CN1263807A - Six-freedom parallel mechanism with triaxial nearly orthogonal - Google Patents
Six-freedom parallel mechanism with triaxial nearly orthogonal Download PDFInfo
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- CN1263807A CN1263807A CN 00102901 CN00102901A CN1263807A CN 1263807 A CN1263807 A CN 1263807A CN 00102901 CN00102901 CN 00102901 CN 00102901 A CN00102901 A CN 00102901A CN 1263807 A CN1263807 A CN 1263807A
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Abstract
A six-freedom parallel mechanism with nearly orthogonal three axes is composed of static table body, movable table body and 6 drive rods which can stretch out and draw back in length and are pivoted to static and movable table body via the ball hinges at their both ends. It featurs that said 6 drive rods are respectively in or thogonal or nearly orthogonal at X, Y and Z directions, two for each direction. Said movable table body can be positioned at the central space position of 6 drive rods or their upper or lower parts. When it is at the central position, X, Y and Z axes are decoupled, so resulting in simple regulation, easy control and wide application.
Description
The present invention relates to a kind of physical construction of adjusting locus of novel structure, exactly, relate to a kind of six-degree-of-freedom parallel connection mechanism of triaxial nearly orthogonal.This mechanism can be applied to metal working machine tool, and the fields such as sensor of power and moment.
Parallel institution can be applied to the adjusting of two rigid objects relative positions.The relative position of two rigid bodies can adopt along x generally speaking, y, and axial three of z moves and around x, y, three rotations of z axle represent, altogether six-freedom degree.Parallel institution originates from stewart platform mechanism (StewartPlatform), referring to Fig. 1, Fig. 2, this mechanism is normally by the rod member 1 ' of the scalable adjusting of 3-6 root, and use respectively at the two ends of these rod members ball pivot (that is: sphere is paid) 2 ' or star coupling (that is: each hinge of tiger or ball pin are paid or rotated and pay a hinge) connect two rigid bodies 3 ', 4 ' constitute.Usually, one in these two rigid bodies is actionless, is called as silent flatform or quiet stage body 3 ' and generally uses as frame, and another moves, and can finish various operations, is commonly referred to moving platform or moving stage body 4 '.In the initial stewart platform mechanism, its dynamic and static two rigid bodies all are the planes, and all connecting rods 1 ' are all located in one plane with the hinge 2 ' of rigid body 4 ' with rigid body 3 ' or rod member 1 ' in other words.Began to occur the stage body formula mechanism of usage space afterwards, promptly hinge 2 ' not all at grade, this is general parallel institution.Parallel institution has a lot of application industrial, as makees mechanical arm, position adjusting mechanism, the sensor of power and moment, vivid platform of recreation ground or the like.People do virtual-shaft machine tool or are called for short virtual axis machine with it recently.Such lathe has a lot of special advantages, and as simple in structure, rigidity is big, control accuracy is high, transmission speed is fast etc., has the very high ratio of performance to price, is called as the lathe of 21 century.
For application scenarios such as the sensor that resembles virtual axis machine, power and moment, position adjusting mechanisms, adopt which type of position adjustments physical construction, just can obtain the good as far as possible mechanism of combination property, be an important problems.Now, it is that 6 driving variablees are the smaller the better for the conditional number of moving the Jacobian of changing 6 variablees of stage body position and attitude to function that people generally believe from independent variable, and the minimal condition number is 1 in theory.It is 1 that yet people could satisfy its conditional number for which type of mechanism, that is to say in the parallel institution hinge on the rigid body should how to distribute in the space be only the most reasonable, and unclear.Even up to the present, also do not obtain definite conclusion.
Fundamental purpose of the present invention provides a kind of six-degree-of-freedom parallel connection mechanism of triaxial nearly orthogonal; Just provide a kind of conditional number that satisfies above-mentioned Jacobian to be minimum stage body formula mechanism.
Fundamental purpose of the present invention is achieved in that this mechanism includes: quiet stage body, moving stage body and six roots of sensation driving stem, the telescopic that this six roots of sensation drives is variable, and wherein each driving stem all is hinged with quiet stage body, moving stage body respectively by its two ends ball pivot or universal joint separately, it is characterized in that: the direction of above-mentioned six roots of sensation driving stem lays respectively at x, y, the direction of three orthogonal directionss of z or nearly orthogonal, and each direction respectively has two driving stems.
Six hinged ball pivots of above-mentioned six roots of sensation driving stem and moving stage body can lay respectively at the center of hexahedral six faces.
Above-mentioned six roots of sensation driving stem can be hinged on three of above-mentioned moving stage body in twos in groups respectively and be x, and y is on the surface of z orthogonal directions.
Describe structure of the present invention, feature and effect in detail below in conjunction with accompanying drawing.
Fig. 1 is the structural representation of a kind of stewart platform mechanism.
Fig. 2 is the structural representation of another kind of stewart platform mechanism.
Fig. 3 is moving stage body of the present invention and group of drive rods a kind of embodiment synoptic diagram altogether.
Fig. 4 is the synoptic diagram behind the quiet stage body of increase among Fig. 3.
Fig. 5 is moving stage body of the present invention and group of drive rods another kind of embodiment synoptic diagram altogether.
Fig. 6 is the synoptic diagram behind the quiet stage body of increase among Fig. 5.
Fig. 7 is another embodiment synoptic diagram of the present invention.This mechanism makes its diagonal line point to vertical direction through the rotation of certain angle, drive this moment rod member no longer with x, y, the z axle is parallel.
Fig. 8 is another embodiment synoptic diagram of the present invention.
Referring to Fig. 3, of the present invention a kind of embodiment synoptic diagram shown in Figure 4.The present invention is a kind of six-degree-of-freedom parallel connection mechanism of triaxial nearly orthogonal, it includes: quiet stage body 3, moving stage body 4 and six roots of sensation driving stem 1, the length of this six roots of sensation driving stem 1 all is flexible variable, and wherein each driving stem 1 all is hinged with quiet stage body 3, moving stage body 4 respectively by its two ends ball pivot 2 separately, and be characterized in: above-mentioned six roots of sensation driving stem 1 lays respectively at x, y, three orthogonal directionss of z, and each direction respectively has two driving stems 1.
The above-mentioned moving stage body 4 that is positioned at six roots of sensation driving stem 1 space center position shown in Figure 3 is hexahedrons, and each ball pivot 2 in this six roots of sensation driving stem 1 all lays respectively on each surface of above-mentioned moving stage body 4.Moving stage body 4 links by six ball pivots 2 and the adjustable length driving stem 1 of the six roots of sensation, and this six roots of sensation driving stem 1 links with quiet stage body 3 by other six ball pivots 2 of its other end again.The rigid body of strip shown in Figure 4 is promptly represented quiet stage body 3 or frame, and at x, y has two driving stems on each direction of three directions of z.When moving stage body is Fig. 3 or position shown in Figure 4 in the center, above-mentioned x, y, the driving stem mutually orthogonal of three directions of z, its conditional number is 1, has promptly reached the minimum value of Jacobian.Near this minimum value, i.e. x, y is when the driving stem of three directions of z is nearly orthogonal mutually, though that its conditional number is slightly larger than 1 its value is still less.Therefore adopt this mechanism to have some special advantages.
Mechanism at first of the present invention is therein on the heart position, for x, and y, axial three of z moves and around x, y, three of the z axle are rotated mutual decoupling zeros.As everyone knows, generally speaking, the relative position of two rigid bodies can adopt along x, y, three directions of z move and around x, y, the rotation that z is three represents, altogether six-freedom degree.In general parallel institution, when wherein the driving of certain direction changes, can cause the rotation of the mobile and moving stage body of two other direction of moving stage body simultaneously, this phenomenon is called the coupling between the motion, for example when wishing that moving stage body is purely when the x direction is moved, not only need axial drive operation, and need y, the cooperation motion simultaneously of the driver of z both direction along x; Only there is one, two drive operation can not obtain moving along the x direction purely in other words.Stage body formula of the present invention mechanism is therein on the heart position, since x, y, three orthogonal quadratures of z, therefore to x, y, three of z are decoupling zeros.That is to say that moving stage body is when the x axle moves, two other direction y, four drivers of z can not regulate or seldom regulate and get final product.
Parallel institution of the present invention when reality is used, is very easily as position adjusting mechanism.When driving with axial two of speed, equidirectional adjusting x, moving stage body is along the translation of x direction of principal axis.When these two drivings were moved in the other direction with speed, moving stage body then rotated around the z axle.Cause that because of the motion of these two driving stems other axial amounts of exercise are very little or be zero, so for obtain pure along the x axle move or around the rotation of z axle, four driving stems of other both directions or drive secondary drive amount can be very little or be zero (being the high-order infinitesimal).And, when moving along y axle or z axle, or when x axle or y axle rotate, the situation all fours.So moving stage body of the present invention is near above-mentioned center, three directions are similar to decoupling zeros.Therefore in the undemanding occasion of ask for something, the position of all directions and corner can be regulated respectively, therefore regulate easily.In addition, because the orthogonal thereto or nearly orthogonal of adjusting of three directions, the sensitivity for adjusting of all directions is also relatively more balanced.
