FR2623648A1 - Improvement to platforms with six degrees of freedom - Google Patents

Improvement to platforms with six degrees of freedom Download PDF

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Publication number
FR2623648A1
FR2623648A1 FR8716081A FR8716081A FR2623648A1 FR 2623648 A1 FR2623648 A1 FR 2623648A1 FR 8716081 A FR8716081 A FR 8716081A FR 8716081 A FR8716081 A FR 8716081A FR 2623648 A1 FR2623648 A1 FR 2623648A1
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FR
France
Prior art keywords
carried
axis
jacks
shaft
cylinders
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Granted
Application number
FR8716081A
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French (fr)
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FR2623648B1 (en
Inventor
Jean-Pierre Granier
Jean-Pierre Pello
Claude Fortin
Alain Trentin
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ECOLE NALE AVIAT CIVILE
ECOLE NALE EQUITATION
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ECOLE NALE AVIAT CIVILE
ECOLE NALE EQUITATION
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Priority to FR8716081A priority Critical patent/FR2623648B1/en
Publication of FR2623648A1 publication Critical patent/FR2623648A1/en
Application granted granted Critical
Publication of FR2623648B1 publication Critical patent/FR2623648B1/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12—Motion systems for aircraft simulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0216—Compliance devices comprising a stewart mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

Simulation platform with six degrees of freedom of the type constituted by two inverted triangular plates placed one facing the other, the three vertices of the fixed plate 1 being linked to the three vertices of the moving plate 2 by six paired jacks 3-4; 5-6; 7-8; characterised in that: a) in the region of the moving plate 1, the ends of the rods of the paired jacks 3-4; 5-6; 7-8 are mounted so as to pivot on a common shaft A, itself carried by a support 9 carried by a shaft B perpendicular to the first A, this second shaft B being carried by a support 10 mounted so as to pivot on a third shaft C perpendicular to the second B; b) in the region of the fixed plate 2 the lower ends of the paired jacks 3-4; 5-6; 7-8 are each carried by a cardan joint 11, 12, one of the shafts 13 or 15 of each cardan joint being colinear with the other shaft 15 or 13 of the other cardan joint.

Description

Perfectionnement aux plates-formes d six degrbs de liberte. Platform development with six degrees of freedom.

La présente invention a pour objet un perfectionnement aux mécanismes à six degrés de liberté du type de celles qui sont utilisées dans les simulateurs ou pour les tetes de robots. The subject of the present invention is an improvement to mechanisms with six degrees of freedom of the type of those used in simulators or for robot heads.

Dans le cas particuliers de dispositifs de simulation reproduisant les mouvements d'un mobile, il existe des dispositifs ne pouvant reproduire que des mouvements de rotation autour de l'axe longitudinal X (axe de roulis), de l'axe transversal Y taxe de tangage) et de l'axe vertical Z (axe de lacet). Ces appareils ne permettent pas d'obtenir de bonnes simulations du mouvement d'un mobile parce qu'ils ne permettent aucune simulation du déplacement linéaire. In the particular case of simulation devices reproducing the motions of a mobile, there are devices that can only reproduce rotational movements about the longitudinal axis X (roll axis), the transverse axis Y pitching tax ) and the vertical axis Z (yaw axis). These devices do not make it possible to obtain good simulations of the movement of a mobile because they do not allow any simulation of the linear displacement.

I1 existe aussi des dispositifs de simulation ne pouvant que reproduire des mouvements linéaires, mais pas de rotation. There are also simulation devices that can only reproduce linear movements, but not rotation.

Pour obtenir une simulation à la fois en déplacements linéaires et en déplacements en rotation, il est connu d'employer ce que l'on appelle une plateforme à six degrés de liberté, constituée par deux plateaux triangulaires inversés placés l'un en face de l'autre, les trois sommets du triangle fixe servant de base d'une part et les trois sommets du triangle mobile d'autre part étant reliés par six vérins ; le volume géométrique défini par les deux plateaux et les six vérins comportant huit faces triangulaires. To obtain a simulation at the same time in linear displacements and in rotational displacements, it is known to use what one calls a platform with six degrees of freedom, constituted by two inverted triangular plates placed one in front of the other, the three vertices of the fixed triangle serving as a base on the one hand and the three vertices of the moving triangle on the other hand being connected by six jacks; the geometric volume defined by the two plates and the six cylinders having eight triangular faces.

