CN104608134A - Completely-decoupled plane two-degree-of-freedom parallel mechanism - Google Patents
Completely-decoupled plane two-degree-of-freedom parallel mechanism Download PDFInfo
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- CN104608134A CN104608134A CN201510066847.4A CN201510066847A CN104608134A CN 104608134 A CN104608134 A CN 104608134A CN 201510066847 A CN201510066847 A CN 201510066847A CN 104608134 A CN104608134 A CN 104608134A
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Abstract
The invention discloses a completely-decoupled plane two-degree-of-freedom parallel mechanism to solve the existing problems that large movement space is needed, the self-inertia and a structural gap are large, and the response speed is low. The completely-decoupled plane two-degree-of-freedom parallel mechanism comprises a fixing platform (1), a short sliding block (2), a high sliding block (3), a long connecting rod (4), a short connecting rod (5) and a handle (6). The short sliding block (2) is installed in a vertical sliding block groove (7) in the fixing platform (1) and is in sliding connection, the high sliding block (3) is installed in a transverse sliding block groove (8) in the fixing platform (1) and is in sliding connection, the handle (6) is located between the long connecting rod (4) and the short connecting rod (5) and suspended above the fixing platform (1), the short sliding block (2) is rotationally connected with the right end of the short connecting rod (5), the handle (6) is rotationally connected with the left end of the short connecting rod (5), the high sliding block (3) is rotationally connected with the left end of the long connecting rod (4), and the handle (6) is rotationally connected with the right end of the long connecting rod (4).
Description
Technical field
The present invention relates to one and realize two-degree of freedom translation mechanism, or rather, the present invention relates to a kind of full decoupled plane two-freedom-degree parallel mechanism.
Background technology
MS master-slave Teleoperation Systems requires that operator can carry out control instruction and input continuously, and obtains the feedback information comprising power/sense of touch.As human interface device, force feedback operating means carries motion and the transmitted in both directions task of force information between operator and Teleoperation Systems, is once becoming the bottleneck of teleoperation robot technical development.In master-slave robotic system, use high performance force feedback operating device can improve telepresenc, operation quality and efficiency.In recent years, interactive device is studied to be developed to have polytype power (touching) feel to feed back, but the maximum control rigidity of the PHANToM force feedback operator be widely used only has about 1.5N/m, is difficult to the requirement meeting master-slave robotic system.
The operating grip of the 2DOF decoupling zero operating rod type of Jilin University's design, due to the bar type structure of self, needs enough large space to meet the needs of its motion, and operating space is narrow and small will give it with restriction.Simultaneously due to self inertia and structure interval all larger, in flexibility and precision, remain deficiency.
The electric control handle being used for large-scale flying games of Microsoft and Logitech company designs is used for remote operating field by a lot of scholar.DirectInput technology and force feedback control crank (SideWinder ForceFeedback Pro Joystick) are applied to wireless remote control Robotic excavator by cycles etc. in document " realizing the motion of wireless remote control excavator to handle and force feedback with DirectInput ", realize robot motion's operation and excavating resistance feedback in mining process; Liu Yuqin etc. utilize " spring-dampers " system model to describe power in document " realization of network force teleprence ", and are mapped on joystick, become the restraining force of steering.By adopting the control stick of the band force feedback of Microsoft to control the trouble-free operation under unstructured moving grids of mobile robot's dolly as force sense presentation device, demonstrate the validity of force feedback describing method; Also there are similar research in other colleges and universities and R&D institution, what they used is entirely changes the analog force of rule, and in reality the power of irregular change there will be more, but this irregular power there is no any statement in power simulation system, such action bars also just cannot be used under irregular situation of change to serve as the main hand of remote operating.
At present, mostly the main hand of remote operating is to adopt parallel institution to ensure kinematic accuracy, but rotational freedom is separated in solution procedure inverse, there will be the situation of separating more, us are needed to do further decoupling zero, virtually add operation time, cause delay problem in the ubiquitous present situation in common remote operating field; Simultaneously because action bars own dimensions and inertia are comparatively large, force feedback is not accurate enough, and action bars belongs to spatial operation, to factors such as force feedback can have a negative impact, need to design a mechanism narrow and small to realize operating space, own dimensions inertia is little, the operating grip of fast response time.
Summary of the invention
Technical problem to be solved by this invention is that to overcome the space demand that prior art exists comparatively large, and self inertia and structure interval are all comparatively large, and the problem that response speed is slower, provides a kind of full decoupled plane two-freedom-degree parallel mechanism.
