US20100313695A1 - Device for a body's spherical motion control - Google Patents

Device for a body's spherical motion control Download PDF

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Publication number
US20100313695A1
US20100313695A1 US12/740,835 US74083508A US2010313695A1 US 20100313695 A1 US20100313695 A1 US 20100313695A1 US 74083508 A US74083508 A US 74083508A US 2010313695 A1 US2010313695 A1 US 2010313695A1
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US
United States
Prior art keywords
shank
frame
parallel arms
spherical
actuating
Prior art date
Legal status (The legal status 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 status listed.)
Abandoned
Application number
US12/740,835
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English (en)
Inventor
Michael Valasek
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CVUT v Praze Fakulta Stronjni
Original Assignee
CVUT v Praze Fakulta Stronjni
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Filing date
Publication date
Application filed by CVUT v Praze Fakulta Stronjni filed Critical CVUT v Praze Fakulta Stronjni
Assigned to CVUT V PRAZE, FAKULTA STROJNI reassignment CVUT V PRAZE, FAKULTA STROJNI ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: VALASEK, MICHAEL
Publication of US20100313695A1 publication Critical patent/US20100313695A1/en
Abandoned legal-status Critical Current

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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
    • 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
    • B25J17/0258—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
    • B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
    • B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
    • 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
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20341—Power elements as controlling elements
    • Y10T74/20348—Planar surface with orthogonal movement and rotation

