) * 2014-06-26 2014-12-24 天津工业大学 Two-translation-and-three-turning parallel mechanism used for virtual machine tool
CN105437214A (en) * 2015-12-17 2016-03-30 天津大学 Multi-closed-loop three-rotation catching and releasing mechanism

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