CN105643660A - Novel two-freedom-degree parallel robot joint - Google Patents
Novel two-freedom-degree parallel robot joint Download PDFInfo
- Publication number
- CN105643660A CN105643660A CN201610171417.3A CN201610171417A CN105643660A CN 105643660 A CN105643660 A CN 105643660A CN 201610171417 A CN201610171417 A CN 201610171417A CN 105643660 A CN105643660 A CN 105643660A
- Authority
- CN
- China
- Prior art keywords
- branched chain
- revolute pair
- connecting rod
- movement branched
- pair
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A novel two-freedom-degree parallel robot joint mainly comprises a fixed platform, a movable platform and three motion branch chains connecting the movable platform with the fixed platform; each motion branch chain is composed of a lower connecting rod and an upper connecting rod; each lower connecting rod is connected with the fixed platform through a revolute pair or spherical pair, the upper connecting rods are connected with the lower connecting rods through revolute pairs, and each upper connecting rod is connected with the movable platform through a revolute pair or spherical pair; and the three motion branch chains are connected through three coupling connecting rods and a center connecting rod, each motion branch chain is connected with the center connecting rod through one coupling connecting rod, one end of each coupling connecting rod is connected with the corresponding motion branch chain through a revolute pair, and the other end of each coupling connecting rod is connected with the center connecting rod through a revolute pair. According to the novel two-freedom-degree parallel robot joint, the movable platform can do spherical face two-freedom-degree rotation relative to the fixed platform, the beneficial effects of being small in size, large in rigidity, high in precision, large in rotating working space and the like are achieved, and the robot joint can be widely applied to the fields of robots especially biomimetic robots
Description
Technical field
The invention belongs to robot, sensitive instrument and equipment field, particularly to a kind of novel two-freedom parallel manipulator person joint.
Technical background
The relatively conventional serial mechanism of parallel institution has the advantages such as kinematic accuracy height, rigidity is big, dynamic response is good, obtains certain application in fields such as Aero-Space, package packing machine, robots. Owing to parallel institution is affected by kinematic pair work space and side chain interference etc., the space making parallel institution is general less, seriously constrain the parallel institution application in fields such as industry and robots, therefore research has the parallel institution of big work space, becomes the important content in one, parallel institution field.
The degree of freedom of parallel institution can be divided into one-movement-freedom-degree and rotational freedom, and wherein one-movement-freedom-degree can pass through the way increase mobile working space of enlarging mechanism size, but rotation space does not but increase with the increase of mechanism size. External class parallel institution that big work space is rotated is studied relatively early, patent of invention US4651589 proposes a kind of big work space 3-freedom parallel mechanism, and it is successfully applied to lock-on equipment, patent of invention US4686866 discloses a kind of big work space two one-rotation parallel mechanism, and it is successfully applied in industrial spraying robot, patent of invention US6658962B1 discloses a kind of four side chain big work space two one-rotation parallel mechanism, and it is applied in bio-robot, achieve good effect. Domestic less to having big rotation work space parallel mechanism achievement in research, wherein big work space two one-rotation parallel mechanism has been studied by patent of invention CN103217986A and patent of invention CN103433916A, and achieves some achievements. But the above-mentioned parallel institution with big rotation work space broadly falls into aspheric surface parallel institution, the moving platform center of rotation of mechanism is not unique, and this character seriously limits the application in robot particularly bio-robot field of this kind of mechanism.
Summary of the invention
For solving the problems referred to above, the present invention provides a kind of novel two-freedom parallel manipulator person joint, moving platform can be realized and do the rotation of sphere two-freedom around fixed platform, and this parallel institution has advantages such as volume is little, rigidity is big, precision is high, rotation work space is big, can be widely applied to the fields such as robot particularly bio-robot.
Technical scheme is specific as follows:
The invention mainly comprises fixed platform, moving platform, connect three movement branched chain dynamic, fixed platform, it has three kinds of connected modes:
The first connected mode: three movement branched chain structures are identical, every movement branched chain forms by lower link and upper connecting rod, lower link one end is connected by lower revolute pair with fixed platform, the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform; Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, it is connected by revolute pair between coupled links one end and movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis in connected movement branched chain, the coupled links other end is connected by revolute pair with center rod, and three coupled links are connected the dead in line of three revolute pairs formed with center rod; In this joint, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation in joint.
The second connected mode: three movement branched chain structures are identical, every movement branched chain forms by lower link and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by upper revolute pair with moving platform; Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, it is connected by revolute pair between coupled links one end and movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis in connected movement branched chain, the coupled links other end is connected by revolute pair with center rod, and three coupled links are connected the dead in line of three revolute pairs formed with center rod; In this joint, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation in joint.
The third connected mode: the first movement branched chain is identical with the second movement branched chain structure, article two, movement branched chain forms by lower link and upper connecting rod, lower link one end is connected by lower revolute pair with fixed platform, the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform; 3rd movement branched chain is made up of lower link and upper connecting rod, and lower link one end is connected by spherical pair with fixed platform, and the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by upper revolute pair with moving platform; Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, it is connected by revolute pair between coupled links one end and movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis in connected movement branched chain, the coupled links other end is connected by revolute pair with center rod, and three coupled links are connected the dead in line of three revolute pairs formed with center rod; In this joint, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation in joint.
The present invention compared with prior art has the advantage that
(1) the relative fixed platform of moving platform has sphere double rotation freedom degrees, and center of rotation is unique; (2) moving platform is big relative to fixed platform rotation work space;(3) arthritic volume is little, and rigidity is big; Article (4) three, intercouple between movement branched chain, further increase the stress performance in joint; (5) in movement branched chain, it is suitably introduced into spherical pair, reduces the constraint between each kinematic pair in joint, make joint be prone to processing and assembling.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention 1 stereochemical structure simplified schematic diagram.
Fig. 2 is the embodiment of the present invention 2 stereochemical structure simplified schematic diagram.
Fig. 3 is the embodiment of the present invention 3 stereochemical structure simplified schematic diagram.
In figure: 1. fixed platform, 2. moving platform, (3,3 ', 3 ��). lower link, (4,4 ', 4 ��). upper connecting rod, (5,5 ', 5 ��). coupled links, 6. center rod.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described, and in all embodiments, described Rij represents a revolute pair, and Sij represents a spherical pair, and wherein i, j are natural number.
Embodiment 1
It is the 1st embodiment disclosed by the invention as shown in Figure 1, a kind of novel two-freedom parallel manipulator person joint, mainly include fixed platform 1, moving platform 2, connect three movement branched chain dynamic, fixed platform. Article three, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link 3 and upper connecting rod 4, it is of coupled connections by revolute pair R11 between lower link 3 and fixed platform 1, lower link 3 and upper connecting rod 4 are of coupled connections by revolute pair R12, are of coupled connections by spherical pair S13 between upper connecting rod 4 and moving platform 2; Second movement branched chain is made up of lower link 3 �� and upper connecting rod 4 ��, it is of coupled connections by revolute pair R21 between lower link 3 �� and fixed platform 1, lower link 3 �� and upper connecting rod 4 �� is of coupled connections by revolute pair R22, is of coupled connections by spherical pair S23 between upper connecting rod 4 �� and moving platform 2; 3rd movement branched chain is made up of lower link 3 �� and upper connecting rod 4 ��, it is of coupled connections by revolute pair R31 between lower link 3 �� and fixed platform 1, lower link 3 �� and upper connecting rod 4 �� is of coupled connections by revolute pair R32, is of coupled connections by spherical pair S33 between upper connecting rod 4 �� and moving platform 2.
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, is connected by a coupled links between every movement branched chain and center rod. First coupled links 5 one end and the first movement branched chain are of coupled connections by revolute pair R14, and the other end and center rod 6 are of coupled connections by revolute pair R15, and revolute pair R14 axis and revolute pair R12 dead in line; Second coupled links 5 �� one end and the second movement branched chain are of coupled connections by revolute pair R24, and the other end and center rod 6 are of coupled connections by revolute pair R25, and revolute pair R24 axis and revolute pair R22 dead in line; 3rd coupled links 5 �� one end and the 3rd movement branched chain are of coupled connections by revolute pair R34, and the other end and center rod 6 are of coupled connections by revolute pair R35, and revolute pair R34 axis and revolute pair R32 dead in line. Described revolute pair R15, revolute pair R25, revolute pair R35 axis overlap, described revolute pair R11, revolute pair R12, revolute pair R14, revolute pair R15, revolute pair R21, revolute pair R22, revolute pair R24, revolute pair R25, revolute pair R31, revolute pair R32, revolute pair R34, revolute pair R35 axes intersect are in a bit, and this point is the center of rotation in joint.
Embodiment 2
It is the 2nd embodiment disclosed by the invention as shown in Figure 2, a kind of novel two-freedom parallel manipulator person joint, mainly include fixed platform 1, moving platform 2, connect three movement branched chain dynamic, fixed platform.Article three, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link 3 and upper connecting rod 4, it is of coupled connections by spherical pair S11 between lower link 3 and fixed platform 1, lower link 3 and upper connecting rod 4 are of coupled connections by revolute pair R12, are of coupled connections by revolute pair R13 between upper connecting rod 4 and moving platform 2; Second movement branched chain is made up of lower link 3 �� and upper connecting rod 4 ��, it is of coupled connections by spherical pair S21 between lower link 3 �� and fixed platform 1, lower link 3 �� and upper connecting rod 4 �� is of coupled connections by revolute pair R22, is of coupled connections by revolute pair R23 between upper connecting rod 4 �� and moving platform 2; 3rd movement branched chain is made up of lower link 3 �� and upper connecting rod 4 ��, it is of coupled connections by spherical pair S31 between lower link 3 �� and fixed platform 1, lower link 3 �� and upper connecting rod 4 �� is of coupled connections by revolute pair R32, is of coupled connections by revolute pair R33 between upper connecting rod 4 �� and moving platform 2.
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, is connected by a coupled links between every movement branched chain and center rod. First coupled links 5 one end and the first movement branched chain are of coupled connections by revolute pair R14, and the other end and center rod 6 are of coupled connections by revolute pair R15, and revolute pair R14 axis and revolute pair R12 dead in line; Second coupled links 5 �� one end and the second movement branched chain are of coupled connections by revolute pair R24, and the other end and center rod 6 are of coupled connections by revolute pair R25, and revolute pair R24 axis and revolute pair R22 dead in line; 3rd coupled links 5 �� one end and the 3rd movement branched chain are of coupled connections by revolute pair R34, and the other end and center rod 6 are of coupled connections by revolute pair R35, and revolute pair R34 axis and revolute pair R32 dead in line. Described revolute pair R15, revolute pair R25, revolute pair R35 axis overlap, described revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R15, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R25, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R35 axes intersect are in a bit, and this point is the center of rotation in joint.
Embodiment 3
It is the 3rd embodiment disclosed by the invention as shown in Figure 3, a kind of novel two-freedom parallel manipulator person joint, mainly include fixed platform 1, moving platform 2, connect three movement branched chain dynamic, fixed platform. Wherein the first movement branched chain is made up of lower link 3 and upper connecting rod 4, it is of coupled connections by revolute pair R11 between lower link 3 and fixed platform 1, lower link 3 and upper connecting rod 4 are of coupled connections by revolute pair R12, are of coupled connections by spherical pair S13 between upper connecting rod 4 and moving platform 2; Second movement branched chain is made up of lower link 3 �� and upper connecting rod 4 ��, it is of coupled connections by revolute pair R21 between lower link 3 �� and fixed platform 1, lower link 3 �� and upper connecting rod 4 �� is of coupled connections by revolute pair R22, is of coupled connections by spherical pair S23 between upper connecting rod 4 �� and moving platform 2; 3rd movement branched chain is made up of lower link 3 �� and upper connecting rod 4 ��, it is of coupled connections by spherical pair S31 between lower link 3 �� and fixed platform 1, lower link 3 �� and upper connecting rod 4 �� is of coupled connections by revolute pair R32, is of coupled connections by revolute pair R33 between upper connecting rod 4 �� and moving platform 2.
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, is connected by a coupled links between every movement branched chain and center rod.First coupled links 5 one end and the first movement branched chain are of coupled connections by revolute pair R14, and the other end and center rod 6 are of coupled connections by revolute pair R15, and revolute pair R14 axis and revolute pair R12 dead in line; Second coupled links 5 �� one end and the second movement branched chain are of coupled connections by revolute pair R24, and the other end and center rod 6 are of coupled connections by revolute pair R25, and revolute pair R24 axis and revolute pair R22 dead in line; 3rd coupled links 5 �� one end and the 3rd movement branched chain are of coupled connections by revolute pair R34, and the other end and center rod 6 are of coupled connections by revolute pair R35, and revolute pair R34 axis and revolute pair R32 dead in line. Described revolute pair R15, revolute pair R25, revolute pair R35 axis overlap; Described revolute pair R11, revolute pair R12, revolute pair R14, revolute pair R15, revolute pair R21, revolute pair R22, revolute pair R24, revolute pair R25, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R35 axes intersect are in a bit, and this point is the center of rotation in joint.