Dans les plates-formes connues qu'elles soient destinées a des simulateurs ou s des robots, chaque verin est articulé a es deux extrémités aux deux plateaux (fixe et mobile par une liaison & la cardan comportant deux axes perpendiculaires. Cette disposition a pour effet que lorsque la plate-forme mobile se deplace, les vérins tournent légèrement sur eux-memes. Ce mouvement de rotation est sans importance si les vérins sont hydrauliques, mais il n'en est pas de méme lorsqu'il s'agit de verins mécaniques entrainés par des moteurs électriques. In known platforms that they are intended for simulators or robots, each cylinder is articulated at both ends to the two plates (fixed and movable by a connection to the gimbal having two perpendicular axes. that when the mobile platform moves, the cylinders turn slightly on themselves.This rotational movement is irrelevant if the cylinders are hydraulic, but it is not the same when it comes to mechanical cylinders driven by electric motors.

En effet, ces vérins sont constitués par une tige filetée qui tourne dans un filetage femelle placé à l'intérieur d'un support : il est alors bien évident que tout mouvement de rotation de la tige par rapport à son support se traduit par un déplacement de la tige par rapport audit support. Donc les mouvements de rotation des tiges qui sont induits par les déplacements du plateau mobile induisent des mouvements linéaires parasites des vérins. Indeed, these cylinders are constituted by a threaded rod which rotates in a female thread placed inside a support: it is then obvious that any rotational movement of the rod relative to its support results in a displacement of the rod relative to said support. Thus the rotational movements of the rods which are induced by the displacements of the moving plate induce parasitic linear movements of the cylinders.

La présente invention a pour objet de supprimer ces mouvements induits des vérins mécaniques à filetage. The object of the present invention is to eliminate these induced movements of the threaded mechanical cylinders.

La présente invention est caractérisée par le fait que : premièrement, au niveau du plateau mobile, les extrémités des tiges des vérins mécaniques h filetage sont montées d pivotement sur un axe commun, lui-même porté par un support porté par un axe perpendiculaire au premier, ce deuxième axe étant porté par un support monté à pivotement sur un troisième axe perpendiculaire au deuxième ; deuxièmement, au niveau du plateau fixe les extrémités inférieures desdits vérins sont portées chacune par un joint à la cardan à deux axes de liberté, l'un des axes de chaque cardan étant colinéaire A l'un des axes du cardan du vérin conjugué. The present invention is characterized in that: firstly, at the level of the movable plate, the ends of the rods of the mechanical cylinders h threading are pivotally mounted on a common axis, itself carried by a support carried by an axis perpendicular to the first this second axis being carried by a support pivotally mounted on a third axis perpendicular to the second; secondly, at the fixed plate the lower ends of said cylinders are each carried by a cardan joint with two axes of freedom, one of the axes of each gimbal being collinear with one of the axes of the gimbal of the conjugate cylinder.

A titre d'exemple et pour faciliter la compréhension de l'invention, on a représenté aux dessins annexés
Figure 1 : une représentation schématique d'un mécanisme six degrés de liberté
Figure 2 : une vue de détail & échelle agrandie illustrant l'^ccouplement des deux extrémités supérieures de deux vérins conjugués
Figure 3 : une vue de détail a échelle agrandie illustrant le montage colinéaire des cardans des extrémités inférieures desdits vérins conjugués. By way of example and to facilitate understanding of the invention, there is shown in the accompanying drawings
Figure 1: a schematic representation of a mechanism six degrees of freedom
Figure 2 is an enlarged detail view illustrating the coupling of the two upper ends of two conjugate jacks.
Figure 3 is an enlarged detail view showing the colinear assembly of the gimbals of the lower ends of said conjugate jacks.

