CN1651186A - Three dimensional translation parallel connection mechanism used for robot operation - Google Patents
Three dimensional translation parallel connection mechanism used for robot operation Download PDFInfo
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- CN1651186A CN1651186A CN 200510037951 CN200510037951A CN1651186A CN 1651186 A CN1651186 A CN 1651186A CN 200510037951 CN200510037951 CN 200510037951 CN 200510037951 A CN200510037951 A CN 200510037951A CN 1651186 A CN1651186 A CN 1651186A
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Abstract
A 3D translational parallel mechanism for robot, measuring-drawing machine for vertual axle coordinate and carving machine is composed of an upper movable platform, a lower static platform with three moving members, a mixed chain with a 7-rod single-ring space mechanism consisting of 5 rotation sets and 2 moving sets, and a simple open-chain leg with three members and two external members. Controlling the 3 members on lower platform can obtain 3D translational output of upper platform. It has the input-output decoupling performance.
Description
Technical field
The present invention relates to the topworks of a kind of robot manipulation, 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, and this lathe has been considered to the revolution of machine tool structure since the twentieth century.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, cause the difficulty of finding the solution of its end effector because the structure of this mechanism is relatively complicated.
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 large quantities of 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, a new parallel 2 D translation mechanism is provided, 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
Below by accompanying drawing and example technology of the present invention is given to illustrate further.
Be positioned at that moving sets and that revolute pair parallel with its hithermost moving direction on the silent flatform among the figure, an available cylindrical pair replaces, and the axis of cylindrical pair must be parallel to the moving direction of moving sets.
Embodiment
Parallel institution shown in the accompanying drawing 1 can be one embodiment of the present of invention.A combination chain and a simple open chain that it goes up lower platform by last moving platform 0, following silent flatform 1 and connection are formed.Combination chain comprises by five revolute pair R
2, R
3, R
5, R
6, R
7, two moving sets P
1, P
8And the space single loop mechanism of seven bars, 1,2,3,4,5,6,7 compositions, wherein, one group of revolute pair R of two parallel axes
2, R
3One group of revolute pair R with other three parallel axes
5, R
6, R
7Pivot center perpendicular, and two moving sets P that moving direction is identical
1, P
8On following silent flatform 1; The revolute pair R that on its output link 4, overlaps with this output link again with an axis
4Connect another member 8, the revolute pair R that this member parallels with another axis again
9Be connected with moving platform 0; And simple open chain leg is by two the revolute pair Rs of three members 10,11,12 by parallel axes
11, R
12After the connection, its outer connection member 10 and the revolute pair R of moving platform 0 usefulness with above-mentioned two parallel axes
10Connect, another outer connection member 12 again with silent flatform 1 usefulness and revolute pair R
12The moving sets P of parallel axes
13Connect.Moving sets P among the figure
1, P
8Moving direction and P
13Moving direction vertical.
Three motions that drive slide blocks on the control lower platform 1 three-dimensional pure flatly move output with regard to what controllable brake platform 0 was realized X, Y, Z direction.The structural design of this kind parallel institution and drive controlling etc. all routinely mechanical ﹠ electrical technology carry out design and installation, this parallel institution can be used as the piling topworks that container shipping is used, and also can be used as parallel coordinate measuring machine, the robot of parallel-connection structure, the topworks of engraving machine.
Claims (3)
1, the three-dimensional pure flat parallel institution that moves that is used for imaginary axis digital-controlled carving machine, imaginary axis coordinate measuring machine, pen machine and parallel robot is gone up a combination chain and a simple open chain of lower platform and is formed by last moving platform, following silent flatform and connection; It is characterized in that combination chain comprises by five revolute pairs, two seven bar space single loop mechanisms that moving sets is formed, wherein, one group of revolute pair of three parallel axes of one group of revolute pair and other of two parallel axes is vertical, and two identical moving sets of moving direction are descending on the silent flatform; Be connected another member with an axis with the revolute pair that this output link overlaps again on the one output link, this member is connected with moving platform with the revolute pair that another axis parallels again; And simple open chain 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, 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.
2, according to the described parallel-connection structure of claim 1, it is characterized in that on the combination chain that moving sets and that revolute pair parallel on the silent flatform of being positioned in the seven bar space single loop mechanisms with its hithermost moving direction, an available cylindrical pair replaces, and the axis of cylindrical pair must be parallel to the moving direction of moving sets.
