CN100451434C - 运动解耦的空间三自由度并联机构 - Google Patents
运动解耦的空间三自由度并联机构 Download PDFInfo
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- CN100451434C CN100451434C CNB2007100630542A CN200710063054A CN100451434C CN 100451434 C CN100451434 C CN 100451434C CN B2007100630542 A CNB2007100630542 A CN B2007100630542A CN 200710063054 A CN200710063054 A CN 200710063054A CN 100451434 C CN100451434 C CN 100451434C
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CNB2007100630542A CN100451434C (zh) | 2007-01-26 | 2007-01-26 | 运动解耦的空间三自由度并联机构 |
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CNB2007100630542A CN100451434C (zh) | 2007-01-26 | 2007-01-26 | 运动解耦的空间三自由度并联机构 |
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CN101025247A CN101025247A (zh) | 2007-08-29 |
CN100451434C true CN100451434C (zh) | 2009-01-14 |
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Families Citing this family (24)
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CN101269463B (zh) * | 2008-04-25 | 2010-06-02 | 清华大学 | 一种多轴联动混联机床 |
CN102029615B (zh) * | 2009-09-29 | 2013-06-05 | 鸿富锦精密工业(深圳)有限公司 | 并联机构及其平移支链 |
CN102645170B (zh) * | 2012-04-12 | 2014-07-02 | 重庆大学 | 测量空间六自由度运动的滑块式并联机构 |
CN102626871B (zh) * | 2012-05-03 | 2014-03-12 | 清华大学 | 一种具有高灵活特性的三自由度空间并联机构 |
CN102819972B (zh) * | 2012-08-14 | 2015-01-07 | 燕山大学 | 一种三自由度静载平衡并联运动模拟台 |
CN102785240B (zh) * | 2012-08-21 | 2015-06-10 | 深圳先进技术研究院 | 混联冲压机器人 |
CN103659793B (zh) * | 2012-09-04 | 2016-11-09 | 哈尔滨工业大学深圳研究生院 | 单支链含闭环的平移驱动三平动并联机构 |
CN102922515A (zh) * | 2012-11-12 | 2013-02-13 | 天津理工大学 | 一种可实现运动解耦的两转动一移动并联机构 |
CN102990648A (zh) * | 2012-12-27 | 2013-03-27 | 广西大学 | 一种包含prr开环子链与rrrrr运动副闭环子链的并联机构 |
CN103144100A (zh) * | 2013-03-21 | 2013-06-12 | 万新光学集团有限公司 | 三自由度移动并联机器人机构 |
CN103358302A (zh) * | 2013-06-21 | 2013-10-23 | 燕山大学 | 冗余驱动对称三自由度移动并联机构 |
CN103949957B (zh) * | 2014-04-21 | 2017-01-18 | 清华大学 | 一种基于三自由度并联机构的六轴联动混联装置 |
CN104259916A (zh) * | 2014-09-15 | 2015-01-07 | 燕山大学 | 一种三自由度并联式主轴头结构 |
CN104227710A (zh) * | 2014-09-28 | 2014-12-24 | 天津理工大学 | 一种空间三自由度并联机构 |
CN105500348A (zh) * | 2016-01-28 | 2016-04-20 | 燕山大学 | 一种含有塔形伸缩分支的六自由度并联调姿隔振平台 |
CN105538293A (zh) * | 2016-01-28 | 2016-05-04 | 燕山大学 | 一种含可变角形分支的三自由度并联调姿隔振平台 |
CN105563466A (zh) * | 2016-01-28 | 2016-05-11 | 燕山大学 | 一种含塔形伸缩分支的三自由度并联调姿隔振平台 |
CN105690376A (zh) * | 2016-04-12 | 2016-06-22 | 周啸波 | 一种多自由度运动平台 |
CN105702117A (zh) * | 2016-04-29 | 2016-06-22 | 燕山大学 | 一种六轴驱动三自由度静载平衡大型并联运动模拟台 |
CN107240328B (zh) * | 2017-06-27 | 2019-11-12 | 珠海磐磊智能科技有限公司 | 三自由度运动平台、控制力矩陀螺仪和飞行器用起降平台 |
CN110502024B (zh) * | 2019-07-23 | 2020-10-20 | 北京控制工程研究所 | 一种基于空间并联机构的准万向姿态执行机构 |
CN111806641A (zh) * | 2020-07-21 | 2020-10-23 | 上海海事大学 | 一种可变工作空间的三自由度波浪补偿平台 |
CN112743519B (zh) * | 2020-12-28 | 2022-06-24 | 哈尔滨工业大学(深圳) | 具有俯仰转动的空间三移动和一转动的四自由度并联机构 |
CN113701013B (zh) * | 2021-07-27 | 2023-01-31 | 北京空间飞行器总体设计部 | 一种适用于细长结构的运动学支撑机构 |
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CN1092097C (zh) * | 2000-01-17 | 2002-10-09 | 河北工业大学 | 三自由度三轴结构解耦并联微动机器人 |
US6575676B2 (en) * | 2000-04-21 | 2003-06-10 | Tsinghua University | Parallel structure of a spatial 3-axis machine tool with three degrees-of-freedom |
CN1117650C (zh) * | 2001-02-28 | 2003-08-13 | 中国石化集团金陵石油化工有限责任公司 | 用于虚拟轴数控机床、机器人和虚拟轴机械测量机的三维平移并联机构 |
US20040086351A1 (en) * | 2002-11-06 | 2004-05-06 | Kim Jong Won | Micro-motion machine and micro-element fabricating machine using a 3 degree of freedom parallel mechanism |
CN1546286A (zh) * | 2003-12-15 | 2004-11-17 | 河北工业大学 | 转动副组合单元及其组成的运动解耦并联机构 |
CN1233512C (zh) * | 2003-06-06 | 2005-12-28 | 河北工业大学 | 三自由度并联解耦机构 |
CN1287955C (zh) * | 2004-01-19 | 2006-12-06 | 河北工业大学 | 结构解耦三自由度并联机器人机构 |
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2007
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Patent Citations (7)
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CN1092097C (zh) * | 2000-01-17 | 2002-10-09 | 河北工业大学 | 三自由度三轴结构解耦并联微动机器人 |
US6575676B2 (en) * | 2000-04-21 | 2003-06-10 | Tsinghua University | Parallel structure of a spatial 3-axis machine tool with three degrees-of-freedom |
CN1117650C (zh) * | 2001-02-28 | 2003-08-13 | 中国石化集团金陵石油化工有限责任公司 | 用于虚拟轴数控机床、机器人和虚拟轴机械测量机的三维平移并联机构 |
US20040086351A1 (en) * | 2002-11-06 | 2004-05-06 | Kim Jong Won | Micro-motion machine and micro-element fabricating machine using a 3 degree of freedom parallel mechanism |
CN1233512C (zh) * | 2003-06-06 | 2005-12-28 | 河北工业大学 | 三自由度并联解耦机构 |
CN1546286A (zh) * | 2003-12-15 | 2004-11-17 | 河北工业大学 | 转动副组合单元及其组成的运动解耦并联机构 |
CN1287955C (zh) * | 2004-01-19 | 2006-12-06 | 河北工业大学 | 结构解耦三自由度并联机器人机构 |
Non-Patent Citations (2)
Title |
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并联机构的解耦特性. 宫金良,张彦斐,高峰.中国机械工程,第17卷第14期. 2006 |
并联机构的解耦特性. 宫金良,张彦斐,高峰.中国机械工程,第17卷第14期. 2006 * |
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CN101025247A (zh) | 2007-08-29 |
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