CN113348055A - 多自由度并联机构 - Google Patents

多自由度并联机构 Download PDF

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Publication number
CN113348055A
CN113348055A CN201980089484.2A CN201980089484A CN113348055A CN 113348055 A CN113348055 A CN 113348055A CN 201980089484 A CN201980089484 A CN 201980089484A CN 113348055 A CN113348055 A CN 113348055A
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supporting component
rotation
freedom
axis
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CN113348055B (zh
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周啸波
蓝青
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Suzhou Mailan Technology Co ltd
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Suzhou Mailan Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

一种多自由度并联机构，包括第一平台(10)、第二平台(20)、连接件(30)和基座(70)，第一平台与第一支撑组件(41)和第二支撑组件(42)分别转动连接，第二平台与第三支撑组件(43)和第四支撑组件(44)分别转动连接，第一支撑组件、第二支撑组件、第三支撑组件和第四支撑组件均包括平面四杆机构，平面四杆机构的四个转动连接点的连线形成平行四边形，第一平台和第二平台分别与连接件转动连接，使连接件相对于第一平台具有至少两个转动自由度、连接件相对于第二平台具有至少两个转动自由度。该多自由度并联机构能为连接件提供至少三个平移和两个转动的自由度；且并联机构的活动部件不对称设置、空间利用率高。

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PCT国内申请，说明书已公开。

Claims (10)

  1. PCT国内申请，权利要求书已公开。
CN201980089484.2A 2019-01-31 2019-01-31 多自由度并联机构 Active CN113348055B (zh)

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PCT/CN2019/074236 WO2020155040A1 (zh) 2019-01-31 2019-01-31 多自由度并联机构

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CN113348055B CN113348055B (zh) 2022-06-03

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CN114248255B (zh) * 2021-12-27 2023-11-17 北京交通大学 一种用于铺带位姿调整的五自由度并联机构

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102626871A (zh) * 2012-05-03 2012-08-08 清华大学 一种具有高灵活特性的三自由度空间并联机构
CN102922512A (zh) * 2012-11-02 2013-02-13 清华大学 一种可实现三平动一转动的四自由度单动平台并联机构
CN105904441A (zh) * 2016-06-07 2016-08-31 浙江理工大学 一种两移动两转动四自由度全对称并联机构
CN205588291U (zh) * 2016-05-09 2016-09-21 中国科学院宁波材料技术与工程研究所 四自由度并联机构
CN108555889A (zh) * 2018-06-25 2018-09-21 福州大学 含冗余约束的空间五自由度混联加工装备及其使用方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103350418B (zh) * 2013-07-25 2015-06-03 天津大学 一种高速五自由度并联机械手
CN104942796B (zh) * 2015-07-02 2016-12-14 上海交通大学 三移动二转动五自由度转动移动完全解耦并联机构
CN105033988B (zh) * 2015-08-25 2017-02-01 中国农业大学 一种两维转动三维移动五自由度并联机器人机构
CN105729450B (zh) * 2016-05-09 2018-04-20 中国科学院宁波材料技术与工程研究所 四自由度并联机构
CN107553470B (zh) * 2017-10-11 2020-04-28 清华大学 具有五自由度的并联机构及其拓展多轴联动装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102626871A (zh) * 2012-05-03 2012-08-08 清华大学 一种具有高灵活特性的三自由度空间并联机构
CN102922512A (zh) * 2012-11-02 2013-02-13 清华大学 一种可实现三平动一转动的四自由度单动平台并联机构
CN205588291U (zh) * 2016-05-09 2016-09-21 中国科学院宁波材料技术与工程研究所 四自由度并联机构
CN105904441A (zh) * 2016-06-07 2016-08-31 浙江理工大学 一种两移动两转动四自由度全对称并联机构
CN108555889A (zh) * 2018-06-25 2018-09-21 福州大学 含冗余约束的空间五自由度混联加工装备及其使用方法

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WO2020155040A1 (zh) 2020-08-06

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