CN101058186A - Two rotation decoupling parallel robot mechanism - Google Patents
Two rotation decoupling parallel robot mechanism Download PDFInfo
- Publication number
- CN101058186A CN101058186A CN 200710061909 CN200710061909A CN101058186A CN 101058186 A CN101058186 A CN 101058186A CN 200710061909 CN200710061909 CN 200710061909 CN 200710061909 A CN200710061909 A CN 200710061909A CN 101058186 A CN101058186 A CN 101058186A
- Authority
- CN
- China
- Prior art keywords
- branch
- pair
- axis
- revolute pair
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to parallel robot industry, comprising dynamic and static platforms and three branches connected to them. I features in the dynamic platform through three branches and connected to the static platform, with one branch having a movement sub, the second branch having three movement subs, the first and the second branches forming into horizontal guide pole structure or plane hinge structure, with the third branch having space for six freedom branch chains. It enjoys high rigidity, simple structure, two rotary complete decoupling, easy for control, low in movement quality, good in dynamic features.
Description
Technical field
The invention belongs to the parallel robot field, particularly one group of double rotation freedom degrees mobile decoupling parallel robot mechanism.
Background technology
Parallel robot mechanism has the space multiple degrees of freedom and encircles closed chain more, compares with serial mechanism, and parallel institution has characteristics such as rigidity is big, bearing capacity is big, accumulated error is little, dynamic characteristic is good, compact conformation.At present, parallel institution is widely used in aspects such as virtual-shaft machine tool, fine motion operating desk, various motion simulator, sensor.
With respect to the serial machine robot mechanism, it is little that parallel robot mechanism has a working space, has strong coupling between the motion, shortcomings such as control difficulty.The decoupling parallel robot mechanism that comprehensively comes out in the world at present mainly contains three one-movement-freedom-degrees and three and moves mechanisms such as a rotation.The GOGU of France combines a class double rotation freedom degrees decoupling parallel robot mechanism, this type of mechanism has only two branches, therefore, good not as three branches on rigidity, in addition, the kinematic pair in the branch is more, and accumulated error is big, moving platform can only be installed on the point, and then its process and assemble is poor.In this comprehensive class mechanism of GOGU, the simplyst be: first branch is made up of two revolute pairs and two revolute pairs vertically meet at a bit, and this point is used to install moving platform; Second branch is made up of five kinematic pairs, count from fixed platform, first kinematic pair is a moving sets, direction is identical with first revolute pair axis direction in first branch, the axis direction of ensuing three revolute pairs is identical with moving sets direction in this branch, the direction of the 5th revolute pair axis is identical with another one revolute pair direction in first branch, and is connected to the intersection point of two revolute pair axis of first branch by connecting rod, thereby forms closed loop.Parallel for second the revolute pair axis direction that keeps first branch with the axis direction of the 5th kinematic pair of second branch, also need there be specific connecting rod to connect between this two revolute pair.
Summary of the invention
The object of the present invention is to provide a class double rotation freedom degrees mobile decoupling parallel robot mechanism, this invention have rigidity height, rotation simple in structure, moving platform full decoupled, be easy to control, advantage such as dynamic property is good, process and assemble is good.
