Parallel mechanism with six degrees of freedom applicable to virtual axles numerically-controlled machine and mechanical measuring machine
A technology of numerically controlled machine tools and virtual axes, applied in the direction of mechanical measuring devices, mechanical devices, manipulators, etc., can solve problems such as difficulties in solving kinematics positive solutions, less space constraints, and small motion space, so as to improve dynamic performance and reduce motion The effect of simple load and mechanism
Inactive Publication Date: 2005-03-23
JIANGSU POLYTECHNIC UNIVERSITY
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Problems solved by technology
The Stewart mechanism and its improved mechanism have the following disadvantages: ① It is difficult to solve the kinematics forward solution; ② The position and direction of the motion platform are strongly coupled; ③ The movement space is small; ④ It is difficult to manufacture high-precision ball pairs
For the 6-SPS and 6-RSS mechanisms, since the movable platform has 6 spatial degrees of freedom relative to the base platform, the spatial pose of the end effector is relatively flexible, but due to the relatively complicated structure of the mechanism, Fewer space constraints make it difficult to solve the end effector
[0003] Since the above-mentioned structures contain more spherical pairs, their manufacture and assembly are more complicated.
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[0014] attached figure 1 The shown parallel mechanism can be an embodiment of the present invention, and it is made up of upper moving platform 0, lower static platform 1, two mixed chains with the same structure and two simple open chains with the same structure connecting the upper and lower platforms. The hybrid chain consists of a planar closed-circuit structure and an open-chain structure. The planar closed-circuit structure R 2 -R 9 -R 11 -R 10 -R 3 A five-bar 1, 2, 3, 4, 5 sequentially passes through five revolving pairs R 2 , R 9 , R 11 , R 10 , R 3 Connection composition, its components 2, 5 are respectively connected with the static platform 1 with the revolving pair R 2 , R 3 Mechanical linkage; open chain structure R 11 -R 8 -R 7 -R 12 Components 6, 7, 8 pass through two revolving pairs R whose axes are parallel to each other 8 , R 7 Composition, while member 6 and members 3 and 4 in the planar closed-circuit structure are in the rotating pair R 11...
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A 6-freedom parallel mechanism for the numerally controlled meachine-tool with vitual shaft and mechanical measurer is composed of a moving platform, a static platform, two mixed chain legs and two simple open-chain legs. Said mixed chain leg consists of a planar closed-loop structure and one open-chain structure. Said planar closed-loop structure comprises 5 rods by revolute pairs for linking to static platform. Said open-chain structure comprises 3 members by 2 revolute pairs for linking to moving platform. Said simple open-chain leg is composed of 2 members and a ball set for respectively linking to static and moving platforms.
Description
technical field [0001] The present invention relates to a kind of executive mechanism of machine tools, robots and coordinate measuring machines, and specifically provides a class (two types) of new six degrees of freedom for virtual axis numerical control machine tools with parallel structures, virtual axis parallel coordinate measuring machines and parallel robots parallel mechanism. Background technique [0002] Parallel structure CNC machine tools are considered to be a revolution in the structure of machine tools since the 20th century. At present, prototypes of such machine tools have been developed in the United States, Japan, China and other countries. Most of the parallel mechanisms used are traditional Stewart mechanisms or their improved models. Mechanisms, they are mainly composed of a base, a motion platform and connecting rods. The two ends of the connecting rods are ball joints and universal joints. By controlling the length of the six connecting rods, the pos...
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IPC IPC(8): B23Q41/04B25J3/02G01B5/016
Inventor 沈惠平杨廷力马履中
Owner JIANGSU POLYTECHNIC UNIVERSITY