3, according to the described parallel-connection structure of claim 1, it is characterized in that moving sets and that revolute pair parallel on the silent flatform of being positioned on the simple open chain with its hithermost moving direction, an available cylindrical pair replaces, and the axis of cylindrical pair must be parallel to the moving direction of moving sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNB2005100379517A CN100374244C (en) | 2005-03-03 | 2005-03-03 | Three dimensional translation parallel connection mechanism used for robot operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100379517A CN100374244C (en) | 2005-03-03 | 2005-03-03 | Three dimensional translation parallel connection mechanism used for robot operation |
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| CN1651186A true CN1651186A (en) | 2005-08-10 |
| CN100374244C CN100374244C (en) | 2008-03-12 |
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| CNB2005100379517A Expired - Fee Related CN100374244C (en) | 2005-03-03 | 2005-03-03 | Three dimensional translation parallel connection mechanism used for robot operation |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105215976A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | Full decoupled 3-freedom parallel mechanism |
| CN105479445A (en) * | 2016-01-26 | 2016-04-13 | 江南大学 | 2T1R hybrid robot mechanism based on topology structure |
| CN107498540A (en) * | 2017-09-18 | 2017-12-22 | 北京交通大学 | A kind of relative freedom is three reconfigurable in-parallel robot mechanism |
| CN113319812A (en) * | 2021-02-06 | 2021-08-31 | 常州大学 | Large-rotation-angle one-coupling-degree two-translation and two-rotation parallel mechanism with two constraint branched chains |
| CN113319814A (en) * | 2021-02-06 | 2021-08-31 | 常州大学 | Large-rotation-angle one-coupling-degree two-translation-one-rotation parallel mechanism of fully-hinged two-constraint branched chain |
| 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 |
| CN113319819A (en) * | 2021-02-06 | 2021-08-31 | 常州大学 | One-feature chain-constraint chain large-rotation-angle zero-coupling-degree two-translation-one-rotation manipulator |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6116844A (en) * | 1993-10-26 | 2000-09-12 | Mcgill University | Mechanisms for orienting and placing articles |
| US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
| CN1204998C (en) * | 2002-06-28 | 2005-06-08 | 杨廷力 | Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot |
| CN1188246C (en) * | 2002-07-10 | 2005-02-09 | 杨廷力 | Two-translation and one-rotation parallel mechanismsfor virtual axis machine tools, robot, etc. |
| CN1189289C (en) * | 2003-04-29 | 2005-02-16 | 江苏工业学院 | Three-dimensional translational parallel mechanism for virtual axle coordinate measuring machine and carving machine |
-
2005
- 2005-03-03 CN CNB2005100379517A patent/CN100374244C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105215976A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | Full decoupled 3-freedom parallel mechanism |
| CN105479445A (en) * | 2016-01-26 | 2016-04-13 | 江南大学 | 2T1R hybrid robot mechanism based on topology structure |
| CN107498540A (en) * | 2017-09-18 | 2017-12-22 | 北京交通大学 | A kind of relative freedom is three reconfigurable in-parallel robot mechanism |
| CN113319812A (en) * | 2021-02-06 | 2021-08-31 | 常州大学 | Large-rotation-angle one-coupling-degree two-translation and two-rotation parallel mechanism with two constraint branched chains |
| CN113319814A (en) * | 2021-02-06 | 2021-08-31 | 常州大学 | Large-rotation-angle one-coupling-degree two-translation-one-rotation parallel mechanism of fully-hinged two-constraint branched chain |
| 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 |
| CN113319819A (en) * | 2021-02-06 | 2021-08-31 | 常州大学 | One-feature chain-constraint chain large-rotation-angle zero-coupling-degree two-translation-one-rotation manipulator |
| CN113319819B (en) * | 2021-02-06 | 2022-07-05 | 常州大学 | One-feature chain-constraint chain large-rotation-angle zero-coupling-degree two-translation-one-rotation manipulator |
| CN113319814B (en) * | 2021-02-06 | 2022-07-05 | 常州大学 | Large-rotation-angle one-coupling-degree two-translation-one-rotation parallel mechanism of fully-hinged two-constraint branched chain |
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|---|---|
| CN100374244C (en) | 2008-03-12 |
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Assignee: Jiangsu Changbao Steel Tube Co., Ltd. Assignor: Jiangsu Polytechnic University Contract fulfillment period: 2007.11.30 to 2012.11.30 contract change Contract record no.: 2008320000738 Denomination of invention: Three dimensional translation parallel connection mechanism used for robot operation Granted publication date: 20080312 License type: Exclusive license Record date: 2008.10.9 |
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Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2007.11.30 TO 2012.11.30; CHANGE OF CONTRACT Name of requester: JIANGSU CHANGBAO STEEL TUBE CO., LTD. Effective date: 20081009 |
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