For solving the problems of the technologies described above, the present invention adopts following technical scheme to realize: described full decoupled plane two-freedom-degree parallel mechanism comprises fixed platform, short slide block, high slide block, long connecting rod, short connecting rod and handle.
Short slide block is installed on the stationary platform for being slidably connected, high slide block is installed on the stationary platform for being slidably connected, handle is between long connecting rod and short connecting rod and be suspended from fixed platform, right-hand member and the short slide block of short connecting rod are rotationally connected, left end and the handle of short connecting rod are rotationally connected, left end and the high slide block of long connecting rod are rotationally connected, and right-hand member and the handle of long connecting rod are rotationally connected.
Short slide block described in technical scheme is installed and is referred to for being slidably connected on the stationary platform: short slide block is installed in vertical slide block slot on the stationary platform as being slidably connected; High slide block is installed and is referred to for being slidably connected on the stationary platform: high slide block is installed in transverse slider groove on the stationary platform as being slidably connected.
The short connecting rod right hole of the short connecting rod described in technical scheme coordinates with the short slide block bolt on short slide block and is set with as being rotationally connected, and the short connecting rod left hole of short connecting rod coordinates with the polished rod part of the screw rod on handle and is set with as being rotationally connected; Long connecting rod left hole on long connecting rod coordinates with the high slide block bolt on high slide block and is set with as being rotationally connected, long connecting rod right hole on long connecting rod coordinates with the polished rod part of the screw rod on handle and is set with as being rotationally connected, and the right-hand member of long connecting rod and the left end of short connecting rod are stacked up and down.
Fixed platform described in technical scheme is disc-shaped structure part, the top of fixed platform is provided with the transverse slider groove of the vertical slide block slot of the T-shaped of installing short slide block and the T-shaped of the high slide block of installation, vertical slide block slot and transverse slider groove diametrically run through layout in discoidal fixed platform, vertical slide block slot and transverse slider groove intersect vertically, and 4 right angles simultaneously vertical slide block slot and transverse slider groove being intersected junction all do the chamfered of 2 × 45 °.
Short slide block described in technical scheme and high slide block cross section are the structural member of " convex " font, all be made up of bolt and base, namely the center of the upper surface of short slide block and high slide block is respectively arranged with a short slide block bolt and high slide block bolt, short slide block bolt and high slide block bolt end head are provided with screw thread, short slide block bolt and high slide block bolt other parts are short slide block bolt light rod part and high slide block bolt light rod part, short slide block bolt light rod part is fixedly connected with the bottom of high slide block bolt light rod part with the upper surface of short slide block base with high slide block base or is connected.
Long connecting rod described in technical scheme and short connecting rod are the prismatic member class formation part of rectangular cross section, the two ends of long connecting rod and short connecting rod are provided with the bolt hole of same diameter, the gyroaxis of the bolt hole at two ends is parallel to each other, and long connecting rod is different from the pitch-row of the effective length of short connecting rod and the bolt hole at two ends; The bolt hole at long connecting rod two ends is called and the long connecting rod left hole of the high slide block bolt light rod section fits of high slide block and the long connecting rod right hole equipped with screw rod in handle, and the bolt hole at the two ends of short connecting rod is called the short connecting rod right hole of the short connecting rod left hole that is equipped with screw rod in handle and the short slide block bolt light rod section fits with short slide block.
The physical dimension of the long connecting rod described in technical scheme and short connecting rod and short slide block, high slide block, vertical slide block slot and transverse slider groove will meet following condition:
(0.5L
1+0.5L
5)
2+(0.5L
1+0.5L
5+L
7)
2＝L
6 2
L
3+L
2＝L
4
In formula: L
1for the width of the base upper part of short slide block and high slide block; L
2for the thickness of long connecting rod and short connecting rod; L
3for the height of short slide block; L
4for the height of high slide block; L
5for the length of short slide block and high slide block; L
6for the centre-to-centre spacing of two stomidiums of long connecting rod; L
7for the centre-to-centre spacing of short connecting rod two stomidium.
Handle described in technical scheme is made up of chassis, screw rod and ball handle.Described chassis is disc-like structural member, and the circle centre position on chassis is provided with a screwed hole; Screw rod is that two ends arrange threaded cylindrical straight-bar, and the interlude of screw rod is polished rod; Ball handle is by bulb body and hexagonal prism is stacked is up and down solidly fixed, longitudinal line of symmetry conllinear of bulb axis of rotation and six rib main bodys, and the longitudinal line of symmetry of hexagonal prism is provided with tapped blind hole from the bottom to top; Namely the upper end of screw rod is gone up spiro rod section and is equipped with as being fixedly connected with the tapped blind hole on ball handle, and namely the lower end of screw rod descends spiro rod section to be fixedly connected with chassis screw thread.
