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Two-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot

A technology of CNC machine tools and robots, which is applied in metal processing, metal processing equipment, manufacturing tools, etc., and can solve problems such as difficulty in solving end effector poses, complex structures, etc.

Inactive Publication Date: 2005-11-02
杨廷力
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • Two-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot
  • Two-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot

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Embodiment Construction

[0014] attached figure 2 The parallel mechanism shown can be regarded as an embodiment of the present invention for a virtual-axis mechanical measuring machine, and its specific structure has been described in the preceding appendix figure 2 illustrate. Install the measuring head A on the moving platform 1. After the scale parameters of each component of the mechanism are determined, control the five driving pairs P 2 ,P 4 ,P 8 ,P 11 with P 13 The input motion can control the three-dimensional coordinates of the measuring head A on the braking platform 1, which can be the actuator of the virtual axis mechanical measuring machine. Because there are 5 active inputs, it is beneficial to avoid the singular configuration of the mechanism.

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Abstract

The invention provides a class (3 kinds) of 5-freedom (two shifts and three rotations) parallel mechanism applied to imaginary axis machine tool, robot and so on, one of them is composed of dynamic platform, static platform and three branches. The first branch is composed of plane 5-rod loop and a spherical auxiliary connecting in series, where the 5-rod loop is composed of two moving auxiliaries and three rotary auxiliaries, the second branch is composed of a moving auxiliary and two spherical auxiliaries connecting in series, and the third one is composed of 5-rod loop and a spherical auxiliary connecting in series, where the 5-rod loop is composed of two moving auxiliaries and three spherical auxiliaries. Two end components of each branch are stationarily linked to the dynamic and static platforms, respectively. To drive 5 moving auxiliaries can control the two-shift three-rotation output of the platform. It has undesired motion output constant, the motion -input and -output partial control decoupling, and kinematic analysis can independently find the solution of three basic loops in turn.

Description

technical field [0001] The invention relates to an actuator of a class of machine tools, robots, coordinate measuring machines, etc. Specifically, it provides a new five-degree-of-freedom parallel mechanism with two translations and three rotations for parallel structure virtual axis numerical control machine tools, parallel robots and measuring machines. 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 (such as the Variax parallel machine tool of Giddings and Lewis of the United States) have been developed in the United States, Japan and other countries, 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 compose...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23Q41/00
Inventor 杨廷力金琼沈惠平罗玉峰
Owner 杨廷力
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