CN107584478A - It is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism - Google Patents
It is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism Download PDFInfo
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- CN107584478A CN107584478A CN201710978420.0A CN201710978420A CN107584478A CN 107584478 A CN107584478 A CN 107584478A CN 201710978420 A CN201710978420 A CN 201710978420A CN 107584478 A CN107584478 A CN 107584478A
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Abstract
The present invention relates to it is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism, including fixed platform, moving platform and three side chains for connecting two platforms, first side chain and the second branched structure are identical, one end of upper connecting rod in two side chain is connected by spherical pair with moving platform, the other end by can one end of shaft axis revolute pair and lower link connect, the other end of lower link is connected by prismatic pair with fixed platform；One end of upper connecting rod in 3rd side chain is connected by spherical pair with moving platform, the other end is connected by prismatic pair with one end of middle connecting rod, the other end of middle connecting rod is connected by one end of revolute pair and lower link, and the other end of lower link is connected by prismatic pair with fixed platform；First side chain and the second side chain can shaft axis revolute pair, two axial lines keep being parallel to each other in change；The prismatic pair that the upper connecting rod of 3rd side chain is connected with middle connecting rod, it can be locked as needed with locking device.The present invention is bigger than the working space of similar mechanism, has broad application prospect.
Description
Technical field
The invention belongs to mechanical mechanism technical field, and in particular to a kind of to realize that two turn of one carrying for shifting can shaft axis
The 3-freedom parallel mechanism of revolute pair.
Background technology
Since successful application of the Steward mechanisms on Tire testing and flight simulator, parallel institution is moved with it
The advantages that precision height, fast response time and large carrying capacity, in robot, Digit Control Machine Tool, industrial vibration sieve, spray robot
And the field such as satellite antenna is widely applied.There is the freedom required by a considerable amount of operation tasks in actual applications
The number of degrees are less than 6, now using suitable Limited-DOF Parallel Robot, can be effectively saved system design, manufacture, control and
Cost in terms of maintenance.3-freedom parallel mechanism has simple in construction, kinematics solution convenience, controls easy, manufacturing cost
The features such as low, it is very important one kind in Limited-DOF Parallel Robot.At present using it is more be to have around two, space
The parallel institution that direction rotates and moved in one direction, if the release of German DS Technologie lathes company is with 3-PRS
What Sprint Z3 main tappings and Karl-Erik Neumann based on parallel institution proposed uses 2-UPR/SPR parallel institutions
Exechon lathes etc..But due to the limitation of mechanism constraint, there is working space is small, adaptability is poor, mechanism for this kind of mechanism
The problem of synthesis difficulty is big, limits its application.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that it is new to provide a kind of design
It is clever, compact-sized rationally, using simple operation, it is practical, be easy to be widely popularized a kind of 3-freedom parallel mechanism used.
This parallel institution use with can shaft axis revolute pair the first side chain and the second side chain, and upper connecting rod can produce with middle connecting rod
3rd side chain of raw axial movement, it is possible to achieve the motion of Three models, the working space than similar mechanism is bigger, has broadness
Application prospect.
The present invention is realized by following technical proposals.
It is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism, including fixed platform, moving platform and connection should
Three side chains of two platforms, the first side chain and the second side chain in three side chains are symmetrical docking structure, respectively
Be connected by the spherical pair of one end on first, second side chain with moving platform, the other end by be located at allocate on sewing platform base can
Shaft axis revolute pair connects lower link a, and the lower link a other end is connected by prismatic pair with fixed platform；
The 3rd side chain in three articles of side chains leads to relative to the first side chain and the second side chain vertical distribution, one end of the 3rd side chain
The upper connecting rod b crossed on the 3rd side chain spherical pair is connected with moving platform, connecting rod during upper connecting rod b is connected by prismatic pair, is connected in this
The other end of bar is connected by revolute pair with lower link b one end, and the lower link b other end is connected by prismatic pair and fixed platform
Connect；Fixed platform drives moving platform to realize that two degrees of freedom rotates and single-degree-of-freedom translation by three side chains.
Preferably, the fixed platform and moving platform are in isosceles triangle, the side chain of structure identical first and the second side chain
It is located in the isosceles triangle a line of fixed platform and is mutually butted, the 3rd side chain is located at the isosceles triangle drift angle of fixed platform simultaneously
With the first side chain and the second side chain vertical distribution.