This group double rotation freedom degrees mobile decoupling parallel robot mechanism comprises moving platform 3, fixed platform 1 and the compositions such as branch that are connected fixed platform 1 and moving platform 3.It is characterized in that: moving platform 3 is connected with fixed platform 1 by three branches, and first branch links to each other with moving platform 3 by ball secondary 2 or Hooke's hinge 15.Second branch begins counting from moving platform 3: first kinematic pair is ball secondary 9 or Hooke's hinge 16; Second kinematic pair is revolute pair 11; The 3rd kinematic pair is moving sets 13 or revolute pair 14.If first kinematic pair of second side chain is a Hooke's hinge 16, then this Hooke's hinge 16 pivot center is parallel with the axis of revolute pair 11; At this moment, if the kinematic pair of first side chain also is a Hooke's hinge 15, an axis coaxle of the another one axis of Hooke's hinge 16 and Hooke's hinge 15 then, and the another one axis of Hooke's hinge 15 is parallel with the axis of revolute pair 11.If the kinematic pair that second branch links to each other with fixed platform is a revolute pair 14, then the axis of revolute pair 14 is parallel with the axis of revolute pair 11.If one of the kinematic pair that first and second branch links to each other with moving platform 3 is the ball pair, one is Hooke's hinge, then Hooke's hinge axis is by this ball sub-center, the axis of another axis parallel rotation pair 11, satisfying under these conditions, first and second branch can form plane hinge mechanism or planimetric arm mechanism.The 3rd branches into the side chain with space six-freedom degree, as by the ball pair, and the movement branched chain that moving sets is connected with Hooke's hinge and forms with space six-freedom degree.
Description of drawings
Fig. 1 is first kind of space double rotation freedom degrees mobile decoupling parallel robot mechanism schematic diagram.
Fig. 2 is second kind of space double rotation freedom degrees mobile decoupling parallel robot mechanism schematic diagram.
Fig. 3 is the third space double rotation freedom degrees mobile decoupling parallel robot mechanism schematic diagram.
Fig. 4 is the 4th a kind of space double rotation freedom degrees mobile decoupling parallel robot mechanism schematic diagram.
Fig. 5 is the 5th a kind of space double rotation freedom degrees mobile decoupling parallel robot mechanism schematic diagram.
Fig. 6 is the 6th a kind of space double rotation freedom degrees mobile decoupling parallel robot mechanism schematic diagram.
Fig. 7 is the 7th a kind of space double rotation freedom degrees mobile decoupling parallel robot mechanism schematic diagram.
Fig. 8 is the 8th a kind of space double rotation freedom degrees mobile decoupling parallel robot mechanism schematic diagram.
In Fig. 1, Fig. 2,1. fixed platform, 2. ball pair, 3. moving platform, 4. ball pair, 5. connecting rod, 6. moving sets, 7. connecting rod, 8. ball pair, 9. ball pair, 10. connecting rod, 11. revolute pairs, 12. connecting rods, 13. moving sets, 14. revolute pairs, 15. Hooke's hinges, 16. Hooke's hinges.
The specific embodiment
The moving platform 3 of this mechanism is by 3 branches (see figure 1) that is connected with fixed platform 1.A ball pair 2 is only arranged in first branch.The ball of second branch secondary 9 connects moving platform 3 and connecting rod 10, and revolute pair 11 connects connecting rod 10 and connecting rod 12, and connecting rod 12 links to each other with fixed platform 1 by moving sets 13.First branch and second branch constitute planimetric arm mechanism.The ball of the 3rd branch secondary 4 connects moving platform 3 and connecting rod 5, and moving sets 6 connects connecting rod 5 and connecting rod 7, and connecting rod 7 links to each other with fixed platform 1 by ball pair 8.
The moving platform 3 of this mechanism is by 3 branches (see figure 2) that is connected with fixed platform 1.A ball pair 2 is only arranged in first branch.The Hooke's hinge 16 of second branch connects moving platform 3 and connecting rod 10, revolute pair 11 connects connecting rod 10 and connecting rod 12, connecting rod 12 links to each other with fixed platform 1 by moving sets 13, and wherein Hooke's hinge 16 axis passes through the centre of sphere of ball pair 2, and another axis of Hooke's hinge 16 is parallel with the axis of revolute pair 11.First branch and second branch constitute planimetric arm mechanism.The ball of the 3rd branch secondary 4 connects moving platform 3 and connecting rod 5, and moving sets 6 connects connecting rod 5 and connecting rod 7, and connecting rod 7 links to each other with fixed platform 1 by ball pair 8.
