CN105881509A - Double-regular-tetrahedron superimposed symmetrical coupling mechanism with single-freedom-degree movement - Google Patents
Double-regular-tetrahedron superimposed symmetrical coupling mechanism with single-freedom-degree movement Download PDFInfo
- Publication number
- CN105881509A CN105881509A CN201610350470.XA CN201610350470A CN105881509A CN 105881509 A CN105881509 A CN 105881509A CN 201610350470 A CN201610350470 A CN 201610350470A CN 105881509 A CN105881509 A CN 105881509A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- branch
- node component
- moving platform
- component
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a double-regular-tetrahedron superimposed symmetrical coupling mechanism with single-freedom-degree movement. The technical scheme of a symmetrical coupling mechanism with single-freedom-degree movement is adopted on the basis of the characteristic that a frame is composed of regular polyhedron structures. According to the characteristics of geometric elements forming regular polyhedrons, two regular tetrahedrons which are of the completely-same structure size are selected, regular triangular faces included in the two regular tetrahedrons are selected to coincide with each other, and a new space polyhedron is obtained. The mechanism is simple and symmetrical in branch structure, the whole mechanism framework is obtained by coupling and connecting a base of a regular triangular component form and a movable platform of a regular triangular component form through regular quadrilateral joint components and two pairs of rod components on the basis of the space polyhedron structure obtained by combining the two regular polyhedrons, the straight line connecting the geometric centers of the base and the movable platform is used as the symmetry axis of the whole mechanism, earlier-stage assembling and later-period maintenance are easy and convenient, and good application prospects are achieved.
Description
Technical field
The one of the present invention polyhedral symmetrical structure based on two positive tetrahedron superpositions development
There is the multi-ring coupling mechanism that single-degree-of-freedom moves, relate to applied mechanism technical field, especially
It relate to a kind of have the robot actuating mechanism that single-degree-of-freedom moves.
Background technology
Along with mechanism by simple to space-oriented complicated, flat, monocycle to multi-ring development,
Mechanics innovation is key and the study hotspot of machine equipment innovation all the time.Some high intensity,
Heavy duty occasion, the phenomenon replacing manual labor with industry mechanical arm is the most universal.These occasions
Often require that the actuator intensity of mechanical arm is high, simple in construction, low cost, easy to maintenance,
And end performs component stable movement, the feature being easily controlled.Existing parallel institution has
Having bearing capacity strong, rigidity is big, the advantages such as inertia is low, but work space is limited；Series connection
Mechanism's work space is big, and simple in construction is dexterous, but intensity is low, is not suitable for heavy duty occasion；
Series connection is effectively combined by hybrid mechanism with parallel institution, breaks through each self-structure simultaneously
Shortcoming, but the connection between the frame of hybrid mechanism and end effector is typically with in parallel connection
Presented in adding a Serial manipulator connecting upper lower platform in mechanism, this just makes whole
While individual mechanism obtains bigger work space, the volume of self is the dexterousst light, and this gives
The assembling of mechanism, transports and performs to make troubles.
Summary of the invention
Based on background above, the invention provides one can be as mobile robot actuating mechanism
Single-degree-of-freedom move symmetrical coupled mechanism, it is big that this mechanism has rigidity, and bearing capacity is strong,
Stable movement, simple in construction, assembling and feature easy to maintenance, for domestic enterprise and research
Mechanism provides patent information and technical support.
For achieving the above object, present invention feature based on regular polygon structure composition framework,
Use and a kind of there is single-degree-of-freedom move the technical scheme of symmetrical coupled mechanism.According to composition just
The feature of polyhedron key element, selects two identical positive tetrahedrons of physical dimension i.e.
ABCD and A ' B ' C ' D ', selects each for the two positive tetrahedron self-contained positive three
Angled face BCD and B ' C ' D ' overlap, obtain new space development model ABCDA ' or
A B ' C ' D ' A ', wherein B with B ' overlaps, C with C ' overlaps, D and D ' weight
Close.
Replace coincidence point B respectively with three square components ', C ' and D ', with two
Equilateral triangle component replaces A and A ', replaces sky with six connecting rods containing two revolute pairs
Between polyhedral six seamed edges AB, AC, AD, A ' B ', A ' C ' and A ' D ',
Two bar three revolute pair bar groups of following proposal are referred to as connecting rod, with three two bar three revolute pair bars
Group replace overlap seamed edge BC or B ' C ', CD or C ' D ' and BD or
B ' D ', two bar three revolute pair bar groups of following proposal are referred to as bar group；According to space multiaspect
All seamed edges of body ABCDA ' and the geometry feature on summit, with six connecting rods and three
Bar group connects two equilateral triangle components and three square components obtain coupling mechanism.Often
Three revolute pair axis on individual equilateral triangle component are respectively positioned in triangle projective planum, and adjacent
Angle between axis is 60 °.Four revolute pair axis of each square component are equal
It is positioned at component institute itself planar, and adjacent rotated secondary axis is mutually perpendicular to, opposite side axis
It is parallel to each other.Each bar group is obtained by two connecting rod series connection, and described connecting rod is and comprises two
Connect the same class connecting rod of revolute pair, and the two revolute pair axis is parallel.
This mechanism includes frame (D1), moving platform (M1) and connection frame and moving platform
Three branches and three coupling bar groups.Article three, branch include the first branch, the second branch,
3rd branch.Three coupling bar groups include the first coupling bar group, the second coupling bar group, the 3rd
Coupling bar group.Each coupling bar group is connected with two of which branch, three branches and three couplings
Close bar group interval and connect the netted coupled structure of formation, Mei Tiao branch will connect coupling bar group
Three square components are all defined as node component, respectively primary nodal point component (N1),
Secondary nodal point component (N2) and the 3rd node component (N3).
First branch include first revolute pair (R1) of frame, first turn of node component one
Dynamic secondary (R11), the 4th revolute pair (R14) of node component one, moving platform first rotate
Secondary (R41)；First revolute pair (R1) of frame and first revolute pair (R11) of node component one
Being connected by first connecting rod (L1), the 4th revolute pair (R14) of node component one is flat with dynamic
Platform the first revolute pair (R41) is connected by second connecting rod (L2).
Second branch include second revolute pair (R2) of frame, first turn of node component two
Dynamic secondary (R21), the 4th revolute pair (R24) of node component two, moving platform second rotate
Secondary (R42)；Second revolute pair (R2) of frame and first revolute pair (R21) of node component two
Being connected by third connecting rod (L3), the 4th revolute pair (R24) of node component two is flat with dynamic
Platform the second revolute pair (R42) is connected by fourth link (L4).
3rd branch include the 3rd revolute pair (R3) of frame, first turn of node component three
Dynamic secondary (R31), the 4th revolute pair (R34) of node component three, moving platform the 3rd rotate
Secondary (R43)；3rd revolute pair (R3) of frame and first revolute pair (R31) of node component three
Being connected by the 5th connecting rod (L5), the 4th revolute pair (R34) of node component three is flat with dynamic
Platform the 3rd revolute pair (R43) is connected by six-bar linkage (L6).
Selecting equilateral triangle component (M1) is moving platform, the first branch by moving platform the
One revolute pair (R41) is connected to moving platform (M1), the second branch by moving platform the
Two revolute pairs (R42) are connected to moving platform (M1), the 3rd branch by moving platform the
Three revolute pairs (R43) are connected to moving platform (M1), and described three branches are parallel to dynamic flat
On platform (M1).It addition, the first branch node component one (N1) and the second branch node structure
It is of coupled connections by the first coupling bar group (G1) between part two (N2), the second branch node
By the second coupling bar group between component two (N2) and the 3rd branch node component three (N3)
(G2) it is of coupled connections, the 3rd branch node component three (N3) and the first branch node component
It is of coupled connections by the 3rd coupling bar group (G3) between one (N1).Wherein the first coupling bar
Group is expressed as simple motion kinematic chain (-R13-R4-R22-), and the second coupling bar group is expressed as letter
Singly doing exercises chain (-R23-R5-R32-), the 3rd coupling bar group is expressed as simple motion campaign
Chain (-R33-R6-R12-).
Compared with prior art, the invention have the advantages that
1, this mechanism's branched structure is simple and symmetrical, and whole institutional framework is based on two positive four
Face body combines the space development model structure obtained, by the pedestal of equilateral triangle component form with dynamic
A kind of square node component of platform and second mate's bar component are of coupled connections and obtain, whole machine
Structure with the straight line of the geometric center that connects pedestal and moving platform as axis of symmetry, early stage assembling and after
Phase convenience easy to maintenance；
2, compared with the mechanism realizing same kinetic property, this in-house structure is considered as
Formed identical circulus by six and splice the network structure obtained, have both string also
The features such as the advantage of online structure, has bearing capacity high, and rigidity is big and work space is big, suitable
Actuator for heavy-duty machinery arm；
3, this mechanism has single-degree-of-freedom moving movement character, does the stretching motion of specific direction,
There is centripetal movement tendency, and stretch gathering according to working condition and environmental demand, it is simple to
Transport, can preferably adapt to special occasions, have good application prospect.
Accompanying drawing explanation
Fig. 1 is the space development model structure two identical positive tetrahedron superpositions obtained
Schematic diagram.
In figure: A, B, C, D are 4 summits of a positive tetrahedron, A ', B ', C ',
D ' is 4 summits of another positive tetrahedron, make B with B ' overlap, C with C ' overlaps,
D with D ' overlaps and obtains new space development model ABCDA ' or AB ' C ' D ' A '.
Fig. 2 is that single-degree-of-freedom based on space development model structural framing moves six ring symmetrical coupled
The schematic diagram of mechanism.
In figure: D1, frame N1, node component one N2, node component two N3,
Node component three M1, moving platform R1, the first revolute pair R2 of frame,
Second revolute pair R3 of frame, the 3rd revolute pair R11 of frame, node component one
The first revolute pair R12, the second revolute pair R13 of node component one, node structure
3rd revolute pair R14 of part one, the 4th revolute pair R21 of node component one, joint
Point the first revolute pair R22 of component two, the second revolute pair R23 of node component two,
3rd revolute pair R24 of node component two, the 4th revolute pair of node component two
R31, the first revolute pair R32 of node component three, the second revolute pair of node component three
R33, the 3rd revolute pair R34 of node component three, the 4th revolute pair of node component three
R41, the first revolute pair R42 of moving platform, the second revolute pair R43 of moving platform,
3rd revolute pair L1 of moving platform, first connecting rod L2, second connecting rod L3,
Third connecting rod L4, fourth link L5, the 5th connecting rod L6, six-bar linkage
R4, bar group one (G1) connect the central rotational secondary R5 of R13 and R22, bar group two
(G2) connect in the central rotational secondary R6 of R23 and R32, bar group three (G3) in and connect
The central rotational meeting R33 and R12 is secondary
Detailed description of the invention
As in figure 2 it is shown, the first branch includes first revolute pair (R1) of frame, node structure
First revolute pair (R11) of part one, the 4th revolute pair (R14) of node component one, dynamic
Platform the first revolute pair (R41)；First revolute pair (R1) of frame and node component one
First revolute pair (R11) is connected by first connecting rod (L1), the 4th turn of node component one
Dynamic secondary (R14) is connected by second connecting rod (L2) with moving platform the first revolute pair (R41).
Second branch include second revolute pair (R2) of frame, first turn of node component two
Dynamic secondary (R21), the 4th revolute pair (R24) of node component two, moving platform second rotate
Secondary (R42)；Second revolute pair (R2) of frame and first revolute pair (R21) of node component two
Being connected by third connecting rod (L3), the 4th revolute pair (R24) of node component two is flat with dynamic
Platform the second revolute pair (R42) is connected by fourth link (L4).
3rd branch include the 3rd revolute pair (R3) of frame, first turn of node component three
Dynamic secondary (R31), the 4th revolute pair (R34) of node component three, moving platform the 3rd rotate
Secondary (R43)；3rd revolute pair (R3) of frame and first revolute pair (R31) of node component three
Being connected by the 5th connecting rod (L5), the 4th revolute pair (R34) of node component three is flat with dynamic
Platform the 3rd revolute pair (R43) is connected by six-bar linkage (L6).
Selecting equilateral triangle component (M1) is moving platform, the first branch by moving platform the
One revolute pair (R41) is connected to moving platform (M1), the second branch by moving platform the
Two revolute pairs (R42) are connected to moving platform (M1), the 3rd branch by moving platform the
Three revolute pairs (R43) are connected to moving platform (M1), and described three branches are parallel to dynamic flat
On platform (M1).It addition, the first branch node component one (N1) and the second branch node structure
It is of coupled connections by the first coupling bar group (G1) between part two (N2), the second branch node
By the second coupling bar group between component two (N2) and the 3rd branch node component three (N3)
(G2) it is of coupled connections, the 3rd branch node component three (N3) and the first branch node component
It is of coupled connections by the 3rd coupling bar group (G3) between one (N1).Wherein the first coupling bar
Group is expressed as simple motion kinematic chain (-R13-R4-R22-), and the second coupling bar group is expressed as letter
Singly doing exercises chain (-R23-R5-R32-), the 3rd coupling bar group is expressed as simple motion campaign
Chain (-R33-R6-R12-).
Claims (5)
1. the double positive tetrahedron superposition symmetrical coupled mechanism having that single-degree-of-freedom moves, its feature
It is:
According to the feature of composition regular polygon geometric element, select two complete phases of physical dimension
Same positive tetrahedron i.e. ABCD and A ' B ' C ' D ', selects the two positive tetrahedron
Each self-contained equilateral triangle face BCD and B ' C ' D ' overlaps, and obtains new space multiaspect
Body ABCDA ' or A B ' C ' D ' A ', wherein B with B ' overlaps, C and C ' weighs
Close, D with D ' overlaps；
Replace coincidence point B respectively with three square components ', C ' and D ', with two
Equilateral triangle component replaces A and A ', replaces sky with six connecting rods containing two revolute pairs
Between polyhedral six seamed edges AB, AC, AD, A ' B ', A ' C ' and A ' D ',
Two bar three revolute pair bar groups of following proposal are referred to as connecting rod, with three two bar three revolute pair bars
Group replace overlap seamed edge BC or B ' C ', CD or C ' D ' and BD or
B ' D ', two bar three revolute pair bar groups of following proposal are referred to as bar group；According to space multiaspect
All seamed edges of body ABCDA ' and the geometry feature on summit, with six connecting rods and three
Bar group connects two equilateral triangle components and three square components obtain coupling mechanism；Often
Three revolute pair axis on individual equilateral triangle component are respectively positioned in triangle projective planum, and adjacent
Angle between axis is 60 °；Four revolute pair axis of each square component are equal
It is positioned at component institute itself planar, and adjacent rotated secondary axis is mutually perpendicular to, opposite side axis
It is parallel to each other；Each bar group is obtained by two connecting rod series connection, and described connecting rod is and comprises two
Connect the same class connecting rod of revolute pair, and the two revolute pair axis is parallel；
This mechanism includes frame (D1), moving platform (M1) and connection frame and moving platform
Three branches and three coupling bar groups；Article three, branch include the first branch, the second branch,
3rd branch；Three coupling bar groups include the first coupling bar group, the second coupling bar group, the 3rd
Coupling bar group；Each coupling bar group is connected with two of which branch, three branches and three couplings
Close bar group interval and connect the netted coupled structure of formation, Mei Tiao branch will connect coupling bar group
Three square components are all defined as node component, respectively primary nodal point component (N1),
Secondary nodal point component (N2) and the 3rd node component (N3).
The most according to claim 1 have double positive tetrahedron superpositions that single-degree-of-freedom moves
Symmetrical coupled mechanism, it is characterised in that: the first branch include frame the first revolute pair (R1),
First revolute pair (R11) of node component one, the 4th revolute pair (R14) of node component one,
Moving platform the first revolute pair (R41)；First revolute pair (R1) of frame and node component one
The first revolute pair (R11) by first connecting rod (L1) connect, the 4th of node component one
Revolute pair (R14) is with moving platform the first revolute pair (R41) by second connecting rod (L2) even
Connect.
The most according to claim 1 have double positive tetrahedron superpositions that single-degree-of-freedom moves
Symmetrical coupled mechanism, it is characterised in that: the second branch include frame the second revolute pair (R2),
First revolute pair (R21) of node component two, the 4th revolute pair (R24) of node component two,
Moving platform the second revolute pair (R42)；Second revolute pair (R2) of frame and node component two
The first revolute pair (R21) by third connecting rod (L3) connect, the 4th of node component two
Revolute pair (R24) is with moving platform the second revolute pair (R42) by fourth link (L4) even
Connect.
The most according to claim 1 have double positive tetrahedron superpositions that single-degree-of-freedom moves
Symmetrical coupled mechanism, it is characterised in that: the 3rd branch include frame the 3rd revolute pair (R3),
First revolute pair (R31) of node component three, the 4th revolute pair (R34) of node component three,
Moving platform the 3rd revolute pair (R43)；3rd revolute pair (R3) of frame and node component three
The first revolute pair (R31) by the 5th connecting rod (L5) connect, the 4th of node component three
Revolute pair (R34) is with moving platform the 3rd revolute pair (R43) by six-bar linkage (L6) even
Connect.
The most according to claim 1 have double positive tetrahedron superpositions that single-degree-of-freedom moves
Symmetrical coupled mechanism, it is characterised in that: selecting equilateral triangle component (M1) is moving platform,
First branch is connected to moving platform (M1) by first revolute pair (R41) of moving platform,
Second branch is connected to moving platform (M1) by second revolute pair (R42) of moving platform,
3rd branch is connected to moving platform (M1) by the 3rd revolute pair (R43) of moving platform,
Described three branches are parallel on moving platform (M1)；It addition, the first branch node component one
(N1) by the first coupling bar group (G1) between and the second branch node component two (N2)
It is of coupled connections, the second branch node component two (N2) and the 3rd branch node component three (N3)
Between be of coupled connections by the second coupling bar group (G2), the 3rd branch node component three (N3)
And first between branch node component one (N1) by the 3rd coupling bar group (G3) coupling even
Connect；Wherein the first coupling bar group is expressed as simple motion kinematic chain (-R13-R4-R22-), the
Two coupling bar groups are expressed as simple motion kinematic chain (-R23-R5-R32-), the 3rd coupling bar group
It is expressed as simple motion kinematic chain (-R33-R6-R12-).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610350470.XA CN105881509B (en) | 2016-05-24 | 2016-05-24 | Symmetrical coupled mechanism is superimposed with the mobile double positive tetrahedrons of single-degree-of-freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610350470.XA CN105881509B (en) | 2016-05-24 | 2016-05-24 | Symmetrical coupled mechanism is superimposed with the mobile double positive tetrahedrons of single-degree-of-freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105881509A true CN105881509A (en) | 2016-08-24 |
| CN105881509B CN105881509B (en) | 2018-12-07 |
Family
ID=56717651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610350470.XA Expired - Fee Related CN105881509B (en) | 2016-05-24 | 2016-05-24 | Symmetrical coupled mechanism is superimposed with the mobile double positive tetrahedrons of single-degree-of-freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105881509B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313016A (en) * | 2016-11-09 | 2017-01-11 | 北京工业大学 | Symmetrical three-degree-of-freedom movement coupling mechanism |
| CN106346493A (en) * | 2016-11-09 | 2017-01-25 | 北京工业大学 | Space developable coupling mechanism of rhombic dodecahedron |
| CN106393063A (en) * | 2016-09-20 | 2017-02-15 | 北京工业大学 | Single-freedom-degree moving dodecahedron foldable symmetric coupling mechanism |
| CN106493717A (en) * | 2016-12-30 | 2017-03-15 | 北京工业大学 | A kind of icosahedral single movement can open up symmetrical coupled mechanism |
| CN110842895A (en) * | 2019-11-20 | 2020-02-28 | 北京工业大学 | Single-degree-of-freedom truncated tetrahedron/tetrahedron shape conversion mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10329078A (en) * | 1997-06-02 | 1998-12-15 | Ricoh Co Ltd | Parallel link manipulator device |
| JP2000006081A (en) * | 1998-06-26 | 2000-01-11 | Aisin Seiki Co Ltd | Manipulator |
| CN105397800A (en) * | 2015-12-23 | 2016-03-16 | 北京工业大学 | Asymmetric two-freedom-degree mobile multi-ting coupling mechanism |
| CN105538290A (en) * | 2015-12-14 | 2016-05-04 | 北京工业大学 | Symmetric coupling mechanism with one moving freedom degree |
| CN105538301A (en) * | 2016-01-19 | 2016-05-04 | 北京工业大学 | Single-degree-of-freedom movement polycyclic symmetrical coupling mechanism |
-
2016
- 2016-05-24 CN CN201610350470.XA patent/CN105881509B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10329078A (en) * | 1997-06-02 | 1998-12-15 | Ricoh Co Ltd | Parallel link manipulator device |
| JP2000006081A (en) * | 1998-06-26 | 2000-01-11 | Aisin Seiki Co Ltd | Manipulator |
| CN105538290A (en) * | 2015-12-14 | 2016-05-04 | 北京工业大学 | Symmetric coupling mechanism with one moving freedom degree |
| CN105397800A (en) * | 2015-12-23 | 2016-03-16 | 北京工业大学 | Asymmetric two-freedom-degree mobile multi-ting coupling mechanism |
