Components for parallel kinematics: Series GLK, GLAE: MAI 66

Components for parallel kinematics
Series GLK, GLAE
Joints and struts form the core components of machines
with parallel kinematics (PKM). Irrespective of the control
technology possibilities, good mechanical characteristics
remain indispensable. These essentially determine the
achievable rigidity and accuracy. INA PKM components were
developed in order to fulfil the requirements of the various
areas of application.
For the flexible linkage of the struts to the machine framework
and the platform, INA offers cardanic joints with two or three
degrees of freedom and ball joints whose design is matched to
the area of application; for machine tools, these are high rigidity
and documented accuracy, while for handling equipment large
swivel angles and low mass are the primary requirements.
The telescopic struts are now available as catalogue items in
two proven series with stroke length scales. Depending on
the application, either ball screw drives or planetary roller
screws with various pitch values can be used.
In short: the range offers improved cost-effectiveness for
high precision movements through standardised sizes with
numerous degrees of freedom. Naturally, individual customer
solutions can also be designed as before.
Market Information MAI 66
Proven design
further improved
137 145

Components
for parallel kinematics
Ball joints
with three degrees of freedom
Cardanic joints
with two or three degrees of freedom
2
Features
Ball and cardanic joints
Ball and cardanic joints for parallel kinematics:
■ have, depending on their design, two or three degrees
of freedom
■ have very high rigidity and load carrying capacity
■ are preloaded and thus clearance-free
■ run smoothly and free from stick-slip
■ have swivel angles appropriate to the design
■ have a defined joint intersection point
■ are sealed
■ are greased using a special grease and can be
relubricated.
Ball joints
■ are complete units comprising:
– a ball stud with an external thread, a ball socket with
a centring device, a half-ball, a concave seal carrier and
a locknut
– a large number of small balls. As a result,
the Hertzian pressure between the ball socket, half-ball,
ball stud and rolling elements remains at a low level
– a lubrication adapter for a polyamide tube to DIN 73 378
■ have three degrees of freedom
■ have a swivel angle of �20°, optionally up to �30°
■ are coated with Corrotect ® .
Cardanic joints
■ are complete units comprising:
– a joint yoke with a centring device, a crosspin and
preloaded, sealed radial and axial needle roller bearings
■ have either two or three degrees of freedom
– the third degree is freedom is achieved by means
of a radial/axial bearing combination in the head of
the crosspin
■ have maximum swivel angles
– in axis I up to �45°
– in axis II up to �90°
– in axis III up to �360°.
Ball joint
GLK
■ half-ball with ground outer slideway for the seals,
screw mounted to the ball socket
■ concave seal carrier screw mounted to the ball stud
by means of a locknut
■ a full complement set of rolling balls
■ hardened raceways for the rolling elements
Cardanic ■ joint
GLK 2
GLK 3
■ GLK 2 with two degrees of freedom,
GLK 3 with three degrees of freedom
■ crosspin supported in the joint yoke
by means of radial/axial bearings
107 464
107 468

Telescopic struts
Features
Telescopic struts
Telescopic struts for parallel kinematics:
■ are complete units comprising:
– a sliding tube and fixed tube, a drive spindle with a nut,
a four-row axial angular contact ball bearing DKLFA and
four linear ball bearing units KUVS
■ can be fitted with INA ball and cardanic joints
– the joint type depends on the application and
can be freely selected by the customer
■ are fitted, depending on the required rigidity,
with a ball screw spindle or a planetary roller screw
– the rigidity is defined in accordance with customer
requirements
– the four-row axial angular contact ball bearing DKLFA
allows high spindle speeds with maximum rigidity
■ can support tensile and compressive forces
■ are suitable for high feed speeds
■ run extremely accurately, smoothly and free from stick-slip
■ are clearance-free in all directions due to the high torsional
rigidity of the linear guidance systms and the raceways
ground on the surface of the sliding tube
■ have a low mass due to the dimensioning of the
components
■ can be supplied with a Corrotect ® coating
■ are produced with sliding tube diameters of 70 mm
and 80 mm
– other sizes may be available by agreement
■ allow, in conjunction with the ball and cardanic joints,
compact designs with a reduced number of components.
Telescopic strut
GLAE
■ internal thread or flange mounting in the sliding tube
to support the ball or cardanic joints
■ sliding tube with ground raceways for
linear ball bearing units KUVS
■ nut secured against rotation in the sliding tube
107 358
3

Basic load ratings
for ball and cardanic joints
Maximum load carrying capacity
The maximum load carrying capacity P max of ball joints is
shown in Figure 1.
It depends on:
■ the size of the joint
■ the direction of the load (tensile/compressive load).
Basic static load ratings for cardanic joints
The basic static load ratings C 0 are shown in Figure 2.
They depend on:
■ the type of joint
■ the swivel angle �.
The basic static load rating C0 is only influenced by the swivel
angle �. The swivel angles � and � have no influence on
the basic static load rating.
Static load safety factor
The static load safety factor S 0 must be � 4!
For other static load safety factors, INA must be
consulted!
4
P max
Maximum load carrying capacity
KN
7
6
3,5
3
F-232 386.1 (compressive)
F-232 386.1 (tensile)
F-232 956 (compressive)
F-232 956 (tensile)
Swivel angle up to 30˚
Figure 1 · Maximum load carrying capacity P max
C
Load carrying capacity 0
70
KN
60
50
40
30
20
10
51
F-232 919.1 / F-232 920.1
55,8
10˚ 20˚ 30˚ 40˚ 45˚ 50˚
Swivel angle of axis �
Figure 2 · Basic static load ratings C 0 as a function of
the swivel angle �
107 380
107 381

Bearings
for cardanic support
Dimension table · Dimensions in mm
F-number Mass Dimensions Basic load ratings
d D B radial
dyn.
stat.
�kg
C
kN
C0
kN
F-231091 0,35 25 57 28 27,5 24,1
F-233697 0,39 30 62 28 29,5 30,5
F-232183 6 – – – 68 128
F-231091
F-233697
F-232183
�0,4
�140�0,5
�78
M50�1,5
�14+0,018
15 �2
d �0,05
�0,2
8��7�0,1
0,3 +0,3
0,3 +0,7
8
3 � �3
20˚
B�0,25
+04
0,6
0,6 +1,4
D �0,010
+1
120
45 �0,05
+1
20
20 20 15 0,01015
5˚
0,010 15
�3
5
2�M6 Threaded
extraction hole
�0,2
7�0,1
�
6�
0,02 A
�50�0,008
�110�0,5
�112�0,008
A
�0,4
Axial angular contact ball bearings F-231091, F-233697, coupling and swiveling bearing arrangement F-232183
�92
3�M8
Threaded
extraction hole
45˚
45˚
22,5˚
8�45˚=360˚
45˚
100%
Supply with
inspection certificate
180˚
45˚
�125
�13,5�0,2
107 465
5

Telescopic struts
Series GLAE
6
Dimension table · Dimensions in mm
Designation Diameter of Dimensions
sliding tube3) D1 D2 D3 D4 d3 MA Lmin L1 L2 L3 Stroke
length
� –0,015 h8
GLAE F-232220 70 70 130 90 120 30 1) 56�2 2)
1) Dependent on the adjacent construction. To be defined by the customer.
2) Dependent on the joint type.
3) Other sizes may be available by agreement.
941
600
501) 851) 1141 – 800
1241 950
GLAE F-236437 80 80 170 130 130 45 1) 56�2 2) 1380 50 1) 98 1) 563 900 50
Spindle
diameter
40

45˚
�110
�11 +0,2
8�45˚=360˚
22,5˚
Retaining screw
Hole pattern for GLAE F-232220 Hole pattern for GLAE F-236437
GLAE
MA
D1
D4
M8�16
107 479
Lmin
R 75
8�45˚=360˚
45˚
Retaining screw
�50 H6
3�30˚
L 3
22,5˚
45˚ 8�45˚=360˚
�150
�11 +0,2
–0,1
D2
Retaining screw
L2
D3
d3
F-236437 107 467
L1
107 480
7

Swivelling rotary/
cardanic joints
with two degrees of freedom
Series GLK 2
with three degrees of freedom
Series GLK 3
1) Measured and documented.
2) Basic load ratings: see diagram, page 4.
8
Dimension table · Dimensions in mm
Designation F-number Mass Degrees
of freedom
3) Ensure prior orientation.
�82
�45 J6
30
�30�0,5
5 �0,5
25 �0,25
F-237169.1 with two degrees of freedom
Swivel angle Fixing screws Lubrication
nipple
�82
30
Basic load
ratings
R20 107 470
Rigidity
° M1 M2 stat.
C0
CS �kg � � � NIP DIN 3 405 kN N/�m
GLK 3 F-237169 1 3 360�90�360 3) – – – 4,2 50
GLK 2 F-237169.1 0,95 2 90�360 3) – – – 4,2 50
GLK 3 F-232919.1 7 3 90�45�360 M8�30 M8�60 AM 8�1 2) 450
GLK 2 F-232920.1 7 2 90�45 M8�30 M8�60 AM 8�1 2) 450
A-A
ZM nut
not included
in delivery
M35�1
�
B-B
�12
10
�82
�30
48
�
F-237169 with three degrees of freedom
B
�
R24 53,3�0,02 108�0,5
�0,5
103
B
(R46)
�15�0,005
�15�0,005
Centring hole type A
to ISO 866-1975
25�0,25
25�0,25
6�60˚=360˚
C C
60˚
30˚
6�60˚=360˚
60˚
C-C �63 �8�25
51
A
A
R25
R25
28
107 469

�
Swivel angle
45˚
30˚
15˚
0˚ 15˚ 30˚ 45˚ 60˚ 75˚ 90˚
Swivel angle �
Swivel angles � and � F-232920.1 with two degrees of freedom
155
128*
73
45*
85
10
6� �6
M2 M1
F-232919.1 with three degrees of freedom
�90
M56�2
�52h6
45˚
�
150
80
135
45˚
�
�9
107 361
10
18
70
90˚
�
0,02 1)
max. 2
�
�90
M56�2
�52h6
H6
�12
90˚
�
Centring connector
Cylindrical roller �12 � 18
is supplied loose
1) Flatness of adjacent surface
* documented
107 476
27
107 477
9

Ball joint
with three degrees of freedom
Series GLK
Dimension table · Dimensions in mm
Designation
1) Rapid-fit cartridge for polyamide tube to DIN 73 378 �4�0,75 with threaded connector M10�1, min. 6 mm deep.
2) Measured and documented.
3) At 2 points on circumference.
4) At 6 points on circumference.
5) Basic load ratings: see diagram, page 4.
10
F-number Mass Degrees
of
freedom
Swivel angle Dimensions Basic
load
ratings
° H h1 h 2)
2 h3 h4 h5 h6 D d1 d2 d3 Ma Mb Mc SA C0 Cs tensile
�kg � � � H6 kN
GLK F-232956 2,3 3 20�20� 360 144 35 35 35 20 19 10 70 40 32 6 M20�1,5 M17�1 M40�1,5 1) 5) 280 400
GLK F-232386.1 4,5 3 20�20� 360 185 40 50 44 30 21 10 90 55 45 6 M25�1,5 M25�1,5 M56�2 1) 5) 350 700
GLK
d3
4)
SA
D
Mb
Ma
D
3 3) d
h6
h5
h4
h3
h2
h1
Mc
d2
d1
H
Rigidity
C s
compressive
107 353

Application example
PKM machining centre
107 466
11

INA-Schaeffler KG
91072 Herzogenaurach · Germany
Internet www.ina.com
E-Mail info@ina.com
In Germany:
Telephone 0180 / 5 00 38 72
Fax 0180/5003873
From other countries:
Telephone +49 / 9132 / 82-0
Fax +49 / 9132 / 82-49 50
Sach-Nr. 005-299-462/MAI 66 GB-D 12021 · Printed in Germany