The moving platform 3 of this mechanism is by 3 branches (see figure 3) that is connected with fixed platform 1.A ball pair 2 is only arranged in first branch.The ball of second branch secondary 9 connects moving platform 3 and connecting rod 10, and revolute pair 11 connects connecting rod 10 and connecting rod 12, and connecting rod 12 links to each other with fixed platform 1 by revolute pair 14, and wherein the axis of revolute pair 14 is parallel with the axis of revolute pair 11.First branch and second branch constitute plane hinge mechanism.The ball of the 3rd branch secondary 4 connects moving platform 3 and connecting rod 5, and moving sets 6 connects connecting rod 5 and connecting rod 7, and connecting rod 7 links to each other with fixed platform 1 by ball pair 8.
The moving platform 3 of this mechanism is by 3 branches (see figure 4) that is connected with fixed platform 1.A ball pair 2 is only arranged in first branch.The Hooke's hinge 16 of second branch connects moving platform 3 and connecting rod 10, revolute pair 11 connects connecting rod 10 and connecting rod 12, connecting rod 12 links to each other with fixed platform 1 by revolute pair 14, wherein Hooke's hinge 16 axis is by the centre of sphere of ball pair 2, another axis of Hooke's hinge 16 is parallel with the axis of revolute pair 11, and the axis of revolute pair 14 is parallel with the axis of revolute pair 11.First branch and second branch constitute plane hinge mechanism.The ball of the 3rd branch secondary 4 connects moving platform 3 and connecting rod 5, and moving sets 6 connects connecting rod 5 and connecting rod 7, and connecting rod 7 links to each other with fixed platform 1 by ball pair 8.
The moving platform 3 of this mechanism is by 3 branches (see figure 5) that is connected with fixed platform 1.A Hooke's hinge 15 is only arranged in first branch.The Hooke's hinge 16 of second branch connects moving platform 3 and connecting rod 10, and revolute pair 11 connects connecting rod 10 and 12, and connecting rod 12 links to each other with fixed platform 1 by moving sets 13.An axis of Hooke's hinge 15 and Hooke's hinge 16 is coaxial, and another axis of Hooke's hinge 15 and Hooke's hinge 16 is parallel to each other, and is parallel to the axis of revolute pair 11.First branch and second branch constitute planimetric arm mechanism.The ball of the 3rd branch secondary 4 connects moving platform 3 and connecting rod 5, and moving sets 6 connects connecting rod 5 and connecting rod 7, and connecting rod 7 links to each other with fixed platform 1 by ball pair 8.
The moving platform 3 of this mechanism is by 3 branches (see figure 6) that is connected with fixed platform 1.A Hooke's hinge 15 is only arranged in first branch.The ball of second branch secondary 9 connects moving platform 3 and connecting rod 10, revolute pair 11 connects connecting rod 10 and connecting rod 12, connecting rod 12 links to each other with fixed platform 1 by moving sets 13, and wherein Hooke's hinge 15 axis passes through the centre of sphere of ball pair 9, and another axis of Hooke's hinge 15 is parallel with the axis of revolute pair 11.First branch and second branch constitute planimetric arm mechanism.The ball of the 3rd branch secondary 4 connects moving platform 3 and connecting rod 5, and moving sets 6 connects connecting rod 5 and connecting rod 7, and connecting rod 7 links to each other with fixed platform 1 by ball pair 8.
The moving platform 3 of this mechanism is by 3 branches (see figure 7) that is connected with fixed platform 1.A Hooke's hinge 15 is only arranged in first branch.The Hooke's hinge 16 of second branch connects moving platform 3 and connecting rod 10, and revolute pair 11 connects connecting rod 10 and connecting rod 12, and connecting rod 12 links to each other with fixed platform 1 by revolute pair 14.An axis of Hooke's hinge 15 and Hooke's hinge 16 is coaxial, and another axis of Hooke's hinge 15 and Hooke's hinge 16 is parallel to each other, and is parallel to revolute pair 11, and the axis of revolute pair 14 is also parallel with the axis of revolute pair 11.First branch and second branch constitute plane hinge mechanism.The ball of the 3rd side chain secondary 4 connects moving platform 3 and connecting rod 5, and moving sets 6 connects connecting rod 5 and connecting rod 7, and connecting rod 7 links to each other with fixed platform 1 by ball pair 8.