Preferably, the revolute pair of first side chain and the second side chain be can shaft axis revolute pair, two in change
Axis keeps being parallel to each other, and the axis of the prismatic pair perpendicular to lower link a；Revolute pair axis in 3rd side chain is kept not
Become, all the time perpendicular to the lower link b connected mobile secondary axis, and begin with the revolute pair axis of the first side chain and the second side chain
It is vertical eventually；Locking device is provided between upper connecting rod b and the prismatic pair of middle connecting rod connection.
Further, the locking device includes latch recess, and is located at the spring below latch recess, in the upper of spring
Side is provided with a steel ball；
When locking device is in the lock state, steel ball is embedded in default latch recess under spring force, on
Connecting rod b and middle connecting rod axial location are fixed；
When needing to unlock, apply certain axial force to upper connecting rod b, it is recessed that steel ball overcomes the pressure of spring to be extruded
Groove, upper connecting rod b are realized with middle connecting rod and moved axially.
Preferably, first side chain and the second side chain can shaft axis revolute pair include a semicircular arc pedestal, half
Arc-shaped groove is set at the top of circular arc pedestal, one end is connected with driving part, and one end is sealing structure；Lower link a one end and drive
Dynamic component output end connect, the other end with can shaft axis revolute pair be connected；Can shaft axis revolute pair enable upper connecting rod a along semicircle
Arcuate base top curve fluting rotates, and can the axis of shaft axis revolute pair rotate formed plane and protected all the time with fixed platform
Hold vertical.
Preferably, middle connecting rod and the lower link b of the 3rd side chain is located in semicircular arc pedestal, semicircular arc pedestal
One end is top-slitting, and one end is sealing structure；Lower link b one end is located in sealing structure, and the other end is with middle connecting rod by turning
Dynamic secondary connection；The revolute pair enables middle connecting rod to be rotated along semicircular arc pedestal top-slitting.
Further, the driving part of three side chains is located in the sealing structure of semicircular arc pedestal, and driving part is
Either hydraulic cylinder or electric putter or electric cylinders, drive pair are the prismatic pair being connected on each side chain with fixed platform to straight line cylinder.
Further, the first side chain and the stroke of the second side chain drive pair can be divided into initial segment, interlude and end section；
When the first side chain and the stroke of the second side chain drive pair are all in initial segment, upper connecting rod b in the 3rd side chain with
The prismatic pair locking means locking of middle connecting rod connection, the first side chain and the second side chain can shaft axis revolute pair axis can not turn
It is dynamic, the adjustment of the flexible position and posture for realizing moving platform of prismatic pair in the first side chain of control, the second side chain and the 3rd side chain,
Now parallel institution is in the first motor pattern；
When the first side chain and the stroke of the second side chain drive pair are all in interlude, locking device unblock, the first side chain
Can shaft axis revolute pair drive upper connecting rod a to rotate, while the second side chain can shaft axis revolute pair drive corresponding to upper connecting rod
Rotate, and the prismatic pair that the upper connecting rod b in the 3rd side chain is connected with middle connecting rod makes the 3rd chain lengthening simultaneously in the presence of pulling force
Rotate, now parallel institution is in second of motor pattern；
When the first side chain and the stroke of the second side chain drive pair are all in end section, the first side chain and the second side chain it is upper
Connecting rod a slides into upper limit along semicircular arc pedestal arc-shaped groove, can shaft axis revolute pair axis is limited is not rotated further by, upper company
The prismatic pair locking means that bar b is connected with middle connecting rod relock, and are moved in the first side chain of control, the second side chain and the 3rd side chain
The adjustment of the secondary flexible position for realizing moving platform in another space and posture is moved, now parallel institution is in the third fortune
Dynamic model formula.
The invention has the advantages that：
1st, the present invention using two with can shaft axis revolute pair movement branched chain and a telescopic movement branched chain, can
With realize in the course of the work the conversion between the adjustment of the position of orientation 1 time and posture, orientation 1 and orientation 2, the position of orientation 2 times and
Three kinds of motor patterns of adjustment of posture, make moving platform that there is very big posture adjustment space, solve existing similar parallel institution work
The problem of space is small, the difficulty of synthesis of mechanism is reduced, there is more preferable adaptability.
2nd, the present invention can make moving platform reduce height when not working, and reduce overall occupancy volume.
3rd, the present invention in the case where drive pattern is constant, can realize the flexible switching of motor pattern, simplify control
Step.
4th, the driving part of the parallel institution is completely fixed on fixed platform, is greatly reduced the overall motion of mechanism and is used to
Property, the high-speed motion of mechanism can be realized；Furthermore it is possible to which air-liquid mouth will be passed in and out, electric wire is arranged on fixed platform, eliminates air-liquid
The movement of pipeline or electric wire in mechanism kinematic, avoid mutual winding problem.
In summary, the present invention is novel in design, and simple in construction, working space is big, and compact in design is reasonable, processing and fabricating side
Just, using flexible is reliable, can hoisting mechanism to the adaptability of environment, expand its application field, there is broad application prospect.
Brief description of the drawings
Fig. 1 is the parallel institution structural representation of the present invention；
Fig. 2 is the first motor pattern structural representation of the parallel institution of the present invention；
Fig. 3 is second of motor pattern structural representation of the parallel institution of the present invention；
Fig. 4 is the third motor pattern structural representation of the parallel institution of the present invention.
Description of reference numerals:
1st, fixed platform；2nd, moving platform；3rd, the first side chain；4th, the second side chain；5th, the 3rd side chain；3-1, upper connecting rod a；3-2, can
Shaft axis revolute pair；3-3, lower link a；5-1, upper connecting rod b；5-2, middle connecting rod；5-3, lower link b；5-4, locking device.
Embodiment
The invention will be described in further detail with reference to the accompanying drawings and examples, but is not intended as doing any limit to invention
The foundation of system.
As shown in figure 1, the present invention it is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism, including fixed platform
1st, moving platform 2 and three side chains of two platforms are connected, fixed platform and moving platform are in isosceles triangular structure, in three side chains
The first side chain and the second branched structure it is identical, be located in the isosceles triangle a line of fixed platform 1 and be mutually butted, three branch
The 3rd side chain 5 in chain be located at the isosceles triangle drift angle of fixed platform 1 and with the first side chain 3 and the vertical distribution of the second side chain 4.
Wherein, the first side chain 3 and the upper connecting rod a3-1 in the second side chain 4 one end are connected by spherical pair with moving platform 2,
The upper connecting rod a3-1 other end by can shaft axis revolute pair 3-2 be connected with lower link a3-3 one end, lower link a3-3's is another
One end is connected by prismatic pair with fixed platform 1；One end of upper connecting rod b5-1 in 3rd side chain 5 passes through spherical pair and moving platform 2
Connection, the upper connecting rod b5-1 other end are connected by prismatic pair with middle connecting rod 5-2 one end, the connecting rod 5-2 other end in this
It is connected by revolute pair with lower link b5-3 one end, the lower link b5-3 other end is connected by prismatic pair with fixed platform 1；
The revolute pair of the above-mentioned side chain 4 of first side chain 3 and second be can shaft axis revolute pair, but two axial lines keep mutually flat in change
OK, and perpendicular to the axis of prismatic pair；The revolute pair axis of 3rd side chain 5 perpendicular to two prismatic pairs connected axis, and
It is vertical all the time with the revolute pair axis of the first side chain 3 and the second side chain 4；The prismatic pair that upper connecting rod b5-1 is connected with middle connecting rod 5-2
Between be provided with locking device 5-4, the prismatic pair that the upper connecting rod b5-1 of the 3rd side chain is connected with middle connecting rod 5-2, can use as needed
Locking device 5-4 is locked；Fixed platform 1 drives moving platform 2 to realize that two degrees of freedom rotates and single-degree-of-freedom translation by three side chains.
