一種可維持於最佳操作平面運作之多軸複合式工具機以及一球關節

專利類型

發明

專利國別 (專利申請國家)

中華民國

專利申請案號

103102513

專利證號

I 544982

專利獲證名稱

一種可維持於最佳操作平面運作之多軸複合式工具機以及一球關節

專利所屬機關 (申請機關)

國立臺灣大學

獲證日期

2016/08/11

技術說明

本發明提供一種多軸複合式工具機，以龍門式架構結合並聯機構與串聯機構所組成。本發明以一R-R-R接頭取代一般習知的球接頭，使接頭的偏擺角度可達90 度，更使並聯機構在A 軸方面可以達到45 度的旋轉。透過並聯機構與串聯機構兩者在垂直方向重複的自由度，可以提升多軸複合式工具機整體工作空間，並且消除並聯機構靈活度不一致對工具機所造成的影響，成功實現以小尺寸機構達到大工作空間之目的。此外，本發明的多軸複合式工具機更可以搭配一角度補償單元來避開R-R-R 接頭之運動奇異點，提升接頭之運動性能。 This present invention provides a multi-axis hybrid machine tool, which combines a RPS parallel kinematic mechanism (PKM) and a serial kinematic mechanism (SKM) with a gantry structure. A custom-made revolute-revolute-revolute (R-R-R) joint is provided in substitution of the conventional spherical joint in the PKM, so that the tilt angle of the joint can be increased up to 90 degree. In addition, the rotation of the PKM in the A-axis can be increased up to 45 degrees. The Z-axis of the SKM is used as a redundancy axis with the PKM, so that rotation ranges of the PKM can be significantly increased. As a result, the impact of the inconsistent dexterity of the PKM is minimized, and a large workspace of the machine tool can be accomplished with a small and compact overall size. Furthermore, a compensation unit can be installed on the PKM to avoid the kinematic singularity of the R-R-R joint, and further boosts the performance of the R-R-R joint.

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