The moving platform 3 of this mechanism is by 3 branches (see figure 8) that is connected with fixed platform 1.A Hooke's hinge 15 is only arranged in first branch.The ball pivot 9 of second branch connects moving platform 3 and connecting rod 10, revolute pair 11 connects connecting rod 10 and connecting rod 12, connecting rod 12 links to each other with fixed platform 1 by revolute pair 14, wherein Hooke's hinge 15 axis is by the centre of sphere of ball pair 9, another axis of Hooke's hinge 15 is parallel to the axis of revolute pair 11, and the axis of revolute pair 14 is also parallel with the axis of revolute pair 11 simultaneously.First branch and second branch constitute plane hinge mechanism.The ball of the 3rd side chain secondary 4 connects moving platform 3 and connecting rod 5, and moving sets 6 connects connecting rod 5 and connecting rod 7, and connecting rod 7 links to each other with fixed platform 1 by ball pair 8.
Space of the present invention two-freedom mobile decoupling parallel robot mechanism has good kinematics performance, high rigidity and bigger working space; Its kinematics is positive and negative separates very simply, and two rotations of moving platform are full decoupled, make control very easy, and energy-conservation.Can be widely used in telescope, camera, solar panel, missile launcher, radar tracking, gun laying positioning equipment etc.
Claims (4)
1. one group of space double rotation freedom degrees full decoupled parallel robot mechanism that moves, comprise moving platform (3), fixed platform (1) and be connected moving platform (3) and 3 branches' compositions of fixed platform (1), it is characterized in that: moving platform (3) is connected with fixed platform (1) by three branches, wherein first branch has a kinematic pair, second branch has three kinematic pairs, first branch and second branch constitute planimetric arm mechanism or plane hinge mechanism, and the 3rd branches into the side chain with space six-freedom degree.
2. parallel robot mechanism according to claim 1, it is characterized in that: what first branch and second branch linked to each other with moving platform (3) all is the ball pair, the kinematic pair that second branch links to each other with fixed platform (1) is moving sets (13) or revolute pair (14), when the kinematic pair that links to each other with fixed platform (1) when second branch was revolute pair (14), the axis of revolute pair (14) was parallel with the axis of revolute pair (11).
3. parallel robot mechanism according to claim 1, it is characterized in that: have one to be Hooke's hinge in first branch and second branch and the kinematic pair that moving platform (3) links to each other, an axis of Hooke's hinge is by the centre of sphere of another one branch ball pair, and another axis of Hooke's hinge is parallel with the axis of revolute pair (11); The kinematic pair that second branch links to each other with fixed platform (1) is moving sets (13) or revolute pair (14), and when the kinematic pair that links to each other with fixed platform (1) when second branch was revolute pair (14), the axis of revolute pair (14) was parallel with the axis of revolute pair (11).
4. parallel robot mechanism according to claim 1, it is characterized in that: first branch is Hooke's hinge with second branch with the kinematic pair that moving platform (3) links to each other, two Hooke's hinges (15 then, 16) a axis is coaxial, another axis of two Hooke's hinges (15,16) is parallel with the axis of revolute pair (11); The kinematic pair that second branch links to each other with fixed platform (1) is moving sets (13) or revolute pair (14), and when the kinematic pair that links to each other with fixed platform (1) when second branch was revolute pair (14), the axis of revolute pair (14) was parallel with the axis of revolute pair (11).