La figure 1 représente d'une façon schématique un mécanisme & six degrés de liberté. Une telle plateforme peut avoir de grandes dimensions et constituer alors l'élément mobile d'un simulateur de vol ; elle peut avoir des dimensions moyennes et constituer le support de la selle d'un simulateur d'équitation ; elle peut encore être de dimension réduite et constituer la tête porte-outils d'un robot. Figure 1 schematically represents a mechanism & six degrees of freedom. Such a platform can have large dimensions and then constitute the mobile element of a flight simulator; it can have average dimensions and constitute the support of the saddle of a riding simulator; it can still be reduced in size and constitute the toolholder of a robot.

Elle est constituée, comme cela est connu, par un plateau fixe, triangulaire 1 et un plateau mobile, également triangulaire 2, ces deux triangles étant inversés. Les sommets des deux plateaux 1 et 2 sont reliés l'un å l'autre par six vérins 3, 4, 5, 6, 7, 8 conjugués deux & deux (3-4 ; 5-6 ; 7-8). It is constituted, as is known, by a fixed, triangular plate 1 and a movable plate, also triangular 2, these two triangles being reversed. The vertices of the two plates 1 and 2 are connected to each other by six cylinders 3, 4, 5, 6, 7, 8 conjugated two & two (3-4; 5-6; 7-8).

Ce mécanisme est connu : en mettant en oeuvre de- façon appropriée les six vérins, on obtient six sortes de déplacements : des déplacements en rotation selon les axes X, Y, Z < X= roulis; Y= tangage; Z= lacet) et linéaires selon ces memes axes. This mechanism is known: by appropriately implementing the six jacks, six kinds of displacements are obtained: displacements in rotation along the X, Y, Z <X = roll axes; Y = pitching; Z = lace) and linear along these same axes.

Dans les plates-formes connues de simulateurs utilisant ce mécanisme, les extrémités supérieure et inférieure de chaque vérin sont reliées aux plateaux par des joints de cardans : il en résulte que les tiges des vérins tournent par rapport & leurs supports, ce qui est sans conséquence lorsque les vérins sont hydrauliques ou & solénoïdes mais introduit des mouvements linéaires parasites des vérins lorsqu'ils sont mécaniques. In the known platforms of simulators using this mechanism, the upper and lower ends of each cylinder are connected to the plates by universal joints: the result is that the rods of the cylinders rotate relative to their supports, which is of no consequence. when the cylinders are hydraulic or solenoids but introduces parasitic linear movements of the cylinders when they are mechanical.

Or dans certains ca il s'avère avantageux d'employer des vérins mécaniques commandés par des moteurs lectriques aus par des signaux électriques produits par une centrale de calcul. Du fait des rotations induites des tiges de verins at des mouvements linéaires parasites que ces rotations provoquent, il faut introduire dans la centrale de calcul des éléments de calcul de compensation de ces mouvements parasites qui sont extrêmement complexes. However, in some cases it is advantageous to use mechanical cylinders controlled by electric motors by electrical signals produced by a computer unit. Due to the induced rotations of the rods of cylinders and parasitic linear movements that these rotations cause, it is necessary to introduce in the central computing calculating elements of compensation of these parasitic movements which are extremely complex.

La présente invention évite tout mouvement induit des vérins par un montage approprié de ceux-ci.  The present invention avoids any induced movement of the jacks by proper mounting thereof.

En se reportant à la figure 2, on voit que les extrémités supérieures de deux vérins conjugués (et convergents) 3 et 4 sont articulées sur un meme axe commun A qui est porté par une chape 9, elle-méine portée a pivotement par une chape 1 autour d'un troisième axe C perpendiculaire a l'axe B, cet axe C étant perpendiculaire au plateau 2 par lequel il est porté. Referring to FIG. 2, it can be seen that the upper ends of two conjugate (and convergent) jacks 3 and 4 are articulated on the same common axis A which is carried by a yoke 9, which is pivotally supported by a clevis 1 around a third axis C perpendicular to the axis B, this axis C being perpendicular to the plate 2 by which it is worn.

En se reportant å la figure 3, on voit que les extrémités inférieures des deux mêmes vérins conjugués 3 et 4 sont chacune portées par un joint de cardan il et 12. Referring to FIG. 3, it can be seen that the lower ends of the same two conjugate jacks 3 and 4 are each carried by a cardan joint 11 and 12.

