KR20120129525A - 6 degree-of-freedom parallel mechanism - Google Patents

Abstract

PURPOSE: A parallel mechanism with six degrees of freedom is provided to reduce the size of am actuator and to improve space utilization by installing a base and the actuator vertically to each other. CONSTITUTION: A parallel mechanism with six degrees of freedom comprises a base(100), a platform(200), and a plurality of actuators(300). The platform moves with six degrees of freedom. The plurality of actuators is installed between the base and the platform, and each actuator is operated individually. First, second, and third supporting planes(110) are connected to each other to form the base.

Description

6 degree of freedom parallelism mechanism {6 DEGREE-OF-FREEDOM PARALLEL MECHANISM}

The present invention relates to a six-degree of freedom parallel mechanism, and more particularly, to a six-degree of freedom parallel mechanism capable of various movements using a platform for six degrees of freedom.

In general, a six degree of freedom parallel mechanism refers to a stewart platform proposed by Stewart for flight simulators, which typically consists of a platform with six degrees of freedom motion, a base and six actuators connecting them. It is a parallel manipulator.

The six-degree of freedom parallel mechanism, which is a parallel mechanism, has structural strength, rigidity, precision and stability in operation, a large volume-to-load ratio, and an installation space advantage.

Therefore, the six degree of freedom parallel mechanism is suitable for high precision work or a work requiring high force, and is widely used as a simulator for basic design and performance evaluation of, for example, a flight, a ship, and a vehicle, and a machine tool and a serial manipulator. It is attached to the end-effector of the microscopic precision work. In addition, it is widely used for entertainment, external excitation, satellite antenna, medical and indoor driving exerciser.

Referring to FIG. 1, in the six degree of freedom parallel mechanism, six actuators 30 are coupled between a base 10 and a platform 20, and upper and lower ends of the six actuators 30 are connected to the base ( 10) and the universal joint 40 is coupled to the platform 20, respectively.

In addition, the six actuators 30 are connected to the motors (not shown) by levers, respectively, and are moved by the driving force of the motors. Accordingly, the platform 20 performs six degrees of freedom, and the exercise object W seated on the platform 20 also performs six degrees of freedom.

However, according to the conventional six degree of freedom parallel mechanism described above, the actuator 30 should be formed over a predetermined length because the base 10 and the platform 20 are parallel to each other, and the platform 20 is relatively There is a problem that can not work great force.

In addition, since the upper end and the lower end of the six actuators 30 are respectively coupled on the same plane, it is difficult to implement the rotational movement of the platform 20. Thus, there is a need to develop a six degree of freedom parallel mechanism having a new structure.

The present invention is to solve the above-mentioned problems, the base and the actuator constituting the six degree of freedom parallel mechanism are arranged so as to be perpendicular to each other, so that the size of the actuator can be miniaturized, six degrees of freedom that can easily implement the rotational movement of the platform It is also to provide a parallel mechanism.

The technical object of the present invention is not limited to the above-mentioned technical objects and other technical objects which are not mentioned can be clearly understood by those skilled in the art from the following description will be.

Six degree of freedom parallel mechanism of the present invention for achieving the above object, the base; A platform provided at an upper portion of the base and configured to perform six degrees of freedom; And a plurality of actuators provided between the base and the platform and whose lengths are varied individually. The base includes a first ground ground, a second ground ground and a third ground ground connected to each other are formed to be perpendicular to each other, the first ground ground, the second ground ground and the third ground ground Are arranged to form a predetermined angle with respect to the ground, and the actuators are characterized in that they are arranged to be perpendicular to each other.

Preferably, one end and the other end of the actuator is rotatably coupled to the base and the platform, one end and the other end of the actuator is rotated about a first axis and a second axis perpendicular to each other It is done.

Preferably, the platform comprises a first surface facing the first ground ground, a second surface facing the second ground ground, and a third surface facing the third ground ground, The plurality of actuators may include a first actuator and a second actuator provided between the first ground surface and the first surface, a third actuator and a fourth actuator provided between the second ground surface and the second surface, And a fifth actuator and a sixth actuator provided between the third support surface and the third surface.

Preferably, the first actuator and the second actuator, the third actuator and the fourth actuator, the fifth actuator and the sixth actuator are arranged to be spaced apart from each other by a predetermined interval, and the arrangement direction thereof is perpendicular to each other. It is characterized by.