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNB2007100619098A CN100540239C (en) | 2007-05-18 | 2007-05-18 | One group two is rotated decoupling parallel robot mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNB2007100619098A CN100540239C (en) | 2007-05-18 | 2007-05-18 | One group two is rotated decoupling parallel robot mechanism |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101058186A true CN101058186A (en) | 2007-10-24 |
CN100540239C CN100540239C (en) | 2009-09-16 |
Family
ID=38864565
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNB2007100619098A Expired - Fee Related CN100540239C (en) | 2007-05-18 | 2007-05-18 | One group two is rotated decoupling parallel robot mechanism |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN100540239C (en) |
Cited By (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101403926B (en) * | 2008-10-23 | 2010-04-07 | 北京交通大学 | Hydraulic three-rod support type solar tracking apparatus |
CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
CN101791798A (en) * | 2010-03-27 | 2010-08-04 | 燕山大学 | Two-freedom rotary decoupling parallel robot mechanism |
CN102069392A (en) * | 2011-02-15 | 2011-05-25 | 上海工程技术大学 | Two-rotational degree-of-freedom parallel mechanism for imaginary axis machine tool and robot |
CN102079090A (en) * | 2011-01-28 | 2011-06-01 | 北京航空航天大学 | Double-DOF (degree of freedom) space rotation parallel mechanism |
CN102126212A (en) * | 2010-12-24 | 2011-07-20 | 燕山大学 | Motion decoupling two-degree-of-freedom rotation parallel mechanism |
CN102147046A (en) * | 2011-03-04 | 2011-08-10 | 燕山大学 | Two-freedom parallel mechanism capable of rotating and decoupling |
CN103028544A (en) * | 2012-12-12 | 2013-04-10 | 常州大学 | Variable input three-dimensional vibrating screen mechanism with analyzing forward position kinematic |
CN103050047A (en) * | 2012-12-11 | 2013-04-17 | 燕山大学 | Self-balanced parallel movement simulator of two-freedom degree closed loop |
CN103203740A (en) * | 2013-03-28 | 2013-07-17 | 燕山大学 | Two-freedom movement decoupling parallel mechanism |
CN104124914A (en) * | 2014-07-04 | 2014-10-29 | 清华大学 | Rotary decoupling biaxial solar condenser parallel tracking mechanism |
CN104317309A (en) * | 2014-10-23 | 2015-01-28 | 清华大学 | Two-degree-of-freedom solar condenser parallel connection tracking mechanism |
CN104626099A (en) * | 2014-12-08 | 2015-05-20 | 燕山大学 | Completely-decoupled three-rotating three-moving six-freedom-degree parallel-serial mechanism |
CN105773577A (en) * | 2016-03-24 | 2016-07-20 | 褚宏鹏 | Multi-branched-chain coupled two-rotation parallel mechanism |
US9791767B2 (en) | 2015-08-14 | 2017-10-17 | Sz Dji Osmo Technology Co., Ltd. | Gimbal having parallel stability mechanism |
CN107425286A (en) * | 2017-07-07 | 2017-12-01 | 燕山大学 | A kind of Three Degree Of Freedom day line parallel supporting mechanism |
CN107932476A (en) * | 2017-11-07 | 2018-04-20 | 广西大学 | A kind of six degree of freedom via Self-reconfiguration parallel connection spray robot |
CN110116398A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of two rotary freedom parallel robots |
CN111482986A (en) * | 2020-06-28 | 2020-08-04 | 中国科学院苏州生物医学工程技术研究所 | Series-parallel three-degree-of-freedom rotating mechanism |
CN113083970A (en) * | 2021-05-17 | 2021-07-09 | 燕山大学 | Elbow forming device based on parallel mechanism |
CN113211417A (en) * | 2021-06-04 | 2021-08-06 | 燕山大学 | Three-translation parallel mechanism |
CN113211416A (en) * | 2021-06-04 | 2021-08-06 | 燕山大学 | High-rigidity asymmetric three-translation redundant driving parallel mechanism |
CN113708662A (en) * | 2021-08-26 | 2021-11-26 | 哈尔滨工业大学 | Two-degree-of-freedom piezoelectric driving platform and design method thereof |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102145487B (en) * | 2011-02-11 | 2015-04-01 | 中国电力科学研究院 | Rotary input robot for testing oscillating performance of overhead power transmission line |
-
2007
- 2007-05-18 CN CNB2007100619098A patent/CN100540239C/en not_active Expired - Fee Related
Cited By (35)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101403926B (en) * | 2008-10-23 | 2010-04-07 | 北京交通大学 | Hydraulic three-rod support type solar tracking apparatus |
CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
CN101791798A (en) * | 2010-03-27 | 2010-08-04 | 燕山大学 | Two-freedom rotary decoupling parallel robot mechanism |
CN101791798B (en) * | 2010-03-27 | 2011-05-25 | 燕山大学 | Two-freedom rotary decoupling parallel robot mechanism |
CN102126212A (en) * | 2010-12-24 | 2011-07-20 | 燕山大学 | Motion decoupling two-degree-of-freedom rotation parallel mechanism |
CN102126212B (en) * | 2010-12-24 | 2012-09-05 | 燕山大学 | Motion decoupling two-degree-of-freedom rotation parallel mechanism |
CN102079090A (en) * | 2011-01-28 | 2011-06-01 | 北京航空航天大学 | Double-DOF (degree of freedom) space rotation parallel mechanism |
CN102079090B (en) * | 2011-01-28 | 2012-05-16 | 北京航空航天大学 | Double-DOF (degree of freedom) space rotation parallel mechanism |
CN102069392A (en) * | 2011-02-15 | 2011-05-25 | 上海工程技术大学 | Two-rotational degree-of-freedom parallel mechanism for imaginary axis machine tool and robot |
CN102069392B (en) * | 2011-02-15 | 2012-08-08 | 上海工程技术大学 | Two-rotational degree-of-freedom parallel mechanism for imaginary axis machine tool and robot |
CN102147046A (en) * | 2011-03-04 | 2011-08-10 | 燕山大学 | Two-freedom parallel mechanism capable of rotating and decoupling |
CN102147046B (en) * | 2011-03-04 | 2012-11-21 | 燕山大学 | Two-freedom parallel mechanism capable of rotating and decoupling |
CN103050047B (en) * | 2012-12-11 | 2014-12-24 | 燕山大学 | Self-balanced parallel movement simulator of two-freedom degree closed loop |
CN103050047A (en) * | 2012-12-11 | 2013-04-17 | 燕山大学 | Self-balanced parallel movement simulator of two-freedom degree closed loop |
CN103028544A (en) * | 2012-12-12 | 2013-04-10 | 常州大学 | Variable input three-dimensional vibrating screen mechanism with analyzing forward position kinematic |
CN103203740A (en) * | 2013-03-28 | 2013-07-17 | 燕山大学 | Two-freedom movement decoupling parallel mechanism |
CN104124914A (en) * | 2014-07-04 | 2014-10-29 | 清华大学 | Rotary decoupling biaxial solar condenser parallel tracking mechanism |
CN104124914B (en) * | 2014-07-04 | 2016-08-17 | 清华大学 | A kind of two axle solar concentrator parallel connection followers rotating decoupling |
CN104317309A (en) * | 2014-10-23 | 2015-01-28 | 清华大学 | Two-degree-of-freedom solar condenser parallel connection tracking mechanism |
CN104626099A (en) * | 2014-12-08 | 2015-05-20 | 燕山大学 | Completely-decoupled three-rotating three-moving six-freedom-degree parallel-serial mechanism |
CN104626099B (en) * | 2014-12-08 | 2016-05-18 | 燕山大学 | Six degree of freedom hybrid mechanism is moved in three full decoupled rotations three |
US10054843B2 (en) | 2015-08-14 | 2018-08-21 | Sz Dji Osmo Technology Co., Ltd. | Gimbal having parallel stability mechanism |
US9791767B2 (en) | 2015-08-14 | 2017-10-17 | Sz Dji Osmo Technology Co., Ltd. | Gimbal having parallel stability mechanism |
US10558110B2 (en) | 2015-08-14 | 2020-02-11 | Sz Dji Osmo Technology Co., Ltd. | Gimbal having parallel stability mechanism |
CN105773577A (en) * | 2016-03-24 | 2016-07-20 | 褚宏鹏 | Multi-branched-chain coupled two-rotation parallel mechanism |
