CN1219627C - Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine - Google Patents
Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine Download PDFInfo
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- CN1219627C CN1219627C CN 03113048 CN03113048A CN1219627C CN 1219627 C CN1219627 C CN 1219627C CN 03113048 CN03113048 CN 03113048 CN 03113048 A CN03113048 A CN 03113048A CN 1219627 C CN1219627 C CN 1219627C
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Abstract
The present invention relates to a six-freedom parallel mechanism used for virtual-shaft numerical control machine tools, virtual-shaft measuring machines and parallel robots. The present invention is composed of a movable platform, a fixed platform and three same connecting legs for connecting the movable platform and the fixed platform, wherein each connecting leg is composed of a planar closed circuit structure and an open chain structure, and the planar closed circuit structure is composed of five rods through five rotating pairs; any member of the connecting leg can be used as a part of the fixed platform, and the open chain structure is composed of three members respectively through two rotating pairs of which the axial lines are parallel to each other. The member on one end of the open chain structure and the two members of the planar closed circuit structure form a composite hinge, and the member on the other end of the open chain structure is mechanically connected with the movable platform by one rotating pair. The general position and the attitude of the movable platform in space can be controlled by controlling the movement of six driving joints on the fixed platform to realize three-dimensional translation and three-dimensional rotating output. The movable platform can be used as an actuating device for virtual-shaft numerical control machine tool with a parallel structure, a virtual-shaft measuring machine and a parallel robot.
Description
Technical field
The present invention relates to the topworks of a class lathe, robot and coordinate measuring machine, specifically virtual-axis nc machine tool, parallel coordinate measuring machine and the parallel robot for parallel-connection structure provides a class (2 kinds) novel six-degree-of-freedom parallel connection mechanism.
Background technology
The parallel-connection structure numerically-controlled machine is meant with the parallel institution to be the lathe of topworks, and this lathe has been considered to the revolution of machine tool structure since the twentieth century.Developed the model machine of this lathe at present in states such as the U.S., Japan, China, the parallel institution that is adopted mostly is traditional Stewart mechanism or its improved mechanism greatly.The mechanism that position and the attitude of this control cutter in the space changes mainly is made up of pedestal, motion platform and connecting rod, is linked to each other by connecting rod between pedestal and the motion platform, and the connecting rod two ends are respectively ball pair and universal joint.Have 6 connecting rods in this mechanism, but the adjustable length of connecting rod by controlling the length of 6 connecting rods, changes the position of cutter in the space.Stewart mechanism and improved mechanism thereof have following shortcoming: 1. forward kinematics solution is found the solution difficulty; 2. the position of motion platform and direction are strong coupling; 3. space is less; 4. make the secondary difficulty of high-precise ball.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 Patent, 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 complicated.2. D translation mechanism motion itself import-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 imaginary axis coordinate measuring machine of parallel-connection structure, it also is a major progress on the scientific measurement instrument in recent years, 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 because the structure of this mechanism is relatively complicated, space constraint is less, causes the difficulty of finding the solution of its end effector.Owing to all contain more spherical pair in above-mentioned several structures, so its manufacturing and assembling are all complicated.
In sum, the development of imaginary axis numerically-controlled machine and coordinate measuring machine, 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 kinds) new six-degree-of-freedom parallel connection mechanism, such mechanism's input-output have decoupling, work space big, be convenient to make and install, can greatly simplify the control of parallel-connection structure virtual-shaft machine tool, coordinate measuring machine and robot system and the complicacy of trajectory planning; Also can reduce widely in the difficulty of setting up aspects such as imaginary axis measuring machine measurement model in parallel, measurement update and compensation model, for the exploitation and the practicability of novel parallel virtual-shaft machine tool, robot, coordinate measuring machine etc. provides possibility.