| CN105538301A (en) * | 2016-01-19 | 2016-05-04 | 北京工业大学 | Single-degree-of-freedom movement polycyclic symmetrical coupling mechanism |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393063A (en) * | 2016-09-20 | 2017-02-15 | 北京工业大学 | Single-freedom-degree moving dodecahedron foldable symmetric coupling mechanism |
| CN106393063B (en) * | 2016-09-20 | 2019-02-19 | 北京工业大学 | The mobile dodecahedron of single-degree-of-freedom can open up symmetrical coupled mechanism |
| CN106313016A (en) * | 2016-11-09 | 2017-01-11 | 北京工业大学 | Symmetrical three-degree-of-freedom movement coupling mechanism |
| CN106346493A (en) * | 2016-11-09 | 2017-01-25 | 北京工业大学 | Space developable coupling mechanism of rhombic dodecahedron |
| CN106346493B (en) * | 2016-11-09 | 2018-10-09 | 北京工业大学 | A kind of space of granatohedron can open up coupling mechanism |
| CN106493717A (en) * | 2016-12-30 | 2017-03-15 | 北京工业大学 | A kind of icosahedral single movement can open up symmetrical coupled mechanism |
| CN106493717B (en) * | 2016-12-30 | 2019-04-12 | 北京工业大学 | The icosahedral single movement of one kind can open up symmetrical coupled mechanism |
| CN110842895A (en) * | 2019-11-20 | 2020-02-28 | 北京工业大学 | Single-degree-of-freedom truncated tetrahedron/tetrahedron shape conversion mechanism |
| CN110842895B (en) * | 2019-11-20 | 2021-03-16 | 北京工业大学 | Single-degree-of-freedom truncated tetrahedron/tetrahedron shape conversion mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105881509B (en) | 2018-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105881509A (en) | Double-regular-tetrahedron superimposed symmetrical coupling mechanism with single-freedom-degree movement | |
| CN105397800B (en) | Asymmetric two-freedom moves multi-ring coupling mechanism | |
| CN105538301B (en) | Single-degree-of-freedom moves polycyclic symmetrical coupled mechanism | |
| CN103433916B (en) | The isometrical sphere of two degrees of freedom is pure rolls rotating mechanism in parallel | |
| CN104708617B (en) | A kind of Three Degree Of Freedom detent mechanism and its multiple degrees of freedom series-parallel connection manipulator | |
| CN102605886B (en) | Flat plate type retractable roof structure | |
| CN106313016A (en) | Symmetrical three-degree-of-freedom movement coupling mechanism | |
| CN101214647A (en) | Spherical surface two-freedom symmetrical parallel connection robot mechanism with redundancy drive | |
| CN104626122A (en) | (1T2R) and 1R four-degree-of-freedom decoupling series-parallel mechanism | |
| CN202317698U (en) | High-rigidity redundant-drive three-degree-of-freedom parallel mechanism | |
| CN107225559A (en) | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA motions | |
| CN105798889B (en) | Five jiaos of double centrum symmetrical coupled mechanisms with single-degree-of-freedom movement | |
| CN104708616B (en) | Three Degree Of Freedom detent mechanism and its telescopically driven multiple degrees of freedom series-parallel robot | |
| CN104875187A (en) | (2T1R)&(2R) Double-acting platform decoupling parallel serial robot mechanism | |
| CN202611063U (en) | Flat-plate type retraceable roof structure | |
| CN101733753B (en) | Redundant parallel mechanism containing compound spherical hinge | |
| CN106759918B (en) | A kind of deployable structure with rigid panel | |
| CN108644333B (en) | Spherical connecting rod movement device | |
| CN109968327B (en) | Extensible coupling mechanism with sixteen rings | |
| CN108942891B (en) | Parallel mechanism with five-dimensional motion | |
| CN109176472A (en) | A kind of four degree of freedom decoupling parallel mechanism | |
| CN108942898A (en) | Coupling mechanism is opened up containing 120 rings | |
| CN210025356U (en) | Composite ball hinge | |
| CN201960564U (en) | Two-freedom degree robot shoulder joint mechanism | |
| CN106346445A (en) | Four-degree-of-freedom parallel robot mechanism capable of achieving high-speed movement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181207 Termination date: 20210524 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |