Parallel mechanisms for imaginary axis machine tool, measurer, etc.
A virtual axis and machine tool technology, applied in the field of new 3-DOF parallel mechanisms, can solve problems such as difficulty in solving the pose of the end effector, complex structure, etc.
Inactive Publication Date: 2004-09-08
杨廷力
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Problems solved by technology
The moving platform has 6 degrees of freedom relative to the base platform, but the structure is relatively complex, and it is difficult to solve the pose of the end effector
Method used
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[0017] attached figure 1 The parallel mechanism shown can be regarded as an embodiment of the present invention for the virtual axis measuring machine, and its specific structure has been described in the aforementioned appendix figure 1 illustrate. Install the measuring head (A) on the moving platform (0). After the scale parameters of each component of the mechanism are determined, control the three driving pairs (moving pair P 1 ,P 5 with P 8 ), the three-dimensional coordinates of the measuring head (A) on the braking platform (0) can be controlled, which can be the actuator of the virtual axis mechanical measuring machine.
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One kind of three-freedom parallel mechanisms are provided, one of which consists of dynamic platform, static platform and three branches. The first branch consists of one translation pair and one spherical pair connected serially; the second of one translation pair, one rotating pair and one spherical pair connected serially; and the third of one translation pair and two spherical pair connected serially. These three branches are so configured between these two platforms that the axes of the first and the second branches are perpendicular to the axis of the rotating pair. Driving the three translation pairs on the static platform can control the one-translation and two-rotation output of the dynamic platform. The mechanism has the advantages of non-expected motion output constant, controlled motion input-output part decoupling, easy kinetic normal solution, simple structure, high rigidity, etc. The mechanism may be used as the executing mechanism of imaginary axis machine tool, robot, etc.
Description
technical field [0001] The present invention relates to a class of actuators for machine tools, robots, and coordinate measuring machines. Specifically, it provides a class (six types) of novel 3-degree-of-freedom ( One translation and two rotations) parallel mechanism. Background technique [0002] Parallel structure CNC machine tool refers to the machine tool with parallel mechanism as the executive mechanism. This machine tool is considered to be a revolution in the structure of machine tools since the 20th century. At present, prototypes of this machine tool have been developed in the United States, Japan and other countries (such as the Variax-type associated machine tool of Giddings and Lewis in the United States), and the parallel mechanisms used are all traditional Stewart (Stewart) mechanisms. This mechanism for controlling the position and attitude of the tool in space is mainly composed of a base, a moving platform and a connecting rod. The base and the moving pl...
Claims
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Login to View More IPC IPC(8): B23Q17/00B23Q41/04B23Q41/06
Inventor 杨廷力金琼沈惠平
Owner 杨廷力