Preferably, the platform further comprises a seating surface on which the six degrees of freedom exercise object is seated, characterized in that the seating surface is parallel to each other with the ground.

According to the six degree of freedom parallel mechanism according to the present invention, since the base and the actuator are arranged so as to be perpendicular to each other, the size of the actuator can be miniaturized to increase space utilization, and there is an advantage that a relatively large force can be applied to the platform. .

In addition, there is an advantage that the rotational movement of the platform can be easily implemented by arranging two actuators in pairs between the base and the platform.

1 is a perspective view showing a conventional six degree of freedom parallel mechanism.
Figure 2 is a perspective view showing a six degree of freedom parallel mechanism according to an embodiment of the present invention.
3 to 8 are perspective views showing the operating state of the six degree of freedom parallel mechanism according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The sizes and shapes of the components shown in the drawings may be exaggerated for clarity and convenience. In addition, terms defined in consideration of the configuration and operation of the present invention may be changed according to the intention or custom of the user, the operator. Definitions of these terms should be based on the content of this specification.

In addition, the spirit of the present invention is not limited to the embodiments presented and those skilled in the art who understand the spirit of the present invention can easily implement other embodiments within the scope of the same idea, but this also falls within the scope of the present invention. Of course.

Figure 2 is a perspective view showing a six degree of freedom parallel mechanism according to an embodiment of the present invention. With reference to FIG. 2, the specific structure of the six degree of freedom parallel mechanism of this invention is demonstrated in detail.

The six degree of freedom parallel mechanism is configured to include a base 100, a platform 200 for six degrees of freedom exercise and a plurality of actuators 300 provided between the base 100 and the platform 200. The base 100 is a member for supporting the platform 200 and the actuator 300, and is in contact with the ground to support them.

Specifically, the base 100 includes a first ground surface 110, a second ground surface 120 and the third ground surface 130, the first ground surface 110, the second ground surface The 120 and the third support surface 130 are connected to be perpendicular to each other. In addition, the first support ground 110, the second support ground 120, and the third support ground 130 are disposed to have a predetermined angle with respect to the ground, and the first support ground 110 and the first Since the second ground surface 120 and the third ground surface 130 are perpendicular to each other, the second ground surface 120 and the third ground surface 130 are disposed to have an angle of 45 degrees with respect to the ground.

The platform 200 is provided on an upper portion of the base 100, and performs six degrees of freedom by the operation of the actuator 300. The platform 200 has a first surface 210 facing the first ground surface 110 of the base 100 and a second surface facing the second ground surface 120 of the base 100. 220, a third surface 230 facing the third support surface 130 of the base 100, and a seating surface 240 on which six degrees of freedom exercise objects are mounted. At this time, the seating surface 240 is parallel to each other with the ground.

The actuator 300 is provided in plural such that the length is individually varied between the base 100 and the platform 200. For example, a hydraulic cylinder or a pneumatic cylinder may be used.

In addition, the actuator 300 includes a first actuator 310 and a second actuator 320 provided between the first support surface 110 and the first surface 210, and the second support surface 120. ) And a fifth actuator 330 and a fourth actuator 340 provided between the second surface 220 and the third support surface 130 and the third surface 230. It is configured to include an actuator 350 and the sixth actuator 360. That is, the actuator 300 is easily arranged in pairs between the base 100 and the platform 200 so as to easily implement the rotational movement of the platform 200.

In addition, the first actuator 310 and the second actuator 320, the third actuator 330 and the fourth actuator 340, the fifth actuator 350 and the sixth actuator 360 are They are arranged to be perpendicular to each other, thereby reducing the size of the actuator 300, thereby increasing space utilization, and allowing a relatively large force to be applied to the platform 200.

On the other hand, one end 302 and the other end 304 of the plurality of actuators 300 is rotatably coupled to the base 100 and the platform 200, the platform 200 is six degrees of freedom movement In order to implement a universal joint (universal joint), etc. are coupled to be rotatable about two axes. That is, one end 302 and the other end 304 of the actuator 300 are rotated about the first axis 370 and the second axis 380 perpendicular to each other, the base 100 and the platform. Coupled to 200.

In the arrangement direction of the actuator 300, the first actuator 310 and the second actuator 320, the third actuator 330, the fourth actuator 340, and the fifth actuator ( 350 and the sixth actuator 360 are disposed to be spaced apart from each other by a predetermined interval, and the arrangement direction is perpendicular to each other.