Chaque joint de cardan il et/ou 12 comporte deux axes perpendiculaires 13-14 et 15-16 qui, dans l'exemple particulier sont constitués par deux croisillons. L'axe 13 est porté par une chape 13a solidaire de l'extrémité inférieure du vérin 3 et l'axe 14 porté par une chape 14a qui est fixée au plateau fixe 1. De meme l'axe 15 est porté par une chape 15a, solidaire de l'extrémité inférieure du vérin 4 et l'axe 16 est porté par une chape 1a qui est fixée au plateau fixe 1. Les deux chapes 14a et 16a sont fixées audit plateau 1 de façon telle que les deux axes 14 et 16 soient dans le prolongement l'un de l'autre. Each cardan joint 11 and / or 12 has two perpendicular axes 13-14 and 15-16 which, in the particular example are constituted by two braces. The axis 13 is carried by a yoke 13a integral with the lower end of the jack 3 and the axis 14 carried by a yoke 14a which is fixed to the fixed plate 1. Similarly the axis 15 is carried by a yoke 15a, secured to the lower end of the jack 4 and the axis 16 is carried by a yoke 1a which is fixed to the fixed plate 1. The two yokes 14a and 16a are fixed to said plate 1 so that the two axes 14 and 16 are in the extension of one another.

Les vérins conjugués 5-6 et 7-8 sont reliés aux plateaux 1 et 2 de la meme façon. The conjugate jacks 5-6 and 7-8 are connected to the trays 1 and 2 in the same way.

Cette disposition particulière a pour résultat d'empêcher tout mouvement induit de rotation des tiges de vérin et permet donc d'employer des vérins mécaniques å moteur électrique sans qu'il soit nécessaire de procéder å des calculs de correction complexes.  This particular arrangement results in preventing any induced rotational movement of the jack rods and thus permits the use of mechanical cylinders with an electric motor without the need for complex correction calculations.

Claims (1)

RevendicationClaim 1. Plate-forme de simulation å six degrés de liberté du type constitué par deux plateaux triangulaires inversés, placés l'un en face de l'autre, les trois sommets du plateau fixe (1 > étant reliés aux trois sommets du plateau mobile (2) par six vérins conjugués deux à deux < 3-4 ; 5-6 ; 7-8) , caractérisée par le fait que A six-degree-of-freedom simulation platform of the type consisting of two inverted triangular plateaux placed opposite each other, the three vertices of the fixed platen (1 being connected to the three vertices of the movable platen ( 2) by six jacks conjugated two by two <3-4; 5-6; 7-8), characterized by the fact that a) au niveau du plateau mobile (1), les extrémités des tiges des vérins conjugués (3-4 ; 5-6 7-8 > sont montées A pivotement sur un axe commun (A), lui-meme porté par un support (9) porté par un axe (B) perpendiculaire au premier (A), ce deuxième axe (B) étant porté par un support (1) monté-à pivotement sur un troisième axe (C) perpendiculaire au deuxième (B); a) at the level of the movable plate (1), the ends of the rods of the conjugate cylinders (3-4; 5-6 7-8> are pivotally mounted on a common axis (A), itself carried by a support ( 9) carried by an axis (B) perpendicular to the first (A), the second axis (B) being carried by a support (1) pivotally mounted on a third axis (C) perpendicular to the second (B); b) au niveau du plateau fixe (2) les extrémites inférieures des vérins conjugués (3-4 ; 5-6; 7-8) sont portées chacune par un joint å la cardan (11, 12), l'un des axes (13 ou 15) de chaque cardan étant colinéaire à l'autre axe C15 ou 13) de l'autre cardan.  b) at the level of the fixed plate (2) the lower ends of the conjugate jacks (3-4; 5-6; 7-8) are each carried by a cardan joint (11, 12), one of the axes ( 13 or 15) of each gimbal being collinear with the other axis C15 or 13) of the other gimbal.
FR8716081A 1987-11-20 1987-11-20 IMPROVEMENT ON PLATFORMS WITH SIX DEGREES OF FREEDOM Expired - Fee Related FR2623648B1 (en)

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FR8716081A FR2623648B1 (en) 1987-11-20 1987-11-20 IMPROVEMENT ON PLATFORMS WITH SIX DEGREES OF FREEDOM