CN107425286A (en) * | 2017-07-07 | 2017-12-01 | 燕山大学 | A kind of Three Degree Of Freedom day line parallel supporting mechanism |
CN107425286B (en) * | 2017-07-07 | 2020-10-16 | 燕山大学 | Three-degree-of-freedom antenna parallel supporting mechanism |
CN107932476A (en) * | 2017-11-07 | 2018-04-20 | 广西大学 | A kind of six degree of freedom via Self-reconfiguration parallel connection spray robot |
CN110116398A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of two rotary freedom parallel robots |
CN111482986A (en) * | 2020-06-28 | 2020-08-04 | 中国科学院苏州生物医学工程技术研究所 | Series-parallel three-degree-of-freedom rotating mechanism |
CN113083970A (en) * | 2021-05-17 | 2021-07-09 | 燕山大学 | Elbow forming device based on parallel mechanism |
CN113211417A (en) * | 2021-06-04 | 2021-08-06 | 燕山大学 | Three-translation parallel mechanism |
CN113211416A (en) * | 2021-06-04 | 2021-08-06 | 燕山大学 | High-rigidity asymmetric three-translation redundant driving parallel mechanism |
CN113211416B (en) * | 2021-06-04 | 2022-08-02 | 燕山大学 | High-rigidity asymmetric three-translation redundant driving parallel mechanism |
CN113708662A (en) * | 2021-08-26 | 2021-11-26 | 哈尔滨工业大学 | Two-degree-of-freedom piezoelectric driving platform and design method thereof |
Also Published As
Publication number | Publication date |
---|---|
CN100540239C (en) | 2009-09-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN101058186A (en) | Two rotation decoupling parallel robot mechanism | |
CN1170658C (en) | Four-freedom parallel robot mechanism | |
CN1269619C (en) | Spatial five freedom degree parallel robot mechanism | |
CN1472046A (en) | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism | |
CN101791798B (en) | Two-freedom rotary decoupling parallel robot mechanism | |
CN1929036A (en) | System and method for mounting panel video display | |
CN101036986A (en) | Novel 3-DOF parallel manipulator having two-rotating and one-moving | |
CN105215975B (en) | Asymmetric parallel institution with two turn of one shift three degrees of freedom | |
CN1944002A (en) | Two freedom space parallel mechanism | |
CN1112282C (en) | Spatial three-freedom parallel robot mechanism | |
CN102303313B (en) | Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism | |
CN102294691B (en) | Two-freedom-degree rotating decoupling parallel robot mechanism | |
CN102626870A (en) | Three-DOF (Degree of Freedom) parallel spindle head with single-DOF hinge | |
CN208557482U (en) | The parallel institution of 2T1R with spherical rotation freedom degree | |
CN1954975A (en) | A kind RUPU running chain and parellel robot mechanism composed or derived | |
CN1544210A (en) | Rotating parallel robot mechanism with two degrees of freedom | |
CN1803411A (en) | Three freedom degrees decoupling sphere parallel mechanism | |
CN1537704A (en) | Paralel robot mechanism with bidimension rotating mono-dimension moving | |
CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
CN104942795B (en) | One moves two rotation Three Degree Of Freedoms rotates mobile full decoupled parallel institution | |
CN1772442A (en) | Four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension | |
CN206825405U (en) | Isotropic space two degrees of freedom rotating parallel device people | |
CN101733753B (en) | Redundant parallel mechanism containing compound spherical hinge | |
CN1178769C (en) | Four-freedom spatial parallel robot mechanism | |
CN104985587A (en) | Four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
C17 | Cessation of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090916 Termination date: 20120518 |