Definitions

  • the invention involves a device for a spherical movement of a body connected with a frame through a spherical rule joint aligned on the shank connecting a body with a frame and with a help of control arms with drives.
  • the controlled spherical motion of a body is important in many applications, for example for tilting heads of machining devices or telescopes and antennas adjusting.
  • Such a movement is realized today either through mechanisms with a series kinematics structure, mostly based on gymbal or mechanisms with a parallel kinematic structure.
  • Mechanisms with a series kinematics structure have a large moveability, thereupon a range of 180° in two rotations, but they are mass, their dynamic capabilities are low and they do not allow a continuous movement from one position to another in all the positions.
  • mechanisms with a parallel kinematic structure have a limited moveability, thereupon a range less than 180° in two rotations usually, but they feature substantially lower weight, have higher dynamic capabilities and they enable a continuous movement from all positions to all of the subsequent positions.
  • the application of four parallel arms is insufficient in term of utilization of the whole device's self-calibration feature and enhanced accuracy of its positioning on the basis of unnecessary number of measurements connected with the redundant number of arms with drives.
  • Self-calibration feature is practicable but its achieved accuracy is not high.
  • the aim of this invention is a device for a controlled spherical motion of bodies on the basis of mechanisms with a parallel kinematic structure which would achieve a moveability consonant to mechanisms with a series kinematic structure, thereupon a range up to 200° in two rotations while preserving all advantages of mechanisms with a parallel kinematic structure.
  • Another goal of this invention is to achieve, at the same time, a higher accuracy of a body's positions adjusting.
  • Subject matter of the device for a spherical motion of a body consists in a fact that the shank connecting the body with the frame is sectional and the spherical joint is arranged between the first part of the shank which is firmly fixed to the frame and the second part of the shank which is firmly fixed to the body while the number of parallel arms with drives is excessive.
  • An advantage is the number of parallel arms with drives being at least five and a length of the shank part fixed to the frame being longer than a distance of the body's edge from a point where the shank part is fixed to the body.
  • Actuating parallel arms are fitted with the same drive or a combination of telescopic, extensible continuous, traversable or rotational drives.
  • the actuating parallel arms are connected with the body through an arm spherical joint and a body's shank.
  • the first part of the shank is fitted with a drive for change of its length, its inclination, eventually for a modification of the spherical joint position.
  • the actuating parallel arms are led from points on the frame obliquely into points on the body, whereas the top end of one actuating parallel arm is situated eventually above the bottom end of an adjacent actuating parallel arm.
  • the advantage of this device consists in creation of the sectional shank which enables rotating the body by 90° and more without collisions with the shank and in application of at least five redundant arms which allow to remove an occurrence of singular positions and to provide a sufficient distance from them within all the work area of the body.
  • the application of at least five redundant arms with drives and admeasurement which is at least one more than it is necessarily needed for self-calibration, enables to increase the accuracy substantially, and that both of the self-calibration itself and of a follow-up positioning of the body in the work area.
  • FIG. 1 Represents an arrangement of the body connected to the frame by spherical joint and performing a controlled spherical motion with a help of drives in parallel arms
  • FIG. 2 Represents an arrangement of the body connected to the frame by a spherical joint and performing a controlled spherical motion with a help of telescopic drives in parallel arms
  • FIG. 3 Represents an arrangement of the body connected to the frame by a spherical joint and performing a controlled spherical motion with a help of extensible continuous drives in parallel arms
  • FIG. 4 Represents an arrangement of the body connected to the frame by a spherical joint and performing a controlled spherical motion with a help of traversable drives in parallel arms
  • FIG. 5 Represents an arrangement of the body connected to the frame by a spherical joint and performing a controlled spherical motion with a help of rotational drives in parallel arms
  • FIG. 6 Represents an arrangement of the body connected to the frame by a spherical joint which is, towards the moving body, positioned on a shank and performing a controlled spherical motion with a help of various types of drives in parallel arms,
  • FIG. 7 Represents an arrangement of the body connected to the frame by a spherical joint, with a turning of the body by more than 90° from the basic position
  • FIG. 8 Demonstrates one of potential arrangements of actuating parallel arms in plan view
  • FIG. 9 Demonstrates an arrangement of actuating parallel arms according to FIG. 8 in front view
  • FIG. 10 Demonstrates one of other potential arrangements of actuating parallel arms in plan view
  • FIG. 11 Demonstrates an arrangement of actuating parallel arms according to FIG. 10 in front view
  • FIG. 12 Represents a similar arrangement of the body connected to the frame by a spherical joint, with a turning of the body by more than 90° from the basic position, as it is evident in FIG. 7 , though with an alternative connection of the actuating parallel arms with the body.
  • FIG. 13 Represents an arrangement of the body connected to the frame by a spherical joint and through a withdrawable shank and
  • FIG. 14 Demonstrates another potential arrangement of actuating parallel arms in front view.
  • body 1 is connected to frame 5 through a shank, the first part 9 of which is firmly fitted to frame 5 and its second part 10 is firmly fitted to body 1 .
  • the first part 9 of the shank can eventually create one component together with frame 5 and the second part 10 may form one component with body 1 .
  • Both parts 9 , 10 of the shank are together connected to spherical joint 2 which enables the body 1 motion towards frame 5 .
  • Body 1 and frame 5 are connected to one another through parallel actuating arms 3 which are fitted with drives 4 for draw-out movement of actuating arms 3 .
  • These parallel arms 3 with draw-out drives 6 can be realized through working screws or telescopic working screws, connected to the body and the frame with spherical or universal joints.
  • the controlled spherical motion of body 1 is achieved by adapting the length of individual actuating arms 3 .
  • the number of parallel arms 3 with drives 4 is redundant. It means, that the number of parallel actuating arms 3 with drives is higher than the number of degrees of freedom of body 1 , so that the number of parallel actuating arms 3 is at least four. With regard to excluding singular positions occurrence in work area of the spherical motion of body 1 , it is advantageous when the number of parallel arms 3 with drives 4 is five at minimum. The application of minimally five additional parallel actuating arms 3 allows to increase both the accuracy of self-calibration itself and the follow-up accuracy of positioning body 1 in the work area.
  • the application of the sectional shank composed of the first and the second part 9 and 10 enables to turn body 1 by more than 90°.
  • a length of the first part 9 of the shank fixed to frame 5 should be longer than a distance of the edge of body 1 from a point where the second part 10 of the shank is fixed to body 1 .
  • Adapting the length of the second part of shank 10 a varied angle range of rotating body 1 over 90° can be achieved.
  • rotational drives 8 are used for turning sectional actuating parallel arms 3 when extending or shortening of particular distances between body 1 and frame 5 is achieved by turning individual parts of actuating parallel arms 3 .
  • FIG. 6 there can be evidently seen a possible use of above mentioned drive types combination at one device, i.e. telescopic drive/s 6 , combined with rotational drive/s 8 extensible continuous drive/s 11 and traversable drive/s 7 .
  • a rotational joint may even be an intermediate joint of an actuating parallel arm connecting it with body 1 or a joint of an actuating parallel arm with body 1 .
  • rotational joint 8 positioning on frame 5 so that the rotational drive weight need not to be moved along by the arm's movement.
  • FIG. 7 there can be evidently seen tilting of body 1 in a shape of a plane plate by more than 90° with regard to its basic horizontal position, as it is demonstrated in pictures above.
  • a drive type is not essential and also it is not limited to above mentioned drives.
  • Points of actuating parallel arms 3 connection both with frame 5 and with body 1 are possible to be opted at random practically; a symmetrical arrangement of these points of connection is useful, as it is evident in plan view in FIG. 8 where there are 6 actuating parallel arms 3 with drives 4 used for body 1 spherical motion control, whereas there are always top ends of adjoining actuating parallel arms 3 connected by a joint and their bottom ends are connected with ends of adjacent actuating parallel arms 3 on opposite sides.
  • This arrangement of actuating parallel arms 3 is then showed in front view in FIG. 9 .
  • a system of actuating parallel arms 3 arranged in this way forms a nexus of six triangles.
  • FIG. 10 A similar symmetrical arrangement of actuating parallel arms 3 and their connection with frame 5 and body 1 with a configuration according to FIGS. 8 and 9 is evident in FIG. 10 , where can be evidently seen that particular ends of adjacent actuating parallel arms 3 are pointed towards one another, though their connection with frame 5 and body 1 is not situated in one conjoint place and points of connection are separated from one another.
  • FIG. 11 there is the arrangement of actuating parallel arms 3 according to FIG. 10 showed in front view.
  • FIG. 12 One of other potential device designs with alternative junction of actuating arms 3 with body 1 is shown in FIG. 12 , which corresponds with the device design in a tilted position according to FIG. 7 , therewith clamping of actuating parallel arms 3 ends with body 1 is realized by means of shank 12 of body 1 and an arm's spherical joint 14 which connects shank 12 to actuating parallel arm 3 .
  • FIG. 13 there can be seen alternative configuration of the device for a body's spherical motion control where some part of the shank connecting body 1 with frame 5 is fitted, except for spherical joint 2 , with adjusting drive 13 which is arranged on the first part 9 of the shank here.
  • Adjusting drive 13 serves for adjustment of spherical joint 2 position, e.g. its distance from frame 5 and it is particularly favourable when using a device for control of a spherical motion of replaceable bodies 1 of different size, eventually depending upon a need of various extensions of body 1 deflection from its basic position. Adjusting drive 13 enables a better handling, too, eventually a transportation of the device.
  • FIG. 14 shows other possible arrangement of actuating parallel arms 3 in front view where actuating parallel arms 3 are guided symmetrically along the periphery of frame 5 and body 1 , so that their bottom edges are situated below top ends of adjoining actuating positioning arms 3 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Pivots And Pivotal Connections (AREA)
US12/740,835 2007-10-31 2008-10-29 Device for a body's spherical motion control Abandoned US20100313695A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CZ20070761A CZ302911B6 (cs) 2007-10-31 2007-10-31 Zarízení pro rízení sférického pohybu telesa
CZPV2007-761 2007-10-31
PCT/CZ2008/000134 WO2009056079A2 (en) 2007-10-31 2008-10-29 A device for a body's spherical motion control