The six-degree-of-freedom parallel connection mechanism that the present invention relates to is gone up the identical connection leg of three structures of lower platform and is formed by last moving platform, following silent flatform and connection.Every connects leg is a combination chain, comprises planar closed-loop structure and two open-chain structures that revolute pair is formed that are parallel to each other by axis by three members that one five bar connects to form by five revolute pairs successively; One member of open-chain structure and two members of planar closed-loop mechanism constitute compound hinges, and another member of open-chain structure and last moving platform are with a revolute pair mechanical connection; And a member of planar closed-loop structure is taken as frame, and is promptly affixed with silent flatform.Therefore, moving platform has three interfaces, and silent flatform has six interfaces.
As a derived structure of this six-degree-of-freedom parallel connection mechanism, three identical combination chains connect leg and can be made up of by planar closed-loop structure and a member that five revolute pairs connect and compose successively one five bar; One member of this member and planar closed-loop structure is with a revolute pair mechanical connection, and with last moving platform with the secondary mechanical connection of a ball, and a member and the silent flatform of planar closed-loop structure are affixed.
The motion of six CD-ROM drive motor on the control lower platform, with regard to position and the appearance will of moving platform on the may command in the space, implementation space general motion, i.e. D translation and Three dimensional rotation output.As unit head and cutter are installed on moving platform, promptly can be as the virtual-axis nc machine tool of parallel-connection structure; Promptly can be as on moving platform, gauge head being installed as parallel coordinate measuring machine.
The present invention is a class (2 a kinds) six-degree-of-freedom parallel connection mechanism, has following characteristics:
1. mechanism is simpler, has in light weight, good rigidly, but advantages such as high-speed motion.2. motion input-output has partly decoupled, can simplify the control problem of virtual-shaft machine tool and robot system; Also can reduce widely in the difficulty of setting up aspects such as imaginary axis measuring machine measurement model in parallel, measurement update and compensation model.3. except that parallel institution shown in the accompanying drawing 2 used three ball pairs, parallel institution shown in the accompanying drawing 1 all used revolute pair and garden post pair, can make mechanism make, install comparatively simple, be beneficial to Precision Machining, and cost was lower.4. work space is bigger.
Description of drawings
Accompanying drawing 1 is the structural representation of six-degree-of-freedom parallel connection mechanism of the present invention;
Accompanying drawing 2 is the derived structure alternative schematic of the six-degree-of-freedom parallel connection mechanism shown in the accompanying drawing 1;
Embodiment
Below by accompanying drawing and example technology of the present invention is given to illustrate further.
1., accompanying drawing 1 is six-degree-of-freedom parallel connection mechanism structure diagram of the present invention, Fig. 1 (a) is the 3 dimensional drawing of this parallel institution, Fig. 1 (b) is its two dimensional surface stretch-out view.The identical connection leg of three structures that it goes up lower platform by last moving platform 0, following silent flatform 1 and connection is formed.Every connects leg is a combination chain, comprises one five bar 1,2,3,4,5 successively by five revolute pair R
1, R
7, R
8, R
9, R
2The planar closed-loop structure that connects to form and two revolute pair R that are parallel to each other by axis by member 6,7,8
10, R
11The open-chain structure of forming; The member 6 of open-chain structure and the member 3,4 of planar closed-loop mechanism are at revolute pair R
8The place constitutes compound hinges, and (promptly the center of rotation of three members 6,3,4 is at R
8The place overlaps), the member 8 and the last moving platform 0 revolute pair R of open-chain structure
12Mechanical connection; And the member 1 of planar closed-loop structure is taken as frame, promptly with silent flatform 1 affixed (be member 2,5 respectively with silent flatform 1 revolute pair R
1, R
2Mechanical attachment).Therefore, moving platform 0 has three interface R
12, R
13, R
14, silent flatform has six interface R
1, R
2, R
3, R
4, R
5, R
6
2., accompanying drawing 2 is the derived structure sketch of parallel institution shown in the accompanying drawing 1.It is also by last moving platform 81, following silent flatform 71 and connect three identical combination chains going up lower platform and connect legs and form.But every connects leg and passes through revolute pair R successively by one five bar 71,21,31,41,51
71, R
21, R
31, R
41, R
51Planar closed-loop structure that connects and composes and member 61 are formed; The member 31 of member 61 and planar closed-loop structure is with revolute pair R
61Mechanical connection is with last moving platform 81 secondary S of usefulness ball
71Mechanical connection.