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FR8716081A FR2623648B1 (en) 1987-11-20 1987-11-20 IMPROVEMENT ON PLATFORMS WITH SIX DEGREES OF FREEDOM

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1992016923A1 (en) * 1991-03-20 1992-10-01 Rediffusion Simulation Limited Flight simulator
FR2687491A1 (en) * 1992-02-14 1993-08-20 Thomson Csf Vehicle simulator with a wide visual field and low moving masses
FR2757440A1 (en) * 1996-12-20 1998-06-26 Conservatoire Nat Arts Platform with hexapod telescopic legs for use with machine tools
FR2780670A1 (en) * 1998-07-01 2000-01-07 Cfcimsi Fondazione ROBOTIC WORKING MODULE WITH PARALLEL KINEMATICS
FR2780673A1 (en) * 1998-07-01 2000-01-07 Cfcimsi Fondazione ARTICULATION PART FOR ROBOTIC WORKING MODULE WITH PARALLEL KINEMATICS
FR2878461A1 (en) * 2004-11-30 2006-06-02 Franco Belge Combustibles Welding installation for nuclear fuel assembly skeletons has welding tool movement system capable of five, six or seven degrees of freedom
WO2018185658A1 (en) 2017-04-03 2018-10-11 Eurmeka Dynamic generator device and virtual reality system incorporating same
WO2018233468A1 (en) * 2017-06-21 2018-12-27 东莞松山湖国际机器人研究院有限公司 Six-degree-of-freedom mechanical arm based on translational parallel mechanism

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2257967A1 (en) * 1974-01-15 1975-08-08 Materiel Telephonique Aircraft cockpit movement simulator - has six rams connecting triangular cockpit platform to upper hexagonal frame
EP0012064A1 (en) * 1978-11-22 1980-06-11 Thomson-Csf Electronic device to supervise the working of a hydraulic servoactuator

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2257967A1 (en) * 1974-01-15 1975-08-08 Materiel Telephonique Aircraft cockpit movement simulator - has six rams connecting triangular cockpit platform to upper hexagonal frame
EP0012064A1 (en) * 1978-11-22 1980-06-11 Thomson-Csf Electronic device to supervise the working of a hydraulic servoactuator

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ELECTRICAL COMMUNICATION, vol. 49, no. 1, 1974, pages 99,100; "Simulator for A 300 B Airbus" *

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1992016923A1 (en) * 1991-03-20 1992-10-01 Rediffusion Simulation Limited Flight simulator
US5433608A (en) * 1991-03-20 1995-07-18 Thomson Training & Simulation Limited Vehicle simulator and method for controlling a vehicle simulator
FR2687491A1 (en) * 1992-02-14 1993-08-20 Thomson Csf Vehicle simulator with a wide visual field and low moving masses
FR2757440A1 (en) * 1996-12-20 1998-06-26 Conservatoire Nat Arts Platform with hexapod telescopic legs for use with machine tools
FR2780670A1 (en) * 1998-07-01 2000-01-07 Cfcimsi Fondazione ROBOTIC WORKING MODULE WITH PARALLEL KINEMATICS
FR2780673A1 (en) * 1998-07-01 2000-01-07 Cfcimsi Fondazione ARTICULATION PART FOR ROBOTIC WORKING MODULE WITH PARALLEL KINEMATICS
FR2878461A1 (en) * 2004-11-30 2006-06-02 Franco Belge Combustibles Welding installation for nuclear fuel assembly skeletons has welding tool movement system capable of five, six or seven degrees of freedom
WO2006059004A3 (en) * 2004-11-30 2006-08-03 Fbfc Soc Franco Belge De Fabri Installation for welding frameworks of nuclear fuel assemblies, programming method, corresponding methods for framework welding and assembling
WO2018185658A1 (en) 2017-04-03 2018-10-11 Eurmeka Dynamic generator device and virtual reality system incorporating same
WO2018233468A1 (en) * 2017-06-21 2018-12-27 东莞松山湖国际机器人研究院有限公司 Six-degree-of-freedom mechanical arm based on translational parallel mechanism

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