KR20110061026A - 3 degrees of freedom parallel link platform to be able to change singularity - Google Patents
3 degrees of freedom parallel link platform to be able to change singularity Download PDFInfo
- Publication number
- KR20110061026A KR20110061026A KR1020090117537A KR20090117537A KR20110061026A KR 20110061026 A KR20110061026 A KR 20110061026A KR 1020090117537 A KR1020090117537 A KR 1020090117537A KR 20090117537 A KR20090117537 A KR 20090117537A KR 20110061026 A KR20110061026 A KR 20110061026A
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- South Korea
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- linear actuators
- change
- parallel link
- singularity
- platform
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/14—Arm movement, spatial
- Y10S901/16—Cartesian, three degrees of freedom
Abstract
Description
본 발명은 병렬 기구를 이용하는 공작기계, 병렬형 로봇 관절에 사용하는 3 자유도 플랫폼에 관한 것으로 3 자유도 병렬 기구의 특이점을 변경하여 작업 공간이나 운동을 추가하기 위한 플랫폼에 관한 것이다.The present invention relates to a three-degree-of-freedom platform for use in machine tools and parallel robot joints using a parallel mechanism. The present invention relates to a platform for adding a work space or motion by changing the singularity of the three-degree-of-freedom parallel mechanism.
산업 현장에서 사용되는 공작 기계, 로봇의 경우 직렬형 플랫폼으로 구성되는 것이 보편적이다. 직렬형 플랫폼의 경우 긴 외팔보 형상이므로 강성이 높지 못하여 큰 하중이나 진동이 걸리는 작업에 취약하고 각 링크의 오차가 장비의 끝단에 누적되어 나타나는 단점이 있다. In the case of machine tools and robots used in the industrial field, it is common to configure a serial platform. In the case of a serial platform, the long cantilever shape does not have high rigidity, so it is vulnerable to heavy loads or vibrations, and errors in each link accumulate at the end of the equipment.
상기 직렬형 플랫폼의 취약한 강성을 높이기 위해 제안한 것이 병렬형 플랫폼이다. 이 구조는 상판과 하판 사이에 3개의 선형 액추에이터가 설치되어 있어서 각 액추에이터가 밀고 당기어 운동을 만들어 내는 것으로 원래 항공기 시뮬레이터 제작을 위해 고안된 것이다. 상기 병렬형 플랫폼은 하중이 분산되므로 높은 강성을 지니게 되고 각 액추에이터들의 에러를 보상하여 보다 뛰어난 정밀도와 안정성을 지니는 장점이 있다. Proposed to increase the weak rigidity of the serial platform is a parallel platform. The structure was originally designed for the construction of an aircraft simulator, with three linear actuators installed between the top and bottom plates, where each actuator pushes and pulls to create motion. The parallel platform has a high rigidity because the load is distributed, and has an advantage of having greater precision and stability by compensating for errors of each actuator.
상기 3 자유도 병렬 기구는 각 액추에이터들의 간섭으로 인해 특이점이 발생되어 제한된 작업 공간을 가지게 되고, 동력학적 해석이 어려운 단점을 지니고 있다The three degree of freedom parallel mechanism has a disadvantage in that singularity is generated due to interference of each actuator, so that it has a limited working space and dynamic analysis is difficult.
본 발명은 상기와 같은 문제점을 해소하기 위한 것으로, 본 발명의 목적은 액추에이터들의 간섭으로 인해 발생된 특이점을 변경시키는 구조물을 추가하여 작업 공간을 확장하고 비틀림 운동하는 3 자유도 병렬 기구 플랫폼을 제공하는 데 있다. 3 자유도 병렬 기구 플랫폼의 특이점을 변경시키기 위해서 3개의 선형 액추에이터 하부의 유니버셜 조인트 마운트를 기어나 풀리를 이용하여 회전시키는 링크 구조를 제공하는 데 있다.The present invention is to solve the above problems, an object of the present invention is to provide a three-degree-of-freedom parallel mechanism platform to expand and torsional working space by adding a structure that changes the singularity caused by the interference of the actuators There is. In order to change the singularity of the three-degree-of-freedom parallel instrument platform, it is to provide a link structure that rotates the universal joint mount under the three linear actuators using gears or pulleys.
이와 같이 본 발명은 3 자유도 병렬 기구 내부에 특이점 변경을 위한 기어나 풀리를 이용한 간단한 구조물로 구성되어 크기를 최소화하였으며 기존에 사용되는 상기 플랫폼에 교체하여 사용할 수 있다. As described above, the present invention is composed of a simple structure using gears or pulleys for changing singularity in a three degree of freedom parallel mechanism, and minimizes the size and can be used by replacing the existing platform.
또한 상기의 특이점 변경 구조물을 구동하여 작업 공간을 확장하고 비틀림 운동을 할 수 있는 이점을 갖는다.In addition, by driving the above singularity change structure has the advantage that can expand the work space and torsional movement.
종래의 3자유도 병렬형 기구에서는 상판(10)과 하판(20), 선형 엑츄에이터(30)를 적절히 배치하고 각각의 연결 부위에 3자유도 조인트, 2자유도 조인트를 사용하여 연결하면 상판의 회전 2자유도와 상판의 상하 높이 변화에 대한 선형 1자유도를 가지게 된다.In the conventional three degree of freedom parallel mechanism, when the
본 발명은 상판(10)과 하판(20) 사이에 3개의 선형 액추에이터(30)를 배치하고, 선형 액추에이터(30) 상부 연결 부위는 구형 조인트(50), 하부 부위는 개량된 유니버셜 조인트(40)를 사용하여 연결하고 3개의 유니버셜 조인트(40)에 연결된 하부의 유성기어 유닛(60)를 모터(80)로 회전시켜서 상판(10)과 하판(20)의 간격에 대한 길이 방향의 특이점이 변경되는 플랫폼이다.According to the present invention, three
상판(10)에 3개의 선형 엑츄에이터(30)를 연결 하기 위하여 구형 조인트(50)를 사용하여야 하며, 이 구형 조인트(50)는 3개의 조인트 블럭(51)을 이용하여 상판(10)에 설치한다.In order to connect three
구형 조인트(50)의 중심점은 상판(10)의 중심점에서 등각으로 120도를 유지하도록 위치하여야 한다.The center point of the
하판(20)과 3개의 선형 엑츄에이터(30)를 연결하기 위하여 개량된 유니버셜 조인트(40)를 이용하여 연결한다.In order to connect the
또한 개량된 유니버셜 조인트(40)의 2개의 축 중에 1개의 축은 하판(20)과 수직을 이루도록 설치하며, 다른 1개의 축은 선형 엑츄에이터(30)와 연결 하도록 한다. In addition, one of the two axes of the improved
하판(20)의 내부에 모터(80), 웜과 웜휠(70)을 설치 하고 외부에 유성기어 유닛(60)을 설치 하여, 상판(10)과 하판(20)에 설치되는 선형 엑츄에이터(30)를 회 전 시키도록 한다.The
개량된 유니버셜 조인트(40)에 기어(62)를 연결하여 모터(80)에 의한 선형 엑츄에이터(30)의 회전이 가능 하도록 한다.The
선형 엑츄에이터(30)의 길이 변화 없이, 유성기어 유닛(60)에 의한 선형 엑츄에이터(30)에 연결 되어 있는 개량된 유니버셜 조인트(40)의 하판(20)과의 수직축이 회전하는 각도에 따라, 3개의 선형엑츄에이터(30)와 3개의 구형 조인트(50), 3개의 개량된 유니버셜 조인트(40)에 의해 구성되는 3자유도 폐루프 기구의 특성에 의하여 선형 엑츄에이터의 평면(31)은 하판의 평면(21)과 90도 이하의 일정한 각도를 이루게 된다.Depending on the angle of rotation of the vertical axis with the
이와 같이 3개의 선형 엑츄에이터의 평면(31)과 하판의 평면(21)이 90도 이하의 일정한 각도를 이루게 됨에 따라 상판(10)과 하판(20)의 중심거리에 대한 특이점이 변하게 된다.As described above, as the
본 발명은 상판(10)의 중앙에 관통된 조립구멍(80)을 이용하여 2개 이상의 플랫폼을 연결하여 사용할 수 있도록 되어 있는 구조를 포함하고 있다.The present invention includes a structure that can be used to connect two or more platforms using the
도 1 은 본 발명에 따른 구성을 보인 예시도.1 is an exemplary view showing a configuration according to the present invention.
도 2 는 본 발명에 따른 아랫면 구성을 보인 예시도.2 is an exemplary view showing a bottom configuration according to the present invention.
도 3 은 본 발명에 따른 전체 구성의 움직임을 보인 예시도.Figure 3 is an exemplary view showing the movement of the overall configuration according to the present invention.
* 도면의 주요 부분에 대한 부호의 설명* Explanation of symbols for the main parts of the drawings
(10) : 상판(10): tops
(20) : 하판 (21) : 하판의 평면20: the bottom plate 21: the plane of the bottom plate
(30) : 선형 엑츄에이터 (31) : 선형 엑츄에이터의 평면30: linear actuator 31: plane of linear actuator
(40) : 개량된 유니버셜 조인트40: improved universal joint
(50) : 구형 조인트 (51) : 조인트 블럭50: spherical joint 51: joint block
(60) : 유성기어 유닛60: planetary gear unit
(70) : 웜과 웜휠70: worm and worm wheel
(80) : 모터80: motor
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