CN114786883A - 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
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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China
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rod
supporting base
driving
support
point
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CN201980102672.4A
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English (en)
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周啸波
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Suzhou Mailan Technology Co ltd
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Suzhou Mailan Technology Co ltd
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Publication of CN114786883A publication Critical patent/CN114786883A/zh
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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)
  • Transmission Devices (AREA)

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)

  1. PCT国内申请，权利要求书已公开。
CN201980102672.4A 2019-12-05 2019-12-05 多自由度并联机构 Pending CN114786883A (zh)

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PCT/CN2019/123304 WO2021109074A1 (zh) 2019-12-05 2019-12-05 多自由度并联机构

Publications (1)

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CN114786883A true CN114786883A (zh) 2022-07-22

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CN (1) CN114786883A (zh)
WO (1) WO2021109074A1 (zh)

Citations (6)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Patent Citations (7)

* Cited by examiner, † Cited by third party
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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