CN208468376U - A kind of redundant constaint parallel institution of space two rotation-translation - Google Patents
A kind of redundant constaint parallel institution of space two rotation-translation Download PDFInfo
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Abstract
The utility model relates to a kind of redundant constaint parallel institutions of space two rotation-translation, the parallel institution is a kind of 1UPS&2RPS&1PU type Space expanding of 4 branch 3DOFs, the parallel institution includes moving platform, silent flatform, first branch, second branch, third branch and the 4th branch, the moving platform is through the first branch, second branch, third branch and the 4th branch link together with silent flatform, first branch is UPS type active movement branch, second branch is RPS type active movement branch, the third branch is RPS type active movement branch, 4th branch is PU type passive movement branch, output block of the moving platform as mechanism, under the common driving of three active movement branches, mechanism realizes two turns of the moving platform with respect to silent flatform The movement of a dynamic translation.The utility model is not only simple in structure, and has the good rigidity of structure.
Description
Technical field
The utility model relates to a kind of redundant constaint parallel institutions of space two rotation-translation.
Background technique
The 3-freedom parallel mechanism of two rotation-translation (2R1T) has the overall stiffness for improving structure by it, eliminates
Singular point and raising structure automaticity, good positioning accuracy, processing performance and dynamic performance, structure are simple, compact, easy
In realizing the advantages that control and manufacturing cost are relatively low, already become the big research hotspot of robot field, largely
Series parallel robot in five degrees of freedom, which uses this kind of mechanism concatenation, has two-freedom rotary head or two-freedom x-y mobile platform
Design scheme.
Summary of the invention
The utility model makes improvement for the above-mentioned problems of the prior art, i.e., skill to be solved in the utility model
Art problem is to provide a kind of redundant constaint parallel institution of space two rotation-translation, is not only simple in structure, and has good
The rigidity of structure.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is: the redundancy of space two rotation-translation is about
Beam parallel institution is a kind of 1UPS&2RPS&1PU type Space expanding of 4 branch 3DOFs, which includes dynamic flat
Platform, silent flatform, the first branch, the second branch, third branch and the 4th branch, the moving platform is through the first branch, second
Chain, third branch and the 4th branch and silent flatform link together, and first branch is UPS type active movement branch, institute
Stating the second branch is RPS type active movement branch, and the third branch is RPS type active movement branch, and the 4th branch is
PU type passive movement branch, output block of the moving platform as mechanism, under the common driving of three active movement branches,
Mechanism realizes movement of the moving platform with respect to the two rotation-translation of silent flatform.
Further, first branch includes the first Hooke's hinge, first movement pair and the first ball pair, first tiger
Gram hinge is connected with silent flatform, active movement pair of the first movement pair as mechanism, the first ball pair and moving platform phase
Connection.
Further, second branch include the first revolute pair, the second prismatic pair and the second ball pair, described first turn
Dynamic pair is connected with silent flatform, active movement pair of second prismatic pair as mechanism, the second ball pair and moving platform phase
Connection.
Further, the third branch include the second revolute pair, third prismatic pair and third ball pair, described second turn
Dynamic pair is connected with silent flatform, active movement pair of the third prismatic pair as mechanism, the third ball pair and moving platform phase
Connection.
Further, the 4th branch include the 4th prismatic pair and the second Hooke's hinge, the 4th prismatic pair with it is quiet
Platform is connected, and passive movement pair of the 4th prismatic pair as mechanism, second Hooke's hinge is connected with moving platform.
Further, the center of first revolute pair, the center of the second revolute pair, the first Hooke's hinge center with isosceles
Triangle-Profile on silent flatform, the center of second Hooke's hinge, the first ball is secondary, the second ball is secondary, third ball pair center with
Isosceles triangle is distributed on moving platform.