Secondly, six driving stems in the mechanism are changed into the fixing bar of length, and add a sensor above the driving stem, can be transformed to the present invention the sensor of power and moment at each.This sensor can separate the power of three directions and moment naturally.For example: when having only the x direction of principal axis stressed, then only output is arranged along two sensors of x axle, its value be two sensors and.When having only when the z axle has moment, then only output is arranged along the pair of sensors of x axle, its value multiply by this to the distance between the driving stem for this difference to sensor.Because the displacement of moving stage body is very little, so have quite high precision.
If mechanism of the present invention is used in some special advantages are arranged also on the virtual-axis nc machine tool.Because its conditional number is approximately 1, belong to optimal state.So under kindred circumstances, the machining precision height, the lathe work space is big, and operating rate height that can reach or the like is a kind of machine tool structure form with good application prospect.
Because the position of mechanism kinematic decoupling zero of the present invention is at the center of moving stage body, is among the encirclement of several ball pivots, when pretending to virtual axis machine or other purposes, it is very not convenient to use.Therefore the present invention can do some improvement, be about to above-mentioned six roots of sensation driving stem in twos in groups three of above-mentioned moving stage body of being hinged on be x, y, on the surface of z quadrature,, shown in Figure 6 referring to Fig. 5.Wherein Fig. 5 is the topology layout synoptic diagram of stage body 4 and driving stem 1 and ball pivot 2, add quiet stage body 3 after, then as shown in Figure 6.At this moment, moving stage body 4 is positioned at a side of this six roots of sensation driving stem 1, adopts this kind structure, and when moving stage body therein during heart position, the conditional number of Jacobian still is 1.But its adjusting rule is different when doing pure rotation.
If, make a diagonal line of stage body change into vertical direction, and quiet stage body made change slightly, referring to Fig. 7 angle of mechanism's rotation of the present invention.It is very similar to present virtual axis machine as can be seen.Only the direction of its driving stem is mutually orthogonal or nearly orthogonal, and the distribution of ball pivot is special.Just because of having these characteristics, make lathe have the machining precision height, the lathe work space is big, the operating rate advantages of higher that can reach.If the z axle is chosen as vertical direction, then three orthogonal directionss no longer are x, y, and the z axle, and only be three driving stem directions when the center.
Can also there be other distortion in mechanism of the present invention.As shown in Figure 8, the length of six legs 1 between the every pair of ball pivot 2 is fixed, and six sliding pairs 5 regulating length and driving stem thereof are installed on the frame 3, can reach the purpose of regulating moving stage body 4 positions equally.At this moment, degree of freedom remains six, and still having kept in the center conditional number is 1 advantage, but when calculating its positive and negative separating, computing method, computing formula are inequality.
Claims (3)
1, a kind of six-degree-of-freedom parallel connection mechanism of triaxial nearly orthogonal, include: quiet stage body, moving stage body and six roots of sensation driving stem, the telescopic that this six roots of sensation drives is variable, and wherein each driving stem all is hinged with quiet stage body, moving stage body respectively by its two ends ball pivot or universal joint separately, and it is characterized in that: the direction of above-mentioned six roots of sensation driving stem lays respectively at x, y, the direction of three orthogonal directionss of z or nearly orthogonal, and each direction respectively has two driving stems.
2, the six-degree-of-freedom parallel connection mechanism of triaxial nearly orthogonal as claimed in claim 1 is characterized in that: six hinged ball pivots of above-mentioned six roots of sensation driving stem and moving stage body can lay respectively at the center of hexahedral six faces.
3, the six-degree-of-freedom parallel connection mechanism of triaxial nearly orthogonal as claimed in claim 1 is characterized in that: above-mentioned six roots of sensation driving stem can be hinged on three of above-mentioned moving stage body in twos in groups respectively and be x, and y is on the surface of z orthogonal directions.
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| CN00102901A CN1095417C (en) | 2000-03-09 | 2000-03-09 | Six-freedom parallel mechanism with triaxial nearly orthogonal |
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| CN00102901A CN1095417C (en) | 2000-03-09 | 2000-03-09 | Six-freedom parallel mechanism with triaxial nearly orthogonal |
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