CN102431027A - 一种运动完全解耦的空间三自由度并联机器人机构 - Google Patents
一种运动完全解耦的空间三自由度并联机器人机构 Download PDFInfo
- Publication number
- CN102431027A CN102431027A CN2011103344642A CN201110334464A CN102431027A CN 102431027 A CN102431027 A CN 102431027A CN 2011103344642 A CN2011103344642 A CN 2011103344642A CN 201110334464 A CN201110334464 A CN 201110334464A CN 102431027 A CN102431027 A CN 102431027A
- Authority
- CN
- China
- Prior art keywords
- links
- revolute pair
- connecting rod
- connecting rods
- branches
- 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
Landscapes
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
Description
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201110334464.2A CN102431027B (zh) | 2011-10-30 | 2011-10-30 | 一种运动完全解耦的空间三自由度并联机器人机构 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201110334464.2A CN102431027B (zh) | 2011-10-30 | 2011-10-30 | 一种运动完全解耦的空间三自由度并联机器人机构 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102431027A true CN102431027A (zh) | 2012-05-02 |
CN102431027B CN102431027B (zh) | 2014-04-16 |
Family
ID=45979559
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201110334464.2A Active CN102431027B (zh) | 2011-10-30 | 2011-10-30 | 一种运动完全解耦的空间三自由度并联机器人机构 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN102431027B (zh) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103568004A (zh) * | 2013-11-08 | 2014-02-12 | 燕山大学 | 两移动一转动三自由度空间解耦并联机构 |
CN104002298A (zh) * | 2014-05-12 | 2014-08-27 | 燕山大学 | 一种两移动一转动解耦并联机器人机构 |
CN104985587A (zh) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | 具有弧形移动副的四自由度转动移动完全解耦并联机构 |
CN107160362A (zh) * | 2017-04-28 | 2017-09-15 | 歌尔股份有限公司 | 一种三自由度并联运动平台及其控制方法和控制装置 |
CN108858159A (zh) * | 2018-09-17 | 2018-11-23 | 湖南水利水电职业技术学院 | 一种部分解耦的二自由度移动并联机构 |
CN109015602A (zh) * | 2018-08-29 | 2018-12-18 | 燕山大学 | 三平移2cpr-uru并联机构 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
US20030121351A1 (en) * | 2001-05-31 | 2003-07-03 | Clement Gosselin | Cartesian parallel manipulators |
CN1803411A (zh) * | 2006-01-24 | 2006-07-19 | 河北工业大学 | 一种三自由度解耦并联机构 |
CN101791804A (zh) * | 2010-01-26 | 2010-08-04 | 燕山大学 | 对称两转一移三自由度并联机构 |
WO2010128849A1 (en) * | 2009-05-05 | 2010-11-11 | Technische Universiteit Delft Et Al | Delta robot |
CN102166749A (zh) * | 2011-03-16 | 2011-08-31 | 安徽理工大学 | 2-prr&pprr三自由度空间并联机器人机构 |
-
2011
- 2011-10-30 CN CN201110334464.2A patent/CN102431027B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
US20030121351A1 (en) * | 2001-05-31 | 2003-07-03 | Clement Gosselin | Cartesian parallel manipulators |
CN1803411A (zh) * | 2006-01-24 | 2006-07-19 | 河北工业大学 | 一种三自由度解耦并联机构 |
WO2010128849A1 (en) * | 2009-05-05 | 2010-11-11 | Technische Universiteit Delft Et Al | Delta robot |
CN101791804A (zh) * | 2010-01-26 | 2010-08-04 | 燕山大学 | 对称两转一移三自由度并联机构 |
CN102166749A (zh) * | 2011-03-16 | 2011-08-31 | 安徽理工大学 | 2-prr&pprr三自由度空间并联机器人机构 |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103568004A (zh) * | 2013-11-08 | 2014-02-12 | 燕山大学 | 两移动一转动三自由度空间解耦并联机构 |
CN104002298A (zh) * | 2014-05-12 | 2014-08-27 | 燕山大学 | 一种两移动一转动解耦并联机器人机构 |