When three bar linkage structure dimensional parameters and one timings of the distributing position on dynamic and static platform thereof that connect leg, six motions that drive cradle head on the control silent flatform, with regard to general position and the attitude of controllable brake platform, realize the output of D translation and Three dimensional rotation in the space.The structural design of this kind parallel institution and drive controlling etc. all routinely mechanical ﹠ electrical technology carry out design and installation.
Claims (2)
1, the six-degree-of-freedom parallel connection mechanism that is used for virtual-axis nc machine tool, imaginary axis coordinate measuring machine and parallel robot, go up three identical connection legs of lower platform by last moving platform, following silent flatform and connection and form, it is characterized in that every connection leg comprises planar closed-loop structure and two open-chain structures of being made up of by five revolute pairs successively five members that revolute pair is formed that are parallel to each other by axis by three members; One member and the silent flatform of planar closed-loop structure are affixed; And two members of doing plane motion in an outer connection member of open-chain structure and the planar closed-loop structure constitute compound hinges; Its another outer connection member and moving platform are with a revolute pair mechanical connection.
2,, it is characterized in that the planar closed-loop structure of every connection leg still is made of by five revolute pairs successively five members according to the described parallel-connection structure of claim 1; And open-chain structure can be replaced by a member, but a member of doing plane motion in an end of this member and the planar closed-loop structure is with the revolute pair mechanical connection, the other end and moving platform usefulness ball pair mechanical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03113048 CN1219627C (en) | 2003-03-25 | 2003-03-25 | Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03113048 CN1219627C (en) | 2003-03-25 | 2003-03-25 | Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine |
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| Publication Number | Publication Date |
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| CN1473685A CN1473685A (en) | 2004-02-11 |
| CN1219627C true CN1219627C (en) | 2005-09-21 |
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| CN 03113048 Expired - Fee Related CN1219627C (en) | 2003-03-25 | 2003-03-25 | Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine |
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| CN (1) | CN1219627C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100376363C (en) * | 2005-12-30 | 2008-03-26 | 哈尔滨工业大学 | Scalable parallel mechanism with double rings and three branches |
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| CN102601785A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Six-degree-of-freedom parallel mechanism with RPRPR closed-loop subchains |
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| CN107471199A (en) * | 2017-08-16 | 2017-12-15 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN107322574A (en) * | 2017-08-16 | 2017-11-07 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN107471198A (en) * | 2017-08-16 | 2017-12-15 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN107520835A (en) * | 2017-08-16 | 2017-12-29 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN107398891A (en) * | 2017-08-16 | 2017-11-28 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN107650112A (en) * | 2017-08-16 | 2018-02-02 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN107351065A (en) * | 2017-08-16 | 2017-11-17 | 北华航天工业学院 | Become born of the same parents' parallel institution |
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| CN107498537A (en) * | 2017-08-16 | 2017-12-22 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN107297734A (en) * | 2017-08-16 | 2017-10-27 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN107498540B (en) * | 2017-09-18 | 2020-09-08 | 北京交通大学 | Reconfigurable parallel robot mechanism with three relative degrees of freedom |
| CN110253547B (en) * | 2019-07-19 | 2021-04-13 | 北华航天工业学院 | A Reconfigurable 3D Printing Parallel Robot Mechanism |
| CN110253546B (en) * | 2019-07-19 | 2021-04-13 | 北华航天工业学院 | Reconfigurable 3D printing parallel robot mechanism |
| CN110253543B (en) * | 2019-07-19 | 2021-04-23 | 北华航天工业学院 | A Reconfigurable 3D Printing Parallel Robot Mechanism |
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2003
- 2003-03-25 CN CN 03113048 patent/CN1219627C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100376363C (en) * | 2005-12-30 | 2008-03-26 | 哈尔滨工业大学 | Scalable parallel mechanism with double rings and three branches |
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| CN1473685A (en) | 2004-02-11 |
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