That is, since the arrangement directions of the actuators 300, which are paired with each other, are perpendicular to each other, six degrees of freedom of translation, roll, pitch, and yaw rotation with respect to the X, Y, and Z axes can be more easily implemented. Can be.

3 to 8 are perspective views showing the operating state of the six degree of freedom parallel mechanism according to an embodiment of the present invention. An operation state of the platform 200 according to the stretching movement of the plurality of actuators 300 will be described in detail with reference to FIGS. 3 to 8.

First, FIG. 3 illustrates a state in which the platform 200 translates along the X axis. At this time, the third actuator 330 and the fourth actuator 340 are extended, and the fifth actuator 350 and the sixth actuator. The actuator 360 is shortened to move the platform 200 in the X-axis direction. Meanwhile, one end 302 and the other end 304 of the first actuator 310 and the second actuator 320 rotate as the platform 200 moves.

4 illustrates a state in which the platform 200 translates to the Y axis, wherein the third actuator 330 and the fourth actuator 340, the fifth actuator 350, and the sixth actuator are illustrated. 360 is extended, and the first actuator 310 and the second actuator 320 are shortened to move the platform 200 in the Y-axis direction.

FIG. 5 illustrates a state in which the platform 200 translates in the Z axis, wherein the first actuator 310 and the second actuator 320, the third actuator 330, and the fourth actuator are illustrated. 340, the fifth actuator 350 and the sixth actuator 360 extend to move the platform 200 in the Z-axis direction.

FIG. 6 illustrates a state in which the platform 200 rotates about a Z axis. In this case, the first actuator 310 and the second actuator 320, the third actuator 330, and the fourth actuator are rotated about the Z axis. The actuator 340, the fifth actuator 350, and the sixth actuator 360 are extended, and one end 302 and the other end 304 of each actuator 300 rotate to rotate the platform 200. Rotate around the Z axis.

FIG. 7 illustrates a state in which the platform 200 rotates about the Y axis. In this case, the first actuator 310 and the second actuator 320, the third actuator 330, and the fourth actuator are rotated about the Y axis. The actuator 340 is extended, and the fifth actuator 350 and the sixth actuator 360 are shortened to rotate the platform 200 about the Y axis.

FIG. 8 illustrates a state in which the platform 200 rotates about an X axis. In this case, the first actuator 310 and the second actuator 320 are shortened, and the third actuator 330 and The fourth actuator 340, the fifth actuator 350, and the sixth actuator 360 are extended to rotate the platform 200 about the X axis.

As described above, in the six degree of freedom parallel mechanism of the present invention, a plurality of actuators 300 provided between the base 100 and the platform 200 are arranged to form two pairs, respectively, and at the same time perpendicular to each other. Since it is arranged to achieve six degrees of freedom, such as translational and rotational movement can be easily implemented.

Although embodiments according to the present invention have been described above, these are merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent embodiments of the present invention are possible therefrom. Accordingly, the true scope of the present invention should be determined by the following claims.

100: base 200: platform
300: actuator

Claims (5)

Base;
A platform provided at an upper portion of the base and configured to perform six degrees of freedom; And
A plurality of actuators provided between the base and the platform and whose lengths are varied individually; Including,
The base is formed by connecting the first ground ground, the second ground ground and the third ground ground to be perpendicular to each other, wherein the first ground ground, the second ground ground and the third ground ground are connected to the ground. Disposed to achieve a predetermined angle,
And said plurality of actuators are arranged so as to be perpendicular to each other. The method of claim 1,
One end and the other end of the actuator is rotatably coupled to the base and the platform, one end and the other end of the actuator is rotated around a first axis and a second axis perpendicular to each other 6 Degree of freedom parallel mechanism. The method of claim 1,
The platform includes a first surface facing the first ground surface, a second surface facing the second ground surface, and a third surface facing the third ground surface,
The plurality of actuators may include first and second actuators provided between the first ground surface and the first surface, third and fourth actuators provided between the second ground surface and the second surface, and A six degree of freedom parallel mechanism comprising a fifth and a sixth actuator provided between the third support and the third surface. The method of claim 3,
The sixth degree of freedom parallel mechanism, wherein the first and second actuators, the third and fourth actuators, and the fifth and sixth actuators are arranged to be spaced apart from each other by a predetermined interval. . The method of claim 3,
And the platform further comprises a seating surface on which the six degrees of freedom exercise object is seated, wherein the seating surfaces are parallel to each other with the ground.

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