CN104002298B (zh) * | 2014-05-12 | 2016-01-27 | 燕山大学 | 一种两移动一转动解耦并联机器人机构 |
CN104985587A (zh) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | 具有弧形移动副的四自由度转动移动完全解耦并联机构 |
CN107160362A (zh) * | 2017-04-28 | 2017-09-15 | 歌尔股份有限公司 | 一种三自由度并联运动平台及其控制方法和控制装置 |
CN107160362B (zh) * | 2017-04-28 | 2019-06-21 | 歌尔股份有限公司 | 一种三自由度并联运动平台及其控制方法和控制装置 |
CN109015602A (zh) * | 2018-08-29 | 2018-12-18 | 燕山大学 | 三平移2cpr-uru并联机构 |
CN108858159A (zh) * | 2018-09-17 | 2018-11-23 | 湖南水利水电职业技术学院 | 一种部分解耦的二自由度移动并联机构 |
Also Published As
Publication number | Publication date |
---|---|
CN102431027B (zh) | 2014-04-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN102431028B (zh) | 一种一移两转三自由度解耦并联机器人机构 | |
CN102431027B (zh) | 一种运动完全解耦的空间三自由度并联机器人机构 | |
CN104002298B (zh) | 一种两移动一转动解耦并联机器人机构 | |
CN104369182B (zh) | 一种4spr+2r型四自由度并联机构 | |
CN102501243A (zh) | 一种一转动两移动解耦并联机器人机构 | |
CN108818502B (zh) | 具有球面转动自由度的两移动一转动的并联机构 | |
CN202292761U (zh) | 具有冗余驱动的平面三自由度对称并联机器人机构 | |
CN103056869A (zh) | 一种s/3-sps调姿调位三轴驱动并联机构 | |
CN102699908A (zh) | 两自由度移动解耦并联机器人机构 | |
CN105666471A (zh) | 一种sps+upu+(2rps+r)型四自由度并联机器人 | |
CN103862462A (zh) | 一种两移一转三自由度完全解耦空间并联机构 | |
CN103042521A (zh) | 3-sps/sps三驱动六自由度大量程调姿调位并联机构 | |
CN105459088A (zh) | 一转三斜移驱动四自由度并联机器人 | |
CN100513062C (zh) | 一种四自由度并联机构 | |
CN101733754B (zh) | 三维移动解耦微操作机器人 | |
CN105563462A (zh) | 一种(1t2r)&1t1r五自由度解耦混联机构 | |
CN204160473U (zh) | 一种新型多支路液控球面并联机构 | |
CN104626122A (zh) | 一种(1t2r)&1r四自由度解耦混联机构 | |
CN102626921B (zh) | 含两自由度平面子链的无汇交轴对称两转一移并联机构 | |
CN107932482B (zh) | 一种可实现三维转动和两维移动运动的五自由度并联机构 | |
CN104552280A (zh) | 一种两移两转四自由度解耦并联机构 | |
CN104760037A (zh) | 一种(2t)&(1t1r)四自由度解耦混联机构 | |
CN201573206U (zh) | 具有两移动两转动的四自由度空间并联机构 | |
CN103426356A (zh) | 一种耦合型四自由度运动模拟台 | |
CN103072133B (zh) | 一种三自由度移动解耦并联机器人机构 |
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 | ||
CB03 | Change of inventor or designer information |
Inventor after: Wang Hongbo Inventor after: Cheng Shuhong Inventor after: Rong Yu Inventor before: Zeng Daxing Inventor before: Hou Yulei Inventor before: Lu Wenjuan |
|
CB03 | Change of inventor or designer information | ||
TR01 | Transfer of patent right |
Effective date of registration: 20171027 Address after: 066004 Hebei city of Qinhuangdao Province Economic and Technological Development Zone of the Yanghe River Road No. 12 e valley G-Net C District 2 floor 156 station Patentee after: Qinhuangdao Pairuolaier Robot Technology Co Ltd Address before: Hebei Street West Harbor area, 066004 Hebei city of Qinhuangdao province No. 438 Patentee before: Yanshan University |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20171205 Address after: The number of Valley Road 066004 in Hebei province Qinhuangdao City Economic and Technological Development Zone No. 2 Valley Building Room 904 Patentee after: Qinhuangdao Yan Sheng Intelligent Technology Co., Ltd. Address before: 066004 Hebei city of Qinhuangdao Province Economic and Technological Development Zone of the Yanghe River Road No. 12 e valley G-Net C District 2 floor 156 station Patentee before: Qinhuangdao Pairuolaier Robot Technology Co Ltd |
|
TR01 | Transfer of patent right |