CN106426109A - Decoupling two-degree-of-freedomparallel mechanism capable of achieving full-spherical work space - Google Patents
Decoupling two-degree-of-freedomparallel mechanism capable of achieving full-spherical work space Download PDFInfo
- Publication number
- CN106426109A CN106426109A CN201611047092.4A CN201611047092A CN106426109A CN 106426109 A CN106426109 A CN 106426109A CN 201611047092 A CN201611047092 A CN 201611047092A CN 106426109 A CN106426109 A CN 106426109A
- Authority
- CN
- China
- Prior art keywords
- revolute
- connecting rod
- moving platform
- branched chain
- support
- 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
- 230000007246 mechanism Effects 0.000 title claims abstract description 51
- 230000033001 locomotion Effects 0.000 claims description 55
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a decoupling two-degree-of-freedom parallel mechanism capable of achieving full-spherical work space. The decoupling two-degree-of-freedom parallel mechanism comprises a base (1), a movable platform (4), a first movable branch chain and a second movable branch chain, wherein the first movable branch chain and the second movable branch chain are fixedly connected between the base and the movable platform. The decoupling two-degree-of-freedom parallel mechanism is characterized in that the first movable branch chain comprises a movable pair (20), a first rotary pair (22), a second rotary pair (24), a third rotary pair (25), a fourth rotary pair (27), a fifth rotary pair (28), a first connecting rod (21) connecting the movable pair (20) and the first rotary pair (22), a second connecting rod (23) connecting the first rotary pair (22) and the second rotary pair (24), a third connecting rod (26) connecting the third rotary pair (25) and the fourth rotary pair (27) and a fourth connecting rod (29) connecting the third rotary pair (25) and the fifth rotary pair (28), wherein the rotary axes of the first rotary pair (22), the second rotary pair (24), the third rotary pair (25), the fourth rotary pair (27) and the fifth rotary pair (28) are parallel. The second rotary pair (24) is arranged on the fourth connecting rod (29), and the fourth rotary pair (27) is connected with the movable platform (4). The upper end of the first connecting rod (21) is connected with the first rotary pair (22), and the slide axis of the movable pair (20) perpendicularly intersects with the rotary axis of the first rotary pair (22). The decoupling two-degree-of-freedom parallel mechanism achieves unconditional decoupling under two-degree-of-freedom and can achieve the full-spherical work space.
Description
Technical field
The present invention relates to the parallel institution in mechanics field, specially a kind of decoupling type of achievable whole world face work space
Two-freedom-degree parallel mechanism.
Background technology
Sphere parallel mechanism is widely used in joint of robot, radar antenna posture adjustment, Camera Positioning, Digit Control Machine Tool and micro-
The fields such as operator.Compared with the spherical rotation mechanism of cascaded structure, the rigidity of spherical rotation mechanism in parallel is big, motion is corresponding
Hurry up, unit volume bears that load is big, be particularly well-suited to the wrist of robot, shoulder, waist joint.But sphere parallel mechanism is strong coupling
Presence cause sphere parallel mechanism to there are many difficulties in terms of configuration, analytical calculation and mechanism controls, to a certain extent
Limit the application of sphere parallel mechanism.And above-mentioned application is required to sphere parallel mechanism rotational angle greatly, motion is flexible,
The advantages of being easily assembled.
At present, some achievements existing, document [Hang Lubin, Wang Yan, Wu Jun etc. in terms of sphere parallel mechanism research.It is based on
Sphere parallel mechanism Decoupling Conditions research [J] of topological decouplity criterion. mechanical engineering journal, 2005, Vol.41, No.9:pp28-
32], the 3-RRR spherical rotation mechanism of proposition can only realize partly decoupled；The two of United States Patent (USP) US005966991A proposition are freely
Degree spherical mechanism also can only be instantaneously decoupled in initial position, and other positions can not be decoupled；Chinese patent CN1775487A is proposed
Two-free-degree decoupling spherical parallel mechanism, but because the parallel-crank mechanism of movement branched chain is replaced by moving sets, limit machine
The slewing area of structure；Patent CN2762940 discloses a kind of spherical three-degree-of-freedom parallel mechanism, and the parallel institution can achieve an axle
360 degree of rotations in direction, but three rotations are coupled completely, i.e., can not decouple；Patent CN202162805U propose with three from
By the spherical surface rotating paralleling mechanism that spends, three freedom decoupling can be realized, but machine is limited containing hook hinge inside its single side chain
The slewing area of structure；Two one-rotation parallel mechanism of decoupling type that patent CN104308833A is proposed only can achieve hemisphere rotation；Patent
One kind three that CN104889976A is proposed rotates decoupling sphere parallel robot mechanism, can realize the solution completely of three rotation directions
Coupling, but its movement branched chain limits the work space of moving platform, i.e., can not realize global face work space.Patent
The type games that CN102126212A is proposed decouple two rotating mechanisms, but the hook hinge contained by side chain inside limits mechanism
Slewing area.The two-free-degree decoupling spherical parallel mechanism that patent CN1803410A is proposed, can realize two degrees of freedom no bar
Part is decoupled, but when moving platform bears certain dead load, moving platform is rotated around pair is rotated, due to rotating the impact of secondary friction circle,
The work space of moving platform is limited, though the expansion that two kinds of biasing means can realize work space is proposed, but still can not be caused dynamic
Platform has global face work space.