Compared with prior art the invention has the beneficial effects as follows:
1. the motion input that the handle being labeled as 6 in full decoupled plane two-freedom-degree parallel mechanism of the present invention can not only realize plane two-freedom translation form can also realize the output of plane two-freedom, is beneficial to force feedback realization and man-machine interactively;
2. the structure of full decoupled plane two-freedom-degree parallel mechanism of the present invention is simple, mechanism joint is few, kinematic pair is lower pair, mechanism self inertia and electric machine rotation inertia force all less, and manufacture and easy for installation, cost is lower;
3. full decoupled plane two-freedom-degree parallel mechanism of the present invention is suitable for being used in the narrow and small remote operating control field in operating space, saves space;
4. the pure translational degree of freedom of full decoupled plane two-freedom-degree parallel mechanism of the present invention is when robot inverse solution solves, and only has unique solution, and computing speed is fast, and real-time is good.
To sum up, the present invention has higher practical value and wide application prospect, for the technical fields such as parallel robot, Digit Control Machine Tool, coordinate measuring machine, remote operating provide a kind of new structure.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated:
Fig. 1 is the axonometric projection graph of full decoupled plane two-freedom-degree parallel mechanism structure of the present invention composition;
The axonometric projection graph of the fixed platform that Fig. 2 adopts for full decoupled plane two-freedom-degree parallel mechanism of the present invention;
The axonometric projection graph of the short slide block that Fig. 3 adopts for full decoupled plane two-freedom-degree parallel mechanism of the present invention;
The axonometric projection graph of the high slide block that Fig. 4 adopts for full decoupled plane two-freedom-degree parallel mechanism of the present invention;
The axonometric projection graph of the long connecting rod that Fig. 5 adopts for full decoupled plane two-freedom-degree parallel mechanism of the present invention;
The axonometric projection graph of the short connecting rod that Fig. 6 adopts for full decoupled plane two-freedom-degree parallel mechanism of the present invention;
The axonometric projection graph of the handle that Fig. 7 adopts for full decoupled plane two-freedom-degree parallel mechanism of the present invention;
The connecting rod size that Fig. 8 adopts for full decoupled plane two-freedom-degree parallel mechanism of the present invention determines figure;
In figure: 1. fixed platform, 2. short slide block, 3. high slide block, 4. long connecting rod, 5. short connecting rod, 6. handle, 7. vertical slide block slot, 8. transverse slider groove, 9. long connecting rod left hole, 10. long connecting rod right hole, 11. short connecting rod left hole, 12. short connecting rod right hole
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is explained in detail:
Consult Fig. 1, full decoupled plane two-freedom-degree parallel mechanism of the present invention is made up of with handle 6 fixed platform 1, short slide block 2, high slide block 3, long connecting rod 4, short connecting rod 5.
Short slide block 2 is arranged on for being slidably connected in fixed platform 1, and high slide block 3 is arranged on for being slidably connected in fixed platform 1, and handle 6 between long connecting rod 4 and short connecting rod 5, and is suspended from fixed platform 1; Right-hand member and the short slide block 2 of short connecting rod 5 are rotationally connected, and left end and the handle 6 of short connecting rod 5 are rotationally connected, and left end and the high slide block 3 of long connecting rod 4 are rotationally connected, and right-hand member and the handle 6 of long connecting rod 4 are rotationally connected.