Further, the first ball pair includes pivot center, pivot centerAnd pivot center, the rotation
Axis, pivot centerAnd pivot centerIt intersects at a point and non-coplanar；The second ball pair includes pivot center、
Pivot centerAnd pivot center, the pivot center, pivot centerAnd pivot centerIntersect at a point and
It is non-coplanar；The third ball pair includes pivot center, pivot centerAnd pivot center, the pivot center, turn
Shaft lineAnd pivot centerIt intersects at a point and non-coplanar；First Hooke's hinge includes pivot centerWith rotation
Axis, the pivot centerWith pivot centerIt intersects vertically；Second Hooke's hinge includes pivot centerWith rotation
Axis, the pivot centerWith pivot centerIt intersects vertically；The pivot center of first revolute pair is, described
The pivot center of second revolute pair is, the pivot centerWith pivot centerIt is parallel to each other, the pivot centerWith
Pivot centerIt is orthogonal, the pivot centerWith pivot centerIt is orthogonal；The shifting axle of the first movement pair
Line is, the mobile axisPerpendicular to pivot centerWith pivot center；The mobile axis of second prismatic pair is, the mobile axisPerpendicular to pivot centerWith pivot center；The mobile axis of the third prismatic pair is, institute
State mobile axisPerpendicular to pivot centerWith pivot center；The mobile axis of 4th prismatic pair is, the shifting
Shaft linePerpendicular to pivot center。
Further, the first movement pair uses screw slide, and the 4th prismatic pair uses slide block guide rail；Described first moves
Dynamic pair includes the first sliding block, the first lead screw, the first straight line guide rail matched with the first sliding block, first connecting rod and driving first
The first servo motor of lead screw, guide of first sliding block as first movement pair, first sliding block are fixedly connected on
On first Hooke's hinge, movement parts of the first straight line guide rail as first movement pair are fixedly connected on the first connecting rod；The
Two prismatic pairs use screw slide, second prismatic pair include the second sliding block, the second lead screw, matched with the second sliding block the
Two linear guides, second connecting rod and the second servo motor for driving the second lead screw, second sliding block is as the second prismatic pair
Guide, second sliding block is fixedly connected in the first revolute pair, and the second straight line guide rail is as the second prismatic pair
Movement parts are fixedly connected on the second connecting rod；Third prismatic pair uses screw slide, and the third prismatic pair is sliding comprising third
Block, third lead screw, the third linear guide matched with third sliding block, third connecting rod and the third servo for driving third lead screw
Motor, guide of the third sliding block as third prismatic pair, the third sliding block are fixedly connected in the second revolute pair, institute
Movement parts of the third linear guide as third prismatic pair are stated, the third connecting rod is fixedly connected on.
Further, the 4th linear guide that the 4th prismatic pair is matched comprising Four-slider, Four-slider, it is described
Guide of the Four-slider as the 4th prismatic pair, the Four-slider are fixedly connected on fixed frame.
Compared with prior art, the utility model has the following beneficial effects: the utility model realizes that moving platform is relatively quiet
The movement output of platform 2R1T Three Degree Of Freedom；It is compact-sized, there is three movement branched chains and a passive movement branch, it is this
The mode of driving is conducive to the raising of mechanism overall stiffness；Large carrying capacity, rigidity are big, the high degree of modularity of precision is high, both may be used
To realize 2R1T movement as self-movement module, it is a variety of that various forms of end effectors realizations can be also concatenated by moving platform
Operation suffers from broad application prospect in high speed, accurate and high rigidity manufacture field.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model embodiment.
Fig. 2 is the structural schematic diagram after the removal moving platform of the utility model embodiment.
Fig. 3 is the structural schematic diagram of the first branch in the utility model embodiment.
Fig. 4 is the structural schematic diagram of the second branch in the utility model embodiment.
Fig. 5 is the structural schematic diagram of third branch in the utility model embodiment.
Fig. 6 is the structural schematic diagram of the 4th branch in the utility model embodiment.
In figure: 1- moving platform, 2- silent flatform, the first branch of 3-, first group of sliding block of 301-, the first lead screw of 302-, 303-
One linear guide, 304- first connecting rod, 305- first servo motor, the second branch of 4-, second group of sliding block of 401-, 402- second
Thick stick, 403- second straight line guide rail, 404- second connecting rod, the second servo motor of 405-, 5- third branch, 501- third group sliding block,
502- third lead screw, 503- third linear guide, 504- third connecting rod, 505- third servo motor；The 4th branch of 6-, 601-
Four groups of sliding blocks, the 4th linear guide of 602-, 603- fourth link, 604- fixed frame；The first Hooke's hinge of U1-, P1- first movement
Pair, S1- the first ball pair；The first revolute pair of R1-, the second prismatic pair of P2-, S2- the second ball pair；The second revolute pair of R2-, P3- third
Prismatic pair, S3- third ball pair；The 4th prismatic pair of P4-, the second Hooke's hinge of U2-.
Specific embodiment
The utility model is described in more detail with reference to the accompanying drawings and detailed description.
The redundant constaint parallel institution of space two rotation-translation, including moving platform 1, silent flatform 2, the first branch 3, second
Branch 4, third branch 5 and the 4th branch 6, the moving platform is through the first branch, the second branch, third branch and the 4th
Chain links together with silent flatform, and first branch is UPS type active movement branch, and second branch is the active of RPS type
Movement branched chain, the third branch are RPS type active movement branch, and the 4th branch is the passive branch of PU type；It is described dynamic flat
Output block of the platform 1 as mechanism, under the common driving of three active movement chains, it is opposite that mechanism realizes the moving platform 1
The movement of 2 liang of silent flatform rotations and a translation, that is, moving platform 1 are acted with respect to the 2R1T of silent flatform 2.
First branch be UPS type active movement branch, i.e., be distributed in succession from silent flatform to moving platform Hooke's hinge U,
Prismatic pair P and ball secondary S；Second branch is that RPS type active movement branch is to be distributed with to turn in succession from silent flatform to moving platform
Dynamic secondary R, prismatic pair P and ball secondary S type, the third branch are that RPS type active movement branch is i.e. successive from silent flatform to moving platform
Revolute pair R, prismatic pair P and ball secondary S type is distributed with, the 4th branch is that PU type passive movement branch is put down from silent flatform to dynamic
Prismatic pair P and Hooke's hinge U is distributed in platform in succession.
In the utility model embodiment, first branch 3 includes the first Hooke's hinge U1, first movement secondary P1 and the
One ball secondary S1, the first Hooke's hinge U1 are connected with silent flatform 2, active movement of the first movement secondary P1 as mechanism
Pair, the first ball secondary S1 are connected with moving platform 1.
In the utility model embodiment, second branch 4 includes the first revolute pair R1, the second prismatic pair P2 and the
Two ball secondary S2, the first revolute pair R1 are connected with silent flatform 2, active movement of the second prismatic pair P2 as mechanism
Pair, the second ball secondary S2 are connected with moving platform 1.
In the utility model embodiment, the third branch 5 includes the second revolute pair R2, third prismatic pair P3 and the
Three ball secondary S3, the second revolute pair R2 are connected with silent flatform 2, active movement of the third prismatic pair P3 as mechanism
Pair, the third ball secondary S3 are connected with moving platform 1.
In the utility model embodiment, the 4th branch 6 includes the 4th prismatic pair P4 and the second Hooke's hinge U2, institute
It states the second Hooke's hinge U2 to be connected with moving platform 1, passive movement pair of the 4th prismatic pair P4 as mechanism.
In the utility model embodiment, the first ball secondary S1 includes pivot center, pivot centerAnd rotation
Axis, the pivot center, pivot centerAnd pivot centerIt intersects at a point and non-coplanar；Second ball
Secondary S2 includes pivot center, pivot centerAnd pivot center, the pivot center, pivot centerAnd turn
Shaft lineIt intersects at a point and non-coplanar；The third ball secondary S3 includes pivot center, pivot centerAnd rotation axis
Line, the pivot center, pivot centerAnd pivot centerIt intersects at a point and non-coplanar；First Hooke
Cutting with scissors U1 includes pivot centerWith pivot center, the pivot centerWith pivot centerIt intersects vertically；Second tiger
Gram hinge U2 include pivot centerWith pivot center, the pivot centerWith pivot centerIt intersects vertically；Described first
The pivot center of revolute pair R1 is, the pivot center of the second revolute pair R2 is, the pivot centerWith rotation axis
LineIt is parallel to each other, the pivot centerWith pivot centerIt is orthogonal, the pivot centerWith pivot centerMutually
It is perpendicular；The mobile axis of the first movement secondary P1 is, the mobile axisPerpendicular to pivot centerWith pivot center；The mobile axis of the second prismatic pair P2 is, the mobile axisPerpendicular to pivot centerWith pivot center；
The mobile axis of the third prismatic pair P3 is, the mobile axisPerpendicular to pivot centerWith pivot center；Institute
The mobile axis for stating the 4th prismatic pair P4 is, the mobile axisPerpendicular to pivot center。
In the utility model embodiment, the first movement pair, the second prismatic pair, third prismatic pair and the 4th prismatic pair
Can be using the screw slide of servo motor driving, it can also be using the straight line by the drivings such as linear motor, hydraulic, air pressure push rod
Movement mechanism, first revolute pair and the second revolute pair can carry out hinged, first ball using pin shaft and bearing
Oscillating bearing or three axis combined type cradle heads can be used in secondary, the second ball pair and third ball pair, but not limited to this.