Content of the invention
For the deficiencies in the prior art, the technical problem to be solved is：A kind of achievable whole world face work is provided
Make the decoupling type two-freedom-degree parallel mechanism in space, it can meet under two degrees of freedom and unconditionally decouples, global face can be realized
Work space, working range is wider, and with simple structure, control and demarcate easily, high precision the features such as.
The present invention solves the technical scheme of the technical problem employing：A kind of achievable whole world face work space is provided
Decoupling type two-freedom-degree parallel mechanism, including support (1) and moving platform (4) and is respectively fixedly connected between support and moving platform
First movement branched chain and the second movement branched chain；It is characterized in that first movement branched chain includes moving sets (20), rotation axiss
The revolute (22) that is parallel to each other, revolute (24), revolute (25), revolute (27), revolute (28), and connection movement
Secondary (20) and the connecting rod (21) of revolute (22), connects the connecting rod (23) of revolute (22) and revolute (24), connects revolute
(25) and revolute (27) connecting rod (26), connect revolute (25) and revolute (28) connecting rod (29)；Wherein revolute
(24) it is arranged on connecting rod (29), revolute (27) is connected with moving platform (4)；The upper end of connecting rod (21) and described rotation
Secondary (22) connection, and the slip axis phase vertical with the rotation axiss of described revolute (22) of described moving sets (20)
Hand over；
Second movement branched chain includes that rotation axiss are mutually perpendicular to intersecting support revolute (31) and moving platform rotation
Secondary (32), and the connecting rod (33) of connection support revolute (31) and moving platform revolute (32)；Described support revolute (31) pacify
It is mounted on support；Center of the lower end of connecting rod (21) by support revolute (31), and connecting rod (21) can be in support revolute
(31) rotated under drive together；Moving platform revolute (32) is on moving platform, and moving platform revolute (32) is by even
Bar (34) is connected with the revolute (28) of the first movement branched chain, the revolute (27) of the first movement branched chain, revolute (28) and
The rotation axiss of the moving platform revolute (32) of two movement branched chain are parallel to each other.
Compared with prior art, the present invention can achieve the decoupling type two-freedom-degree parallel mechanism of whole world face work space, institute
Moving platform 4 is operated alone for the first movement branched chain 2 that states so that moving platform 4 is rotated around Y-axis, single with the second movement branched chain 3
Solely drive moving platform 4 to rotate about the z axis unrelated, thus unconditional decoupling can be realized；First movement branched chain 2 drives dynamic flat
Platform is rotated around Y-axis, 180 slewing areas of the achievable moving platform from-Z to Z, and the second movement branched chain 3 drives moving platform to turn about the z axis
Dynamic, achievable moving platform 360 slewing areas about the z axis, because the first movement branched chain drives the rotation axiss Y that moving platform rotates and the
Two movement branched chain drive the rotation axiss Z of moving platform rotation spatially to intersect vertically, thus moving platform can achieve whole world face work
Make space.
Description of the drawings
Fig. 1 can achieve a kind of knot of embodiment of decoupling type two-freedom-degree parallel mechanism of whole world face work space for the present invention
Structure schematic diagram；
Fig. 2 can achieve the first movement branched chain of the decoupling type two-freedom-degree parallel mechanism of whole world face work space for the present invention
A kind of 2 structural representations；
Fig. 3 can achieve the second movement branched chain of the decoupling type two-freedom-degree parallel mechanism of whole world face work space for the present invention
A kind of 3 structural representations；
Fig. 4 can achieve the decoupling type two-freedom-degree parallel mechanism additional drive system of whole world face work space for the present invention
A kind of structural representation of embodiment.
In figure, 1 support, 2 first movement branched chain, 3 second movement branched chain, 4 moving platforms.
Specific embodiment
The present invention is further discussed below with reference to embodiment and its accompanying drawing, but not in this, as to the application claim
The restriction of protection domain.