Described fixed platform 1 is disc-shaped structure part, the top of fixed platform 1 is provided with vertical slide block slot 7 and the transverse slider groove 8 of dovetail (T) shape, vertical slide block slot 7 and transverse slider groove 8 diametrically run through layout in discoidal fixed platform 1, vertical slide block slot 7 and transverse slider groove 8 intersect vertically, vertical slide block slot 7 is identical with transverse slider groove 8 structure, lead and limit short slide block 2 and high other frees degree of slide block 3 for short slide block 2 and high slide block 3 provide, even if short slide block 2 can only do translational motion with high slide block 3 in vertical slide block slot 7 and transverse slider groove 8, 4 right angles simultaneously vertical slide block slot 7 and transverse slider groove 8 being intersected junction all do the chamfered of 2 × 45 °, provide guiding, avoid short slide block 2 stuck in centre position with high slide block 3 for during the center of circle by fixed platform 1 of short slide block 2 and high slide block 3,
Described short slide block 2 and high slide block 3 cross section are the similar structural member of the shape of " convex " font, all be made up of bolt (short slide block bolt and high slide block bolt) and base (short slide block base and high slide block base), namely the center of the upper surface of short slide block 2 and high slide block 3 is respectively arranged with one not containing short slide block bolt and the high slide block bolt of head, short slide block bolt and high slide block bolt end head are provided with screw thread, short slide block bolt and high slide block bolt other parts are polished rod part (short slide block bolt light rod part and high slide block bolt light rod part), short slide block bolt light rod part is fixedly connected with (split type) or be connected (monoblock type) with short slide block base with the upper surface of high slide block base with the bottom of high slide block bolt light rod part, one end (short connecting rod right hole 12 and short connecting rod left hole 9) of polished rod partial insertion short connecting rod 5 and long connecting rod 4 is for being rotationally connected, then the threaded tip of short slide block bolt and high slide block bolt and nut are equipped with, and make short connecting rod 5 and long connecting rod 4 only have 1 around the free degree of short slide block bolt and high slide block screws, short slide block 2 is arranged in vertical slide block slot 7 and slides, and high slide block 3 is arranged in transverse slider groove 8 and slides,
Described long connecting rod 4 and short connecting rod 5 are the prismatic member class formation part of rectangular cross section, all there is the bolt hole of same diameter at long connecting rod 4 and short connecting rod 5 two ends, the gyroaxis of the bolt hole at two ends is parallel to each other, and long connecting rod 4 is different with the pitch-row of the effective length of short connecting rod 5 and the bolt hole at two ends; The bolt hole at long connecting rod 4 two ends is called short connecting rod left hole 9 and long connecting rod right hole 10; The bolt hole at the two ends of short connecting rod 5 is called short connecting rod left hole 11 and short connecting rod right hole 12.
Described handle 6 is made up of chassis, screw rod and ball handle; Chassis is disc-like structural member, and the circle centre position on chassis is provided with a screwed hole; Screw rod is that two ends arrange threaded cylindrical straight-bar, and the interlude of screw rod is polished rod; Ball handle is by bulb body and hexagonal prism is stacked is up and down solidly fixed, longitudinal line of symmetry conllinear of bulb axis of rotation and six rib main bodys, and the longitudinal line of symmetry of hexagonal prism is provided with tapped blind hole from the bottom to top.
The polished rod part of screw rod is inserted in long connecting rod right hole 10 and short connecting rod left hole 11 from top to bottom, namely the upper end of screw rod is gone up spiro rod section and is equipped with as being fixedly connected with the tapped blind hole on ball handle, namely the lower end of screw rod descends spiro rod section to be fixedly connected with chassis screw thread, such long connecting rod 4 and short connecting rod 5 just can only the polished rod of screw rod in thorny handle 6 rotate, and do not have other frees degree.
Short slide block bolt on short slide block 2 coordinates to be set with the short connecting rod right hole 12 on short connecting rod 5 and forms revolute pair for being rotationally connected, short connecting rod left hole 11 on short connecting rod 5 coordinates to be set with the polished rod part of the screw rod on handle 6 and forms revolute pair for being rotationally connected, and forms the first side chain;
High slide block bolt on high slide block 3 coordinates to be set with the long connecting rod left hole 9 on long connecting rod 4 and forms revolute pair for being rotationally connected, long connecting rod right hole 10 on long connecting rod 4 coordinates to be set with the polished rod part of the screw rod on handle 6 and forms revolute pair for being rotationally connected, and forms the second side chain; The right-hand member of long connecting rod 4 and the left end of short connecting rod 5 be the screw rod be sleeved on handle 6 up and down stackedly polished rod part on for being rotationally connected, bottom surface and the top end face of short connecting rod 5 left end of long connecting rod 4 right-hand member are that contact slide is connected.
Consult Fig. 1, this full decoupled plane two-freedom-degree parallel mechanism comprises the rigid body sum l=6 of fixed platform 1; Joint sum n=6; The free degree sum of joint i
then according to plane mechanism freedom calculation formula
Try to achieve the number of degrees of freedom, m=2 of full decoupled plane two-freedom-degree parallel mechanism of the present invention.
Consult Fig. 8, in order to prevent short slide block 2 from bumping against in the junction of vertical slide block slot 7 and transverse slider groove 8 with high slide block 3, the condition of the physical dimension demand fulfillment of long connecting rod 4 and short connecting rod 5 and short slide block 2, high slide block 3, vertical slide block slot 7 and transverse slider groove 8 is as follows:
(0.5L
1+0.5L
5)
2+(0.5L
1+0.5L
5+L
7)
2＝L
6 2
L
3+L
2＝L
4
In formula: L
1for the width of the base upper part of short slide block 2 and high slide block 3; L
2for the thickness of long connecting rod 4 and short connecting rod 5; L
3for the height of short slide block; L
4for the height of high slide block; L
5for the length of short slide block 2 and high slide block 3; L
6for the centre-to-centre spacing of two stomidiums of long connecting rod 4; L
7for the centre-to-centre spacing of short connecting rod 5 liang of stomidiums;
The operation principle of full decoupled plane two-freedom-degree parallel mechanism of the present invention:
The handle 6 of full decoupled plane two-freedom-degree parallel mechanism of the present invention, when being subject to External Force Acting, decoupling zero can be carried out by force and motion to handle, the power be subject to by handle is decomposed into along guide rail direction component and the component along connecting rod direction, and the component along guide rail direction promotes slide block and does rectilinear motion; The plane motion of handle is converted into the rectilinear motion of slide block in guide rail.
The present invention adopts hinged bolts to connect mostly, for remote operating occasion, can ensure that the kinematic accuracy of remote control system.
Claims (8)
1. a full decoupled plane two-freedom-degree parallel mechanism, it is characterized in that, described full decoupled plane two-freedom-degree parallel mechanism comprises fixed platform (1), short slide block (2), high slide block (3), long connecting rod (4), short connecting rod (5) and handle (6);
Short slide block (2) is arranged in fixed platform (1) as being slidably connected, high slide block (3) is arranged in fixed platform (1) as being slidably connected, handle (6) to be positioned between long connecting rod (4) and short connecting rod (5) and to be suspended from fixed platform (1), right-hand member and the short slide block (2) of short connecting rod (5) are rotationally connected, left end and the handle (6) of short connecting rod (5) are rotationally connected, left end and the high slide block (3) of long connecting rod (4) are rotationally connected, and right-hand member and the handle (6) of long connecting rod (4) are rotationally connected.
2. according to full decoupled plane two-freedom-degree parallel mechanism according to claim 1, it is characterized in that, described short slide block (2) is arranged in fixed platform (1) and refers to for being slidably connected: short slide block (2) is arranged in the vertical slide block slot (7) in fixed platform (1) as being slidably connected;
High slide block (3) is arranged in fixed platform (1) and refers to for being slidably connected: high slide block (3) is arranged in the transverse slider groove (8) in fixed platform (1) as being slidably connected.
3. according to full decoupled plane two-freedom-degree parallel mechanism according to claim 1, it is characterized in that, the short connecting rod right hole (12) of described short connecting rod (5) coordinates with the short slide block bolt on short slide block (2) and is set with as being rotationally connected, and the short connecting rod left hole (11) of short connecting rod (5) coordinates with the polished rod part of the screw rod on handle (6) and is set with as being rotationally connected; Long connecting rod left hole (9) on long connecting rod (4) coordinates with the high slide block bolt on high slide block (3) and is set with as being rotationally connected, long connecting rod right hole (10) on long connecting rod (4) coordinates with the polished rod part of the screw rod on handle (6) and is set with as being rotationally connected, and the right-hand member of long connecting rod (4) and the left end of short connecting rod (5) are stacked up and down.
4. according to full decoupled plane two-freedom-degree parallel mechanism according to claim 1, it is characterized in that, described fixed platform (1) is disc-shaped structure part, the top of fixed platform (1) is provided with the transverse slider groove (8) of the vertical slide block slot (7) of the T-shaped of installing short slide block (2) and the T-shaped of the high slide block of installation (3), vertical slide block slot (7) and transverse slider groove (8) diametrically run through layout in discoidal fixed platform (1), vertical slide block slot (7) and transverse slider groove (8) intersect vertically, 4 right angles simultaneously vertical slide block slot (7) and transverse slider groove (8) being intersected junction all do the chamfered of 2 × 45 °.
5. according to full decoupled plane two-freedom-degree parallel mechanism according to claim 1, it is characterized in that, described short slide block (2) and high slide block (3) cross section are the structural member of " convex " font, all be made up of bolt and base, namely short slide block (2) is respectively arranged with a short slide block bolt and high slide block bolt with the center of the upper surface of high slide block (3), short slide block bolt and high slide block bolt end head are provided with screw thread, short slide block bolt and high slide block bolt other parts are short slide block bolt light rod part and high slide block bolt light rod part, short slide block bolt light rod part is fixedly connected with the bottom of high slide block bolt light rod part with the upper surface of short slide block base with high slide block base or is connected.
6. according to full decoupled plane two-freedom-degree parallel mechanism according to claim 1, it is characterized in that, the prismatic member class formation part that described long connecting rod (4) and short connecting rod (5) are rectangular cross section, long connecting rod (4) is provided with the bolt hole of same diameter with the two ends of short connecting rod (5), the gyroaxis of the bolt hole at two ends is parallel to each other, and long connecting rod (4) is different from the pitch-row of the effective length of short connecting rod (5) and the bolt hole at two ends; The bolt hole at long connecting rod (4) two ends is called and the long connecting rod left hole (9) of the high slide block bolt light rod section fits of high slide block (3) and the long connecting rod right hole (10) equipped with screw rod in handle (6), and the bolt hole at the two ends of short connecting rod (5) is called the short connecting rod right hole (12) of the short connecting rod left hole (11) equipped with screw rod in handle (6) and the short slide block bolt light rod section fits with short slide block (2).
7. according to full decoupled plane two-freedom-degree parallel mechanism according to claim 6, it is characterized in that, described long connecting rod (4) will meet following condition with short connecting rod (5) and short slide block (2), high slide block (3), vertical slide block slot (7) with the physical dimension of transverse slider groove (8):
(0.5L
1+0.5L
5)
2+(0.5L
1+0.5L
5+L
7)
2＝L
6 2
L
3+L
2＝L
4
In formula: L
1for the width of the base upper part of short slide block (2) and high slide block (3); L
2for the thickness of long connecting rod (4) and short connecting rod (5); L
3for the height of short slide block; L
4for the height of high slide block; L
5for the length of short slide block (2) and high slide block (3); L
6for the centre-to-centre spacing of two stomidiums of long connecting rod (4); L
7for the centre-to-centre spacing of short connecting rod (5) two stomidium.
8. according to full decoupled plane two-freedom-degree parallel mechanism according to claim 1, it is characterized in that, described handle (6) is made up of chassis, screw rod and ball handle;
Described chassis is disc-like structural member, and the circle centre position on chassis is provided with a screwed hole; Screw rod is that two ends arrange threaded cylindrical straight-bar, and the interlude of screw rod is polished rod; Ball handle is by bulb body and hexagonal prism is stacked is up and down solidly fixed, longitudinal line of symmetry conllinear of bulb axis of rotation and six rib main bodys, and the longitudinal line of symmetry of hexagonal prism is provided with tapped blind hole from the bottom to top; Namely the upper end of screw rod is gone up thread segment and is equipped with as being fixedly connected with the tapped blind hole on ball handle, and namely the lower end of screw rod descends thread segment to be fixedly connected with chassis screw thread.
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|---|---|---|---|
| CN201510066847.4A CN104608134B (en) | 2015-02-07 | 2015-02-07 | Full decoupled plane two-freedom-degree parallel mechanism |
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|---|---|---|---|
| CN201510066847.4A CN104608134B (en) | 2015-02-07 | 2015-02-07 | Full decoupled plane two-freedom-degree parallel mechanism |
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| CN104608134B CN104608134B (en) | 2015-12-02 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105066921A (en) * | 2015-08-13 | 2015-11-18 | 爱佩仪中测（成都）精密仪器有限公司 | Workpiece clamping mechanism applied to polar coordinate measuring machine |
| CN106493713A (en) * | 2016-12-12 | 2017-03-15 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism |
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| DE102010018802A1 (en) * | 2010-04-29 | 2011-11-03 | Franz Ehrenleitner | Manipulator has base that defines plane and base arm which is pivoted around base-fixed base axis that runs diagonal to perpendicular on base where intermediate arm is pivoted at base arm around arm axis |
| CN204431261U (en) * | 2015-02-07 | 2015-07-01 | 吉林大学 | Full decoupled plane two-freedom-degree parallel mechanism |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105066921A (en) * | 2015-08-13 | 2015-11-18 | 爱佩仪中测（成都）精密仪器有限公司 | Workpiece clamping mechanism applied to polar coordinate measuring machine |
| CN106493713A (en) * | 2016-12-12 | 2017-03-15 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism |
| CN106493713B (en) * | 2016-12-12 | 2018-09-04 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism |
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| CN104608134B (en) | 2015-12-02 |
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