In the utility model embodiment, the first movement pair, the second prismatic pair, third prismatic pair and the 4th are mobile
Pair is all made of screw slide, and the first movement pair includes the first sliding block 301, the first lead screw 302, matches with the first sliding block
First straight line guide rail 303, first connecting rod 304 and the first servo motor 305 for driving the first lead screw, the first sliding block conduct
The guide of first movement pair, first sliding block are fixedly connected on the first Hooke's hinge, and the first straight line guide rail is as
The movement parts of one prismatic pair are fixedly connected on the first connecting rod；When first servo motor works, due to first Hooke's hinge
It is connected with silent flatform, first sliding block cannot be moved relative to silent flatform, and first lead screw drives first connecting rod phase
First sliding block is moved, so that first branch is moved relative to silent flatform.
In the utility model embodiment, second prismatic pair includes the second sliding block 401, the second lead screw 402 and second
Second straight line guide rail 403, second connecting rod 404 and the second servo motor 405 for driving the second lead screw that sliding block matches, it is described
Guide of second sliding block as the second prismatic pair, second sliding block are fixedly connected in the first revolute pair, and described second is straight
Movement parts of the line guide rail as the second prismatic pair, are fixedly connected on the second connecting rod；When the second servo motor works, by institute
It states the first revolute pair to be connected with silent flatform, second sliding block cannot be moved relative to silent flatform, the second lead screw band
Dynamic second connecting rod is moved relative to the second sliding block, so that second branch is moved relative to silent flatform.
In the utility model embodiment, the third prismatic pair includes third sliding block 501, third lead screw 502 and third
Third linear guide 503, third connecting rod 504 and the third servo motor 505 for driving third lead screw that sliding block matches, it is described
Guide of the third sliding block as third prismatic pair, the third sliding block are fixedly connected in the second revolute pair, and the third is straight
Movement parts of the line guide rail as third prismatic pair, are fixedly connected on the third connecting rod；When third servo motor works, by institute
It states the second revolute pair to be connected with silent flatform, the third sliding block cannot be moved relative to silent flatform, the third lead screw band
Dynamic third connecting rod is moved relative to third sliding block, so that the third branch is moved relative to silent flatform.
In the utility model embodiment, the 4th prismatic pair includes that Four-slider 601, Four-slider match
Four linear guides 602, guide of the Four-slider as the 4th prismatic pair, the Four-slider are fixedly connected on fixed frame
On, since the fixed frame is connected with silent flatform, therefore the Four-slider cannot be moved relative to silent flatform, described dynamic flat
Platform drives the 4th branch to move relative to Four-slider, so that the 4th branch is passively moved relative to silent flatform.
In the utility model embodiment, the utility model using the silent flatform 2 as mechanism rack, moving platform 1 as
Output block, the first movement secondary P1, the second prismatic pair P2 and the third prismatic pair P3 active movement pair are realized
Moving platform 1 is with respect to silent flatform 2 in angle of precession ψ, nutational angle θ and heightzThe two rotation-translation movement output in direction.
In the utility model embodiment, the center of the first revolute pair R1, the center of the second revolute pair R2, the first tiger
To be formed by flat shape unrestricted at the center of gram hinge U1；The center of the second Hooke's hinge U2, the first ball secondary S1, the second ball
It is unrestricted that the center of secondary S2 and third ball secondary S3 are formed by flat shape；Preferably, in the first revolute pair R1
The heart, the center of the second revolute pair R2, the first Hooke's hinge U1 center be distributed on silent flatform 2 with isosceles triangle, described second
The center at the center of Hooke's hinge U2, the first ball secondary S1, the second ball secondary S2 and third ball secondary S3 is distributed in dynamic with isosceles triangