CN1651187A - Three dimensional translation parallel connection mechanism used for virtual axis coordinate measuring machine - Google Patents
Three dimensional translation parallel connection mechanism used for virtual axis coordinate measuring machine Download PDFInfo
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- CN1651187A CN1651187A CN 200510037952 CN200510037952A CN1651187A CN 1651187 A CN1651187 A CN 1651187A CN 200510037952 CN200510037952 CN 200510037952 CN 200510037952 A CN200510037952 A CN 200510037952A CN 1651187 A CN1651187 A CN 1651187A
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Abstract
A 3D translational parallel mechanism for robot, measurer of virtual axle coordinate, or carving machine is composed of an upper movable platform, a lower static platform with 3 moving members, the mixed chain leg with a 6-rod closed-loop plane structure consisting of 4 parallel rotation sets and 2 moving sets on lower platform, and the simple open-chain leg with 3 members and 2 external members. Controlling 3 moving members on lower platform can obtain 3D translation output of upper platform. Its input and output are decoupled.
Description
Technical field
The present invention relates to the topworks of a kind of robot, 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 itself motion input one 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, provide a class (2) new parallel 2 D translation mechanism, that such mechanism has is simple in structure, input one 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.
Accompanying drawing 2 is the alternative structure synoptic diagram of the simple open chain shown in the accompanying drawing 1;
1., accompanying drawing 1 is the flat deployable structure sketch of mechanism of the present 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 one by four revolute pair R that parallel to the axis
5, R
4, R
3, R
2Reach two and in same plane and with silent flatform 1, constitute moving sets P
1, P
6The six bar planar closed-loop structure formed of slide block 2,3, on output link 6, use revolute pair R again
7Connecting elements 7, and member 7 and moving platform 0 revolute pair R
8Mechanical connection, but revolute pair R
7, R
8Axis be parallel to each other, and with revolute pair R
5, R
4, R
3, R
2Axis normal; Simple open chain is by two the revolute pair Rs of three members 8,9,10 by parallel axes
10, R
11Connect to form its external slider component 10 and silent flatform 1 moving sets P
12Mechanical connection, another outer connection member 8 and moving platform 0 revolute pair R
9Mechanical connection, revolute pair R
11, R
10, R
9Axis and moving sets P
12Moving direction be parallel to each other.Moving sets P among the figure
1, P
6Moving direction and P
12Moving direction be not must be parallel or vertical, and available parallel axes is in revolute pair R
5, R
4, R
3, R
2Two revolute pairs replace.
2., accompanying drawing 2 is the replacement sketch of the simple open-chain structure of press the orientation layout shown in the accompanying drawing 1, is one by 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
5, connect, slider component 2 again with silent flatform 1 usefulness moving sets P7 mechanical 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.
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 one by four revolute pair R that parallel to the axis
5, R
4, R
3, R
2Reach two and in same plane and with silent flatform 1, constitute moving sets P
1, P
6The six bar planar closed-loop structure formed of slide block 2,3, on output link 6, use revolute pair R again
7Connecting elements 7, and member 7 and moving platform 0 revolute pair R
8Mechanical connection, but revolute pair R
7, R
8Axis be parallel to each other, and with revolute pair R
5, R
4, R
3, R
2Axis normal; Simple open chain is by two the revolute pair Rs of three members 8,9,10 by parallel axes
10, R
11Connect to form its external slider component 10 and silent flatform 1 moving sets P
12Mechanical connection, another outer connection member 8 and moving platform 0 revolute pair R
9Mechanical connection, revolute pair R
11, R
10, R
9Axis and moving sets P
12Moving direction be parallel to each other.Moving sets P among the figure
1, P
6Moving direction and P
12Moving direction vertical.
Three motions that drive slide blocks on the control lower platform 1, with regard to the position of controllable brake platform 0 in the space, that realizes X, Y, Z direction three-dimensional pure flatly moves output.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 (4)
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 one by four revolute pairs that parallel to the axis, two six bar planar closed-loop structure that the moving sets on silent flatform constitutes, on middle output link, be connected another member with the revolute pair that this output link overlaps again with an axis, another revolute pair mechanical connection that this member parallels with axis with moving platform again, the axis normal of four revolute pairs that parallel to the axis in these two revolute pair axis and the six bar planar closed-loop structure; 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,, it is characterized in that two moving sets in the six bar planar closed-loop structure can replace the axis of existing four the parallel to the axis revolute pairs of its parallel axes in this closed circuit structure on the combination chain with two revolute pairs according to the described parallel-connection structure of claim 1.
3, according to the described parallel-connection structure of claim 1, it is characterized in that simple open chain 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 described parallel-connection structure of claim 3, that moving sets that it is characterized in that containing on the simple open chain 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.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200510037952 CN1651187A (en) | 2005-03-03 | 2005-03-03 | Three dimensional translation parallel connection mechanism used for virtual axis coordinate measuring machine |
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| CN 200510037952 CN1651187A (en) | 2005-03-03 | 2005-03-03 | Three dimensional translation parallel connection mechanism used for virtual axis coordinate measuring machine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479445A (en) * | 2016-01-26 | 2016-04-13 | 江南大学 | 2T1R hybrid robot mechanism based on topology structure |
| CN110142746A (en) * | 2019-06-11 | 2019-08-20 | 常州大学 | A kind of zero degree of coupling has the three transfer parallel robot mechanism of analytic expression position forecast |
| 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 |
-
2005
- 2005-03-03 CN CN 200510037952 patent/CN1651187A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479445A (en) * | 2016-01-26 | 2016-04-13 | 江南大学 | 2T1R hybrid robot mechanism based on topology structure |
| CN110142746A (en) * | 2019-06-11 | 2019-08-20 | 常州大学 | A kind of zero degree of coupling has the three transfer parallel robot mechanism of analytic expression position forecast |
| 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 |
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