TW200624233A - Parallel-kinematical machines with an active measuring system - Google Patents

Parallel-kinematical machines with an active measuring system

Info

Publication number
TW200624233A
TW200624233A TW094141395A TW94141395A TW200624233A TW 200624233 A TW200624233 A TW 200624233A TW 094141395 A TW094141395 A TW 094141395A TW 94141395 A TW94141395 A TW 94141395A TW 200624233 A TW200624233 A TW 200624233A
Authority
TW
Taiwan
Prior art keywords
beam rotation
rotation bearing
angle
positioning head
angle indicators
Prior art date
Application number
TW094141395A
Other languages
Chinese (zh)
Inventor
Karl-Erik Neumann
Original Assignee
Exechon Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Exechon Ab filed Critical Exechon Ab
Publication of TW200624233A publication Critical patent/TW200624233A/en

Links

Classifications

    • 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
    • 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
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal

Abstract

A parallel-kinematical machine (1) which has at least three setting device (4.1, 4,2, 4.3) which can be lengthened and shortened individually in their longitudinal direction, wherein each setting device (4.1, 4.2, 4.3) is connected to a positioning head (11) via a first joint, wherein each setting device (4.1, 4.2, 4.3) is connected to a machine base (2) via a universal joint (3.1, 3.2, 3,3), and wherein the positioning head (11) is movable within a working area in response to manoeuvring of the setting devices (4.1, 4.2, 4.3), wherein at least two reinforcing beams (5.1, 5.2, 5,2.1, 5.2.2) are each connected to the positioning head (11) via a respective beam rotation bearing (10.1, 10.2), wherein each of said beam rotation bearings (10.1, 10.2) has only one degree of freedom, and wherein each of said beam rotation bearings is provided with two angle indicators (5.1 a, 5.1b, 5.2a, 5.2b) which are each connected to the beam rotation bearing (10.1, 10.2) so that the measuring points of two angle indicators (5.1a, 5.1 b) will each be situated on a respective side of the first beam rotation bearing (10.1) and so that the measuring points of two angle indicators (5.2a, 5.2b) will each be situated on a respective side of the second beam rotation bearing (10.2) so that the angle indicators will firstly register an angle α1, α2, α3, α4 between the positioning head (11) and respective reinforcing beams (5.1, 5.2) and secondly register a first angular difference β1, where β1= α2- α1, between the measuring points of the two angle indicators (5.1 a, 5.1b) of the first beam rotation bearing (10.1) and also a second angular difference β2, where β2= α4- α3, between the measuring points of two angle indicators (5.2a, 5.2b) of the second beam rotation bearing (10.2) such as to form an active measuring system (ANTS), wherein in the case of a loaded machine each deviation in the value of the angles α1, α2, α3, α4, from a nominal angle value in the case of a non-loaded machine is adapted to be corrected by manoeuvring the setting devices (4.1, 4.2, 4.3) to a changed working positioning of the positioning head (11).
TW094141395A 2004-12-09 2005-11-25 Parallel-kinematical machines with an active measuring system TW200624233A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0402993A SE527992C2 (en) 2004-12-09 2004-12-09 Parallel kinematic machine with active measurement system

Publications (1)

Publication Number Publication Date
TW200624233A true TW200624233A (en) 2006-07-16

Family

ID=33550617

Family Applications (1)

Application Number Title Priority Date Filing Date
TW094141395A TW200624233A (en) 2004-12-09 2005-11-25 Parallel-kinematical machines with an active measuring system

Country Status (4)

Country Link
MY (1) MY137228A (en)
SE (1) SE527992C2 (en)
TW (1) TW200624233A (en)
WO (1) WO2006062466A1 (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE0950953A1 (en) * 2009-12-11 2011-06-12 Tetrafix Ab A header
SE535182C2 (en) * 2010-06-17 2012-05-08 Exechon Ab A parallel kinematic machine with card holder
CN201907121U (en) * 2010-12-29 2011-07-27 天津大学 Three-dimensional translational and one-dimensional rotational parallel mechanism
CN102672714B (en) * 2012-03-21 2014-05-21 天津大学 High-rigidity high-precision five-coordinate parallel power head
CN102922512A (en) * 2012-11-02 2013-02-13 清华大学 Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation
CN104889978A (en) * 2015-07-01 2015-09-09 北京工业大学 Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism
CN107351063B (en) * 2017-07-25 2020-02-18 天津大学 Parameter integration design method of five-degree-of-freedom hybrid robot
CN109128872B (en) * 2018-09-26 2019-09-17 燕山大学 A kind of symmetrical parallel three NC axes main tapping can be realized multi-direction Fixed-point Motion of A
WO2021081894A1 (en) * 2019-10-31 2021-05-06 深圳市大疆创新科技有限公司 Work planning method and system for movable platform, and control terminal
CN111604884B (en) * 2020-04-30 2022-07-26 江苏小野智能装备有限公司 Five-freedom-degree series-parallel robot with two flat parts and three rotating parts

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH637869A5 (en) * 1979-06-19 1983-08-31 Microbo Ag HANDLING DEVICE, IN PARTICULAR FOR INDUSTRIAL ROBOTS.
US4790718A (en) * 1985-03-27 1988-12-13 The English Electric Company Plc Manipulators
FR2674017B1 (en) * 1991-03-12 1995-01-13 Romer Srl DEVICE FOR MEASURING THE SHAPE OR POSITION OF AN OBJECT.
US5616917A (en) * 1995-05-16 1997-04-01 Brown & Sharpe Manufacturing Company Device for measuring an angle between pivotally-connected members
US6587802B1 (en) * 1998-09-17 2003-07-01 Dr. Johannes Heidenhain Gmbh Calibration device for a parallel kinematic manipulator
SE518982C2 (en) * 2000-09-04 2002-12-17 Johansson Ab C E Adjustment of an angular position to a robotic arm

Also Published As

Publication number Publication date
SE0402993D0 (en) 2004-12-09
SE527992C2 (en) 2006-08-01
MY137228A (en) 2009-01-30
WO2006062466A1 (en) 2006-06-15
SE0402993L (en) 2006-06-10

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