Claims (3)
1. a novel two-freedom parallel manipulator person joint, it has fixed platform, moving platform, connect three movement branched chain dynamic, fixed platform, it is characterized in that: three movement branched chain structures are identical, every movement branched chain forms by lower link and upper connecting rod, lower link one end is connected by lower revolute pair with fixed platform, and the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform; Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, it is connected by revolute pair between coupled links one end and movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis in connected movement branched chain, the coupled links other end is connected by revolute pair with center rod, and three coupled links are connected the dead in line of three revolute pairs formed with center rod; In this joint, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation in joint.
2. a novel two-freedom parallel manipulator person joint, it has fixed platform, moving platform, connect three movement branched chain dynamic, fixed platform, it is characterized in that: three movement branched chain structures are identical, every movement branched chain forms by lower link and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, and the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by upper revolute pair with moving platform; Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, it is connected by revolute pair between coupled links one end and movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis in connected movement branched chain, the coupled links other end is connected by revolute pair with center rod, and three coupled links are connected the dead in line of three revolute pairs formed with center rod; In this joint, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation in joint.
3. a novel two-freedom parallel manipulator person joint, it has fixed platform, moving platform, connect three movement branched chain dynamic, fixed platform, it is characterized in that: the first movement branched chain is identical with the second movement branched chain structure, article two, movement branched chain forms by lower link and upper connecting rod, lower link one end is connected by lower revolute pair with fixed platform, and the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform;3rd movement branched chain is made up of lower link and upper connecting rod, and lower link one end is connected by spherical pair with fixed platform, and the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by upper revolute pair with moving platform; Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, it is connected by revolute pair between coupled links one end and movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis in connected movement branched chain, the coupled links other end is connected by revolute pair with center rod, and three coupled links are connected the dead in line of three revolute pairs formed with center rod; In this joint, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation in joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610171417.3A CN105643660A (en) | 2016-03-24 | 2016-03-24 | Novel two-freedom-degree parallel robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610171417.3A CN105643660A (en) | 2016-03-24 | 2016-03-24 | Novel two-freedom-degree parallel robot joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105643660A true CN105643660A (en) | 2016-06-08 |
Family
ID=56494427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610171417.3A Pending CN105643660A (en) | 2016-03-24 | 2016-03-24 | Novel two-freedom-degree parallel robot joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105643660A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972507A (en) * | 2018-07-30 | 2018-12-11 | 燕山大学 | A kind of redundant drive sphere parallel mechanism with double rotation freedom degrees |
| CN109955281A (en) * | 2019-04-26 | 2019-07-02 | 哈尔滨工业大学（深圳） | Two degrees of freedom big corner flexible machine person joint, robot based on rope driving |
| CN110434839A (en) * | 2019-09-16 | 2019-11-12 | 河北工业大学 | A kind of four-degree-of-freedom broad sense sphere parallel mechanism containing sub- closed loop |
| CN113305807A (en) * | 2021-05-17 | 2021-08-27 | 华中科技大学 | Bionic wrist joint based on asymmetric 3-RRR parallel mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5893296A (en) * | 1997-03-13 | 1999-04-13 | Ross-Hime Designs, Incorporated | Multiple rotatable links robotic manipulator |
| US6658962B1 (en) * | 2001-10-31 | 2003-12-09 | Ross-Hime Designs, Incorporated | Robotic manipulator |
| CN101306534A (en) * | 2008-05-29 | 2008-11-19 | 燕山大学 | Off-set output 3-dof spherical surface parallel mechanism articulated with center spherical surface |
| CN101797435A (en) * | 2010-03-17 | 2010-08-11 | 上海大学 | Bionic eye of three-degree-of-freedom spherical parallel mechanism |
| CN103217986A (en) * | 2013-03-13 | 2013-07-24 | 北京航空航天大学 | Two-freedom-degree parallel-connection rotation mechanism with spherical surface pure-rolling property |
| CN103286792A (en) * | 2013-03-26 | 2013-09-11 | 上海大学 | Three-freedom-degree parallel robot wrists with aligning mechanisms |
-
2016
- 2016-03-24 CN CN201610171417.3A patent/CN105643660A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5893296A (en) * | 1997-03-13 | 1999-04-13 | Ross-Hime Designs, Incorporated | Multiple rotatable links robotic manipulator |
| US6658962B1 (en) * | 2001-10-31 | 2003-12-09 | Ross-Hime Designs, Incorporated | Robotic manipulator |
| CN101306534A (en) * | 2008-05-29 | 2008-11-19 | 燕山大学 | Off-set output 3-dof spherical surface parallel mechanism articulated with center spherical surface |
| CN101797435A (en) * | 2010-03-17 | 2010-08-11 | 上海大学 | Bionic eye of three-degree-of-freedom spherical parallel mechanism |
| CN103217986A (en) * | 2013-03-13 | 2013-07-24 | 北京航空航天大学 | Two-freedom-degree parallel-connection rotation mechanism with spherical surface pure-rolling property |
| CN103286792A (en) * | 2013-03-26 | 2013-09-11 | 上海大学 | Three-freedom-degree parallel robot wrists with aligning mechanisms |
Non-Patent Citations (1)
| Title |
|---|
| 刘婧芳等: ""4类具有一级节点的1T对称耦合机构的构型综合"", 《中国科技论文》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972507A (en) * | 2018-07-30 | 2018-12-11 | 燕山大学 | A kind of redundant drive sphere parallel mechanism with double rotation freedom degrees |
| CN109955281A (en) * | 2019-04-26 | 2019-07-02 | 哈尔滨工业大学（深圳） | Two degrees of freedom big corner flexible machine person joint, robot based on rope driving |
| WO2020215386A1 (en) * | 2019-04-26 | 2020-10-29 | 哈尔滨工业大学（深圳） | Rope driving-based two-degree-of-freedom flexible robot joint with large rotation angle, and robot |
| CN110434839A (en) * | 2019-09-16 | 2019-11-12 | 河北工业大学 | A kind of four-degree-of-freedom broad sense sphere parallel mechanism containing sub- closed loop |
| CN110434839B (en) * | 2019-09-16 | 2024-01-12 | 河北工业大学 | Four-degree-of-freedom generalized spherical parallel mechanism with closed loop of introns |
| CN113305807A (en) * | 2021-05-17 | 2021-08-27 | 华中科技大学 | Bionic wrist joint based on asymmetric 3-RRR parallel mechanism |
| CN113305807B (en) * | 2021-05-17 | 2022-07-19 | 华中科技大学 | Bionic wrist joint based on asymmetric 3-RRR parallel mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105643660A (en) | Novel two-freedom-degree parallel robot joint | |
| CN102166749B (en) | 2-PRR&PPRR three-degree-of-freedom spatial parallel robot mechanism | |
| CN105082119B (en) | Robot | |
| CN104308835A (en) | Plane-symmetry three-rotating parallel connection mechanism | |
| CN205394594U (en) | Novel two rotate robot joint | |
| CN205394590U (en) | Two degree of freedom robot joint on highly branched chain coupling sphere | |
| CN105773578A (en) | Multi-branched-chain coupled spherical two-rotation parallel robot joint | |
| CN105563515A (en) | Multi-branch-chain coupled spherical robot joint with two degrees of freedom | |
| CN103659793A (en) | Three-horizontal-moving parallel mechanism with single branch chains containing closed rings | |
| CN105619391A (en) | Two-degree-of-freedom in-parallel mechanism | |
| CN205386828U (en) | Big two degree of freedom robot joint on working space sphere | |
| CN204209689U (en) | A kind of novel symmetry two one-rotation parallel mechanism | |
| CN106078686A (en) | A kind of multiple degrees of freedom spatial parallel robot mechanism | |
| CN204209685U (en) | A kind of novel two one-rotation parallel mechanisms | |
| CN205394532U (en) | Big working space sphere two rotates parallel mechanism | |
| CN105773579A (en) | Multi-branch chain coupled spherical two-rotating parallel mechanism | |
| CN205394531U (en) | Highly branched chain coupling sphere two rotates parallel mechanism | |
| CN205394588U (en) | Parallelly connected robot joint of sphere two -degree -of -freedom | |
| CN105619447A (en) | Two-degree-of-freedom in-parallel spraying robot joint | |
| CN107598902A (en) | A kind of six-degree-of-freedom parallel connection mechanism | |
| RU135283U1 (en) | SPATIAL MECHANISM WITH FIVE DEGREES OF FREEDOM | |
| CN105710866B (en) | A kind of four-degree-of-freedparallel parallel manipulator with nested structure | |
| CN105619446B (en) | Highly branched chain coupling robot wrist joint | |
| CN105598997A (en) | Spherical two-degree-of-freedom parallel robot joint | |
| CN105598952A (en) | Large-working space spherical two-rotation parallel mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160608 |
|
| RJ01 | Rejection of invention patent application after publication |