Related Parent Applications (1)

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PCT/CZ2008/000134 A-371-Of-International WO2009056079A2 (en) 2007-10-31 2008-10-29 A device for a body's spherical motion control

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Cited By (11)

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Publication number Priority date Publication date Assignee Title
US20070216892A1 (en) * 2006-03-20 2007-09-20 Boaz Eidelberg Integrated large XY rotary positioning table with virtual center of rotation
US20100288062A1 (en) * 2009-02-19 2010-11-18 Solid Tech Inc Two Axis Solar Tracking System
CN102259269A (zh) * 2011-07-08 2011-11-30 常州大学 一种三转动球面并联机构
CN102275161A (zh) * 2011-07-08 2011-12-14 常州大学 一种三转动球面运动机构
CN102540442A (zh) * 2012-01-16 2012-07-04 中国矿业大学 一种平面并联三自由度精密操作平台
JP2015534909A (ja) * 2012-11-14 2015-12-07 コミッサリア ア レネルジー アトミーク エ オ ゼネルジ ザルタナテイヴ 六脚システム
US9358646B2 (en) 2012-02-13 2016-06-07 Cvut V Praze, Fakulta Strojni Supporting structure for repositionable and reconfigurable manipulating arms
US10046677B2 (en) 2013-04-23 2018-08-14 Clearmotion Acquisition I Llc Seat system for a vehicle
US20200009746A1 (en) * 2018-07-03 2020-01-09 Swift Engineering, Inc. Robotic forearms
US20220234192A1 (en) * 2021-01-28 2022-07-28 Yanshan University Redundant parallel mechanism with less actuation and multi-degree-of-freedom outputs and control method thereof
US11506266B2 (en) * 2020-01-16 2022-11-22 Yanshan University Class of over-constrained two-rotation parallel mechanism with same kinematics