First side chain 3 and the second side chain 4 can shaft axis revolute pair 3-2 include a semicircular arc pedestal, semicircular arc base
Seat top sets arc-shaped groove, and one end is connected with driving part, and one end is sealing structure；Lower link a3-3 one end and driving part
Output end connect, the other end with can shaft axis revolute pair 3-2 be connected；Can shaft axis revolute pair 3-2 enable upper connecting rod a3-1 edges
Semicircular arc pedestal top curve fluting rotates, and can shaft axis revolute pair 3-2 axis rotate formed plane all the time with
Fixed platform 1 keeps vertical.Middle the connecting rod 5-2 and lower link b5-3 of 3rd side chain 5 are located in semicircular arc pedestal, semicircular arc base
Seat one end is top-slitting, and one end is sealing structure；Lower link b5-3 one end is located in sealing structure, the other end and middle connecting rod 5-
2 are connected by revolute pair；The revolute pair enables middle connecting rod 5-2 to be rotated along semicircular arc pedestal top-slitting.
The driving part of three side chains in mechanism is located in the sealing structure of semicircular arc pedestal, and driving part is straight
Either hydraulic cylinder or electric putter or electric cylinders, drive pair are the prismatic pair being connected on each side chain with fixed platform to line cylinder.
The present invention with can the 3-freedom parallel mechanism of shaft axis revolute pair there are three kinds of motor patterns, these three are moved
Pattern is all driven by the prismatic pair being connected on each side chain with fixed platform 1.First side chain 3 and the stroke of the drive pair of the second side chain 4 can
To be divided into three sections, i.e. initial segment, interlude and end section.
First side chain 3 and the stroke of the drive pair of the second side chain 4 can be divided into three sections, i.e. initial segment, interlude and end
Section.
As shown in Fig. 2 when the first side chain 3 and the stroke of the drive pair of the second side chain 4 are all in initial segment, in the 3rd side chain
The prismatic pair locking means lockings that are connected with middle connecting rod of upper connecting rod b, the first side chain 3 and the second side chain 4 can shaft axis turn
Dynamic secondary 3-2 axis are restricted and can not rotated, and upper connecting rod b 5-1 are integrally formed with middle connecting rod 5-2, control the first side chain 3, second
Stretching for prismatic pair can realize position and the adjustment of posture of moving platform 2 in the side chain 5 of side chain 4 and the 3rd, now parallel institution
In the first motor pattern；
As shown in figure 3, when the first side chain 3 and the stroke of the drive pair of the second side chain 4 are all in interlude, locking device 5-
4 unblocks, the first side chain 3 can shaft axis revolute pair 3-2 change axis direction, drive upper connecting rod a 3-1 to rotate, while second
Chain 4 can shaft axis revolute pair change axis direction, upper connecting rod corresponding to drive rotates, and the upper connecting rod b in the 3rd side chain 5
5-1 extends the 3rd side chain 5 in the presence of pulling force and rotated with the middle connecting rod 5-2 prismatic pairs being connected, now at parallel institution
In second of motor pattern；
As shown in figure 4, when the first side chain 3 and the stroke of the drive pair of the second side chain 4 are all in end section, the first side chain 3
Upper limit is slid into along semicircular arc pedestal arc-shaped groove with the upper connecting rod a3-1 of the second side chain 4, can shaft axis revolute pair 3-2
Axis, which is restricted, to be no longer able to turn, and the elongation of the 3rd side chain 5 also reaches precalculated position, the upper connecting rod b 5-1 in the 3rd side chain 5
The prismatic pair locking means 5-4 being connected with middle connecting rod 5-2 is relocked, and upper connecting rod b 5-1 are integrally formed with middle connecting rod 5-2,
The flexible of prismatic pair in the first side chain 3, the second side chain 4 and the 3rd side chain 5 is controlled to realize moving platform 2 in another space
Position and posture adjustment, now parallel institution be in the third motor pattern.
Therefore, it is this with can the 3-freedom parallel mechanism of shaft axis revolute pair there is three kinds of motor patterns, Ke Yi
On the premise of not changing type of drive, the change successively of three kinds of motor patterns is completed, realizes the large rotation angle of moving platform, is changed
The distribution of parallel institution moving platform end reference point working space.
Locking device 5-4 includes latch recess, and is located at the spring below latch recess, and one is provided with the top of spring
Steel ball；When locking device 5-4 is in the lock state, steel ball is embedded in default groove under spring force, the 3rd
The axial location of upper connecting rod b 5-1 and middle connecting rod 5-2 in chain 5 is fixed.When needing to unlock, to upper connecting rod b 5-
1 applies certain axial force, and steel ball overcomes the pressure of spring to be extruded groove, upper connecting rod b 5-1 and middle company in the 3rd side chain 5
Bar 5-2 cans realize axial movement.
The invention is not limited in above-described embodiment, on the basis of technical scheme disclosed by the invention, the skill of this area
Art personnel are according to disclosed technology contents, it is not necessary to which performing creative labour can makes one to some of which technical characteristic
A little to replace and deform, these are replaced and deformation is within the scope of the present invention.
Claims (8)
1. it is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism, including fixed platform (1), moving platform (2) and even
Connect three side chains of two platforms, it is characterised in that：The first side chain (3) and the second side chain (4) in three side chains are
Symmetrical docking structure, it is connected respectively by the spherical pair of one end on first, second side chain with moving platform (2), the other end
By be located on fixed platform (1) pedestal can shaft axis revolute pair (3-2) connect lower link a (3-3), lower link a's (3-3)
The other end is connected by prismatic pair with fixed platform (1)；
The 3rd side chain (5) in three articles of side chains is relative to the first side chain (3) and the second side chain (4) vertical distribution, the 3rd side chain (5)
One end be connected by the spherical pair of the upper connecting rod b (5-1) on the 3rd side chain with moving platform (2), upper connecting rod b (5-1) passes through shifting
Connecting rod (5-2) in dynamic secondary connection, other end of connecting rod (5-2) is connected by revolute pair with lower link b (5-3) one end in this,
Lower link b (5-3) other end is connected by prismatic pair with fixed platform (1)；Fixed platform (1) drives moving platform by three side chains
(2) realize that two degrees of freedom rotates and single-degree-of-freedom translation.
2. it is according to claim 1 with can shaft axis revolute pair 3-freedom parallel mechanism, it is characterised in that：It is described
Fixed platform (1) and moving platform (2) are in isosceles triangle, and the side chain of structure identical first (3) and the second side chain (4) are located at fixed platform
(1) in isosceles triangle a line and it is mutually butted, the 3rd side chain (5) is located at the isosceles triangle drift angle of fixed platform (1) simultaneously
With the first side chain (3) and the second side chain (4) vertical distribution.
3. it is according to claim 1 with can shaft axis revolute pair 3-freedom parallel mechanism, it is characterised in that：It is described
The revolute pair of first side chain (3) and the second side chain (4) be can shaft axis revolute pair, two axial lines keep mutually flat in change
OK, the axis of the prismatic pair and perpendicular to lower link a (3-3)；Revolute pair axis in 3rd side chain (5) keeps constant, all the time
Perpendicular to the lower link b (5-3) connected mobile secondary axis, and with the turns auxiliary shaft of the first side chain (3) and the second side chain (4)
Line is vertical all the time；Locking device (5-4) is provided between the prismatic pair that upper connecting rod b (5-1) is connected with middle connecting rod (5-2).
4. it is according to claim 3 with can shaft axis revolute pair 3-freedom parallel mechanism, it is characterised in that：It is described
Locking device (5-4) includes latch recess, and is located at the spring below latch recess, and a steel ball is provided with the top of spring；
When locking device (5-4) is in the lock state, steel ball is embedded in default groove under spring force, upper connecting rod
B (5-1) and middle connecting rod (5-2) axial location are fixed；
When needing to unlock, apply certain axial force to upper connecting rod b (5-1), steel ball overcomes the pressure of spring to be extruded
Groove, upper connecting rod b (5-1) are realized with middle connecting rod (5-2) and moved axially.
5. it is according to claim 1 with can shaft axis revolute pair 3-freedom parallel mechanism, it is characterised in that：It is described
First side chain (3) and the second side chain (4) can shaft axis revolute pair (3-2) include a semicircular arc pedestal, semicircular arc pedestal
Top sets arc-shaped groove, and one end is connected with driving part, and one end is sealing structure；Lower link a (3-3) one end and driving part
Output end connect, the other end with can shaft axis revolute pair (3-2) be connected；Can shaft axis revolute pair (3-2) make upper connecting rod a (3-1)
Can slot and rotate along semicircular arc pedestal top curve, and can shaft axis revolute pair (3-2) axis rotation formed it is flat
Face is vertical with fixed platform (1) holding all the time.
6. it is according to claim 1 with can shaft axis revolute pair 3-freedom parallel mechanism, it is characterised in that：It is described
The middle connecting rod (5-2) and lower link b (5-3) of 3rd side chain (5) are located in semicircular arc pedestal, and semicircular arc pedestal one end is top
Portion slots, and one end is sealing structure；Lower link b (5-3) one end is located in sealing structure, and the other end passes through with middle connecting rod (5-2)
Revolute pair connects；The revolute pair makes middle connecting rod (5-2) to be rotated along semicircular arc pedestal top-slitting.
7. according to claim 4 or 5 with can shaft axis revolute pair 3-freedom parallel mechanism, it is characterised in that：
The driving part of three side chains is located in the sealing structure of semicircular arc pedestal, and driving part is straight line cylinder or hydraulic pressure
Either electric putter or electric cylinders, drive pair are the prismatic pair being connected on each side chain with fixed platform (1) to cylinder.
8. according to claim any one of 1-7 with can shaft axis revolute pair 3-freedom parallel mechanism, its feature
It is：First side chain (3) and the stroke of the second side chain (4) drive pair are divided into initial segment, interlude and end section；
When the first side chain (3) and the stroke of the second side chain (4) drive pair are all in initial segment, the upper company in the 3rd side chain (5)
Prismatic pair locking means (5-4) locking that bar b (5-1) is connected with middle connecting rod (5-2), the first side chain (3) and the second side chain (4)
Can shaft axis revolute pair (3-2) axis can not rotate, in the first side chain of control (3), the second side chain (4) and the 3rd side chain (5)
The adjustment of the flexible position and posture for realizing moving platform (2) of prismatic pair, now parallel institution be in the first motor pattern；
When the first side chain (3) and the stroke of the second side chain (4) drive pair are all in interlude, locking device (5-4) unblock, the
One side chain (3) can shaft axis revolute pair (3-2) drive upper connecting rod a (3-1) rotate, while the second side chain (4) can shaft axis
Upper connecting rod corresponding to revolute pair drive rotates, and the shifting that the upper connecting rod b (5-1) in the 3rd side chain (5) is connected with middle connecting rod (5-2)
Dynamic pair extends the 3rd side chain (5) in the presence of pulling force and rotated, and now parallel institution is in second of motor pattern；
When the first side chain (3) and the stroke of the second side chain (4) drive pair are all in end section, the first side chain (3) and second
The upper connecting rod a (3-1) of chain (4) slides into upper limit along semicircular arc pedestal arc-shaped groove, can shaft axis revolute pair (3-2) axle
Line is limited not to be rotated further by, and the prismatic pair locking means (5-4) that upper connecting rod b (5-1) is connected with middle connecting rod (5-2) relock,
The flexible of prismatic pair in the first side chain (3), the second side chain (4) and the 3rd side chain (5) is controlled to realize that moving platform (2) is empty at another
Between in position and posture adjustment, now parallel institution be in the third motor pattern.
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| CN201710978420.0A CN107584478B (en) | 2017-10-18 | 2017-10-18 | It is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism |
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| CN108172997A (en) * | 2018-02-13 | 2018-06-15 | 河南科技大学 | Based on the antenna attitude adjusting apparatus without three branch of coupling, two one-rotation parallel mechanism |
| CN108172997B (en) * | 2018-02-13 | 2023-08-15 | 河南科技大学 | Antenna attitude adjusting device based on uncoupled three-branch two-rotation parallel mechanism |
| CN108760397A (en) * | 2018-04-13 | 2018-11-06 | 上海大学 | A kind of docking mechanism suitable for water sampling |
| CN111388094A (en) * | 2020-03-31 | 2020-07-10 | 长沙理工大学 | Two-degree-of-freedom remote motion center mechanism |
| CN113001525A (en) * | 2021-04-25 | 2021-06-22 | 西安科技大学 | Parallel mechanism with rotatable axis mechanical arm and movement method |
| CN113001525B (en) * | 2021-04-25 | 2022-03-29 | 西安科技大学 | Parallel mechanism with rotatable axis mechanical arm and movement method |
| CN113715003A (en) * | 2021-09-16 | 2021-11-30 | 江南大学 | RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts |
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|---|---|
| CN107584478B (en) | 2019-09-13 |
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