Redundant drive active overconstrained three-degree-of-freedom parallel machine tool

Abstract

The invention relates to a kind of redundantly driven active over-constraint three-degree-of-freedom parallel machine tool, which includes a moving platform 1, a fixed platform 2, and a first kinematic branch group 3, a second kinematic branch group 4, and a moving platform connected to the fixed platform. The third movement branch group 5, the fourth movement branch group 6, the structure of the first movement branch group and the second movement branch group are exactly the same, and the servo drive unit connects the branch body and the Hooke hinge through the rotating pair Connected with the moving platform, the third motion branch chain group is connected to the branch chain body through the Hooke hinge by the servo motor unit and connected to the moving platform through the Hooke hinge, and the fourth motion branch chain group is connected to the branch chain body by the servo drive unit through the Hooke hinge And the Hooke hinge or compound spherical hinge is connected with the moving platform. The invention synthesizes a three-degree-of-freedom parallel machine tool with two rotations and one movement, which has the advantages of simple branch chain, symmetrical structure, high degree of recombination and modularization, strong load capacity, excellent comprehensive performance, large working space, and avoidance of singular configurations, etc. It has good engineering practical application prospects.

Description

technical field [0001] The invention belongs to the technical field of machining and manufacturing of parallel machine tools, and specifically relates to a type of over-constrained parallel machine tool configuration based on 2PRU and 2RPU as the main drive, and is especially suitable for high-precision machining of complex special-shaped curved surfaces. Background technique [0002] At present, the traditional three-coordinate machine tool has the advantages of large working space and high flexibility, but because of the serial structure, the machine tool is large in size, long in the transmission chain, poor in stiffness, and has error accumulation; the traditional five-coordinate machine tool is based on the three-coordinate machine tool A 2-3 degree of freedom rotary head is installed at the end of the moving platform or a 2 degree of freedom rotary table is added, but its structure is open chain, and the mass of the moving parts is large, resulting in large motion inert...

AI Technical Summary

Problems solved by technology

[0003] In recent years, the most successful example of the application of parallel mechanisms with few degrees of freedom to parallel machine tools is the application of Tricept series and Exechon series manipulators and their modules on parallel / hybrid machine tools. The mechanism configurations are 3UPS-UP and 2UPR-SPR, respectively. Although it has been widely used in the industrial field, it has nonlinearity, strong coupling, and complex control. In order to overcome the above shortcomings, a kind of redundant drive active with one movement and two rotations has been synthesized through configuration evolution and topology change. The over-constrained three-degree-of-freedom parallel mechanism, as a special parallel mechanism with few degrees of freedom, has the advantages of weak coupling, large working space, high flexibility, low inertia, high stiffness, high precision, and good structural symmetry. It has become a research hotspot and the focus of domestic and foreign research

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