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CN102275163B (zh) * 2011-07-08 2013-07-17 常州大学 一种球面并联运动机构
CZ304114B6 (cs) 2012-08-22 2013-10-30 CVUT v Praze, Fakulta strojní Zarízení pro snízení prenosu sil do rámu ze dvou vzájemne silove na sebe pusobících cástí
CZ304673B6 (cs) 2012-09-10 2014-08-27 ÄŚVUT v Praze, Fakulta strojnĂ­ Způsob a zařízení pro změnu tuhosti sériového nebo paralelního základního pohyblivého mechanismu, zvláště průmyslových robotů a obráběcích strojů
US9849585B2 (en) * 2014-04-18 2017-12-26 Ali Sanatkar Robotic arm device with three dimentional movement
CZ2014550A3 (cs) * 2014-08-18 2015-10-14 ÄŚVUT v Praze, Fakulta strojnĂ­ Zařízení pro řízení sférického pohybu tělesa
CZ306555B6 (cs) * 2015-06-22 2017-03-08 ÄŚVUT v Praze, Fakulta strojnĂ­ Způsob řízení sférického pohybu tělesa
JP6852677B2 (ja) * 2015-10-26 2021-03-31 ソニー株式会社 パラレルリンクロボットおよび操作装置
CN107020623B (zh) * 2017-06-05 2019-04-05 哈尔滨工业大学 一种刚度解耦平面转动冗余并联机构
NL2023446B1 (en) * 2019-07-05 2021-02-02 Baars Gerrit An articulated device, an apparatus for operating a tool, as well as a method for moving an object
EP3797924B1 (de) * 2019-09-25 2022-03-16 Josef Weischer GmbH & Co. KG Vorrichtung zur lösbaren fixierung eines zu vermessenden und/oder zu bearbeitenden werkstücks und verfahren zur lagerung eines zu vermessenden und/oder zu bearbeitenden werkstücks mit mindestens einer derartigen vorrichtung
CN111392032A (zh) * 2020-02-18 2020-07-10 哈尔滨工业大学 基于力矩传感器关节电机的球面二自由度摇杆操作机构
CN112775935B (zh) * 2020-12-14 2022-03-15 华南理工大学 一种基于末端误差检测信息子集的并联机器人标定方法

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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070216892A1 (en) * 2006-03-20 2007-09-20 Boaz Eidelberg Integrated large XY rotary positioning table with virtual center of rotation
US8104752B2 (en) * 2006-03-20 2012-01-31 Boaz Eidelberg Integrated large XY rotary positioning table with virtual center of rotation
US20100288062A1 (en) * 2009-02-19 2010-11-18 Solid Tech Inc Two Axis Solar Tracking System
CN102259269A (zh) * 2011-07-08 2011-11-30 常州大学 一种三转动球面并联机构
CN102275161A (zh) * 2011-07-08 2011-12-14 常州大学 一种三转动球面运动机构
CN102540442A (zh) * 2012-01-16 2012-07-04 中国矿业大学 一种平面并联三自由度精密操作平台
US9358646B2 (en) 2012-02-13 2016-06-07 Cvut V Praze, Fakulta Strojni Supporting structure for repositionable and reconfigurable manipulating arms
US20160031080A1 (en) * 2012-11-14 2016-02-04 Commissariat A L'energie Atomique Et Aux Energies Alternatives Hexapod system
JP2015534909A (ja) * 2012-11-14 2015-12-07 コミッサリア ア レネルジー アトミーク エ オ ゼネルジ ザルタナテイヴ 六脚システム
US9764466B2 (en) * 2012-11-14 2017-09-19 Commissariat A L'energie Atomique Et Aux Energies Alternatives Hexapod system
US10046677B2 (en) 2013-04-23 2018-08-14 Clearmotion Acquisition I Llc Seat system for a vehicle
US10245984B2 (en) 2013-04-23 2019-04-02 ClearMotion Acquisition LLC Seat system for a vehicle
US20200009746A1 (en) * 2018-07-03 2020-01-09 Swift Engineering, Inc. Robotic forearms
US11506266B2 (en) * 2020-01-16 2022-11-22 Yanshan University Class of over-constrained two-rotation parallel mechanism with same kinematics
US20220234192A1 (en) * 2021-01-28 2022-07-28 Yanshan University Redundant parallel mechanism with less actuation and multi-degree-of-freedom outputs and control method thereof
US11872696B2 (en) * 2021-01-28 2024-01-16 Yanshan University Redundant parallel mechanism with less actuation and multi-degree-of-freedom outputs and control method thereof

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US20140290419A1 (en) 2014-10-02
US9364932B2 (en) 2016-06-14
CZ2007761A3 (cs) 2009-05-13
CZ302911B6 (cs) 2012-01-18
WO2009056079A2 (en) 2009-05-07
WO2009056079A3 (en) 2009-07-02

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