CN114786883A - 多自由度并联机构 - Google Patents
多自由度并联机构 Download PDFInfo
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- CN114786883A CN114786883A CN201980102672.4A CN201980102672A CN114786883A CN 114786883 A CN114786883 A CN 114786883A CN 201980102672 A CN201980102672 A CN 201980102672A CN 114786883 A CN114786883 A CN 114786883A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 49
- 230000000712 assembly Effects 0.000 claims description 4
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- 230000033001 locomotion Effects 0.000 abstract description 12
- 238000013519 translation Methods 0.000 abstract description 10
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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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Abstract
一种多自由度并联机构,其包括桥组件(2)和两个支撑组件(30/31/32),支撑组件(30/31/32)包括支撑块(300)、第一杆(301/311/321)、第二杆(302/312/322)和支撑基体(305),第一杆(301/311/321)和第二杆(302/312/322)分别与支撑块(300)转动连接于第一轴线和第二轴线,第一轴线和第二轴线与第一方向(z)平行,第一杆(301/311/321)和第二杆(302/312/322)相对于支撑基体(305)的位置能够被控制地改变,从而确定支撑块(300)在第二方向(x)和第三方向(y)上的位置,桥组件(2)与两个支撑块(300)转动连接、使得桥组件(2)能相对于每个支撑块(300)绕两个彼此不平行的转动轴线转动。上述多自由度并联机构,能在有限空间内实现至少两平动三转动的运动,且运动的可控精度高。
Description
PCT国内申请,说明书已公开。
Claims (15)
- PCT国内申请,权利要求书已公开。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/CN2019/123304 WO2021109074A1 (zh) | 2019-12-05 | 2019-12-05 | 多自由度并联机构 |
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CN114786883A true CN114786883A (zh) | 2022-07-22 |
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CN201980102672.4A Pending CN114786883A (zh) | 2019-12-05 | 2019-12-05 | 多自由度并联机构 |
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CN (1) | CN114786883A (zh) |
WO (1) | WO2021109074A1 (zh) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
CN1903520A (zh) * | 2006-08-03 | 2007-01-31 | 天津大学 | 可实现整周回转的四自由度混联抓放式机器人机构 |
US20080295637A1 (en) * | 2007-06-01 | 2008-12-04 | Lessard Simon | Parallel manipulator |
CN104972456A (zh) * | 2015-07-16 | 2015-10-14 | 哈尔滨工业大学 | 一种可实现平面二维定位和空间二维定向的双平面并联机构 |
CN109605339A (zh) * | 2019-01-31 | 2019-04-12 | 苏州迈澜医疗科技有限公司 | 多自由度并联机构 |
WO2019196421A1 (zh) * | 2018-04-10 | 2019-10-17 | 苏州迈澜医疗科技有限公司 | 多自由度并联机构 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3806273B2 (ja) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 四自由度パラレルロボット |
CN204235547U (zh) * | 2014-10-24 | 2015-04-01 | 天津大学 | 一种新型双环形导轨两转动并联机构 |
CN105619378A (zh) * | 2014-11-07 | 2016-06-01 | 江南大学 | 一种(2t)&3r五自由度解耦混联机构 |
CN107932482B (zh) * | 2017-12-14 | 2019-12-13 | 天津理工大学 | 一种可实现三维转动和两维移动运动的五自由度并联机构 |
KR20190000910U (ko) * | 2019-04-04 | 2019-04-16 | 주식회사 알씨엔이 | 병렬 링크형 로봇 |
CN110315509B (zh) * | 2019-07-16 | 2021-10-29 | 燕山大学 | 一种少支链含闭环单元冗余驱动的完全对称的并联机构 |
CN110524518B (zh) * | 2019-09-04 | 2021-03-16 | 燕山大学 | 一种两移一转少支链冗余驱动完全对称并联机构 |
CN110524519B (zh) * | 2019-09-04 | 2022-04-15 | 燕山大学 | 一种高刚度高冗余驱动并联机构 |
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2019
- 2019-12-05 WO PCT/CN2019/123304 patent/WO2021109074A1/zh active Application Filing
- 2019-12-05 CN CN201980102672.4A patent/CN114786883A/zh active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
CN1903520A (zh) * | 2006-08-03 | 2007-01-31 | 天津大学 | 可实现整周回转的四自由度混联抓放式机器人机构 |
US20080295637A1 (en) * | 2007-06-01 | 2008-12-04 | Lessard Simon | Parallel manipulator |
CN104972456A (zh) * | 2015-07-16 | 2015-10-14 | 哈尔滨工业大学 | 一种可实现平面二维定位和空间二维定向的双平面并联机构 |
WO2019196421A1 (zh) * | 2018-04-10 | 2019-10-17 | 苏州迈澜医疗科技有限公司 | 多自由度并联机构 |
CN110355737A (zh) * | 2018-04-10 | 2019-10-22 | 苏州迈澜医疗科技有限公司 | 平移机构和具有该平移机构的多自由度导向机构 |
CN109605339A (zh) * | 2019-01-31 | 2019-04-12 | 苏州迈澜医疗科技有限公司 | 多自由度并联机构 |
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