The present invention can achieve whole world face work space decoupling type two-freedom-degree parallel mechanism (abbreviation parallel institution, referring to
Fig. 1-3), including support 1 and moving platform 4 and the first movement branched chain 2 being respectively fixedly connected between support 1 and moving platform 4 and
Two movement branched chain 3；First movement branched chain 2 (referring to Fig. 2) includes moving sets 20, the revolute that rotation axiss are parallel to each other
22nd, revolute 24, revolute 25, revolute 27, revolute 28, and the connecting rod 21 of connection moving sets 20 and revolute 22, even
The connecting rod 23 of revolute 22 and revolute 24 is connect, connects the connecting rod 26 of revolute 25 and revolute 27, connection revolute 25 and rotation
Turn secondary 28 connecting rod 29；Wherein revolute 24 is arranged on connecting rod 29, and revolute 27 is connected with moving platform 4；The connecting rod 21
Upper end is connected with described revolute 22, and the rotary shaft of the slip axis of described moving sets 20 and described revolute 22
Line intersects vertically；
Second movement branched chain 3 (referring to Fig. 3) is mutually perpendicular to intersecting support revolute 31 including rotation axiss and moves
Platform revolute 32, and the connecting rod 33 of connection support revolute 31 and moving platform revolute 32；The support revolute 31 is installed
On support 1；Center of the lower end of connecting rod 21 by support revolute 31, and connecting rod 21 can be under the drive of support revolute 31
Rotate together；Moving platform revolute 32 is on moving platform 4, and moving platform revolute 32 is by connecting rod 34 and the first motion
The revolute 28 of chain connects, the moving platform revolute of the revolute 27, revolute 28 and the second movement branched chain of the first movement branched chain
32 rotation axiss are parallel to each other.
It is Y-axis that defined in the present invention, the first movement branched chain 2 drives the rotation axiss of moving platform rotation, and the second movement branched chain is driven
The rotation axiss of dynamic moving platform rotation are Z axis, and the two spatially intersects vertically, and the first movement branched chain 2 drives moving platform rotation
Rotation axiss and moving platform revolute 32 rotation axiss, the rotation axis coincident of itself of moving platform 4, the second movement branched chain drives
The rotation axiss of dynamic moving platform rotation and the rotation axis coincident of support revolute 31.
Described in the decoupling type two-freedom-degree parallel mechanism of the achievable whole world face work space of the present invention, connecting rod 21 is transversal
Face shape can be driven any shape for rotating together by support revolute 31.The shape of cross section of connecting rod of the present invention 21 can
Think the conventional moving sets sliding bar shape of cross section such as square, or rectangle, triangle, hexagon, spline shape.
In the decoupling type two-freedom-degree parallel mechanism of the achievable whole world face work space of the present invention, do not affect described simultaneously
In the case of the motion of connection mechanism freedom and work space, described moving platform 4, the planform of support 1 can be any
, it is not limited；Equally, do not receiving under first and second movement branched chain 2 and/or 3 operative condition, the connecting rod 21, company
Bar 23, connecting rod 26, connecting rod 29, the planform of connecting rod 33 are also not limited.
The present invention can achieve the operation principle of the decoupling type two-freedom-degree parallel mechanism of whole world face work space be (referring to figure
1)：Secondary, driving based on the support revolute 31 of the second movement branched chain 3 is driven based on the moving sets 20 of first movement branched chain 2
Kinematic pair.When the moving sets 20 of first movement branched chain 2 are operated alone, the moving platform 4 can be around moving platform revolute 32
Rotation axiss realize 180 (- Z～Z) slewing area, unrelated with the driving of the second movement branched chain 3；When the second motion is operated alone
During the support revolute 31 of side chain 3, the moving platform 4 can be rotated around its own rotation axis, the rotation axiss of moving platform itself
For Z axis, now moving platform 4 can realize 360 ° of rotations of Z axis, unrelated with the driving of the first movement branched chain 2.Therefore, moving platform 4 is around Z
Axle is rotated and moving platform 4 is mutually decoupling around the rotation axiss rotation of moving platform revolute 32, and is unconditional decoupling；
The moving platform 4 turns about the Z axis 360 scopes, with moving platform around the slewing area of the rotation axiss rotation of support revolute 31
4 around moving platform revolute 32 180 slewing area of axis, i.e., around Y-axis rotate 180 scopes, because its rotation axis spatially hangs down
Straight intersecting, therefore can achieve 4 global face work space of moving platform.
The decoupling type two-freedom-degree parallel mechanism of the achievable whole world face work space of the present invention can add suitable as needed
When driving means.The decoupling type two-freedom-degree parallel mechanism additional drive system of the achievable whole world face work space of the present invention
A kind of example structure following (referring to Fig. 4)；Design installs a leading screw 32a, leading screw 32a in support 1 below by support
Directly driven by rack-mount motor 33a；Feed screw nut 31a, can be along the length of leading screw 32a on leading screw 32a
Direction moves up and down；Feed screw nut 31a and a revolute 30 link together, and revolute 30 is same with support revolute 31
Axle；The lower end of connecting rod 21 is through the center of support revolute 31, and is connected in the rotary shaft of revolute 30；Motor 36 is arranged on
On support 1, and the rotation axiss of motor 36 are parallel with the rotation axiss of support revolute 31；Support revolute 31 and motor output
Axle is by the connection transmission of cog belt 35.
The work of the decoupling type two-freedom-degree parallel mechanism additional drive system of the achievable whole world face work space of the present invention
Make process as follows；When motor 36 drives support revolute 31 to rotate by cog belt 35, moving platform 4 is in the second movement branched chain 3
In the presence of can realize 360 rotations about the z axis around the axis of support revolute 31, and continuously can rotate in one direction and
No interfere；When motor 33a drives leading screw 32a rotation, drive the feed screw nut 31a that is connected with leading screw 32a together with screw mandrel spiral shell
The revolute 30 that female 31a is installed together and connecting rod 21 move up and down, namely drive moving sets 20 to slide up and down, and then drive dynamic
Platform 4 realizes 180 (- Z～Z) slewing area around the axis Y of moving platform revolute 32.Due to (the first motion of arbitrary kinematic chain
Chain 2 or the second movement branched chain 3) be operated alone can cause moving platform 4 only about corresponding axis rotate, and and another
The driving of movement branched chain (the second movement branched chain 3 or the first movement branched chain 2) is unrelated.Thus moving platform 4 is along support revolute 31
The rotation of the rotation axiss of the rotation of rotation axiss and moving platform revolute 32 is mutually decoupling, and is unconditional decoupling
's；Moving platform 4 is turned about the Z axis 360 scopes and revolves around the moving platform 4 around 360 slewing area of axis of support revolute 31
Turning secondary 32 180 slewing area of axis, i.e., 180 scopes is rotated around Y-axis, because rotation axiss spatially intersect vertically, therefore may be used
Realize 4 global face work space of moving platform.
The present invention can achieve the outstanding advantages of the decoupling type two-freedom-degree parallel mechanism of whole world face work space；Structure letter
Single, easy to manufacture, easy to maintenance.
The present invention can achieve the decoupling type two-freedom-degree parallel mechanism of whole world face work space, as motion is full decoupled
, thus the kinematics model that can simplify the internal structure of an organization, so as to the decoupling type two degrees of freedom for can achieve whole world face work space simultaneously
The precise control of online structure and demarcation bring and may and facilitate.
The decoupling type two-freedom-degree parallel mechanism of the achievable whole world face work space of the present invention, due to can achieve whole world face
Work space, thus the limited deficiency of sphere parallel mechanism working range is compensate for, the realization for decoupling in addition so that can achieve complete
The decoupling type two-freedom-degree parallel mechanism of sphere work space has certain actual application value.
The present invention does not address part and is applied to prior art.
Claims (3)
1. a kind of decoupling type two-freedom-degree parallel mechanism of achievable whole world face work space, including support（1）And moving platform（4）
And the first movement branched chain and the second movement branched chain being respectively fixedly connected between support and moving platform；It is characterized in that described first
Movement branched chain includes moving sets (20), revolute (22) that rotation axiss are parallel to each other, revolute (24), revolute (25), rotation
Turn secondary (27), revolute (28), and the connecting rod (21) of connection moving sets (20) and revolute (22), connect revolute (22) and
The connecting rod (23) of revolute (24), connects the connecting rod (26) of revolute (25) and revolute (27), connection revolute (25) and rotation
Turn the connecting rod (29) of secondary (28)；Wherein revolute (24) is arranged on connecting rod (29), and revolute (27) is connected with moving platform (4)；
The upper end of connecting rod (21) is connected with described revolute (22), and the slip axis of described moving sets (20) with described
The rotation axiss of revolute (22) intersect vertically；
Second movement branched chain includes that rotation axiss are mutually perpendicular to intersecting support revolute (31) and moving platform revolute
(32), and connection support revolute (31) and moving platform revolute (32) connecting rod (33)；Described support revolute (31) install
On support；Center of the lower end of connecting rod (21) by support revolute (31), and connecting rod (21) can be in support revolute (31)
Drive under rotate together；Moving platform revolute (32) is on moving platform, and moving platform revolute (32) passes through connecting rod
(34) it is connected with the revolute (28) of the first movement branched chain, the revolute (27) of the first movement branched chain, revolute (28) and second
The rotation axiss of the moving platform revolute (32) of movement branched chain are parallel to each other.
2. the decoupling type two-freedom-degree parallel mechanism of achievable whole world face work space according to claim 1, its feature
It is the connecting rod（21）Shape of cross section be square, rectangle, triangle, hexagon or spline shape.
3. the decoupling type two-freedom-degree parallel mechanism of achievable whole world face work space according to claim 1, its feature
It is that the parallel institution is attached with driving means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611047092.4A CN106426109B (en) | 2016-11-25 | 2016-11-25 | The decoupling type two-freedom-degree parallel mechanism of whole world face working space can be achieved |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611047092.4A CN106426109B (en) | 2016-11-25 | 2016-11-25 | The decoupling type two-freedom-degree parallel mechanism of whole world face working space can be achieved |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426109A true CN106426109A (en) | 2017-02-22 |
| CN106426109B CN106426109B (en) | 2018-06-15 |
Family
ID=58219913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611047092.4A Expired - Fee Related CN106426109B (en) | 2016-11-25 | 2016-11-25 | The decoupling type two-freedom-degree parallel mechanism of whole world face working space can be achieved |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426109B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356802A (en) * | 2018-05-16 | 2018-08-03 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5966991A (en) * | 1997-04-23 | 1999-10-19 | Universite Laval | Two degree-of-freedom spherical orienting device |
| CN1775487A (en) * | 2005-12-06 | 2006-05-24 | 河北工业大学 | Two-free-degree decoupling spherical parallel mechanism |
| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| CN202162805U (en) * | 2011-05-18 | 2012-03-14 | 上海工程技术大学 | Spherical surface rotation parallel mechanism having three degrees of freedom of decoupling |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
-
2016
- 2016-11-25 CN CN201611047092.4A patent/CN106426109B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5966991A (en) * | 1997-04-23 | 1999-10-19 | Universite Laval | Two degree-of-freedom spherical orienting device |
| CN1775487A (en) * | 2005-12-06 | 2006-05-24 | 河北工业大学 | Two-free-degree decoupling spherical parallel mechanism |
| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| CN202162805U (en) * | 2011-05-18 | 2012-03-14 | 上海工程技术大学 | Spherical surface rotation parallel mechanism having three degrees of freedom of decoupling |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356802A (en) * | 2018-05-16 | 2018-08-03 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106426109B (en) | 2018-06-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104889976B (en) | A kind of three rotate decoupling sphere parallel robot mechanism | |
| CN205614647U (en) | Two degree of freedom spherical surface parallel mechanism of high rigidity | |
| US8322250B2 (en) | Humanoid robot and shoulder joint assembly thereof | |
| CN108656087A (en) | A kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement | |
| US8429998B2 (en) | Parallel mechanism and moveable linkage thereof | |
| CN204450527U (en) | A kind of sphere parallel mechanism with 2 rotational freedoms | |
| WO2007088743A1 (en) | Joint structure of robot | |
| CN103128744A (en) | Humanoid flexible mechanical arm device | |
| WO2019126919A1 (en) | Three-degree-of-freedom parallel mechanism | |
| WO2011054195A1 (en) | Parallel mechanism with three-dimensional translations and one-dimensional rotation | |
| CN103737207A (en) | Parallel-serial welding robot mechanism with six degrees of freedom | |
| WO2006038463A1 (en) | Processing and transferring apparatus | |
| JP2004524982A5 (en) | ||
| CN110841839B (en) | Scalable arm of application robot for boats and ships | |
| JPH0583354B2 (en) | ||
| CN109514596B (en) | Double-cross hinge three-degree-of-freedom parallel joint mechanism | |
| JP2008264904A (en) | Parallel-link working device | |
| JP6472854B1 (en) | Work equipment | |
| CN100553898C (en) | A kind of two freedom space parallel mechanism | |
| CN101590650B (en) | Decoupled three-rotational-degree-of-freedom parallel mechanism | |
| CN106002986B (en) | A kind of specific robot palletizer for having double vertical slides | |
| CN106426109A (en) | Decoupling two-degree-of-freedomparallel mechanism capable of achieving full-spherical work space | |
| CN109514595A (en) | A kind of two-freedom parallel connection articulation mechanism | |
| CN108356802A (en) | A kind of two-freedom-degree parallel mechanism of partly decoupled | |
| CN106625591B (en) | Three-translation two-rotation five-degree-of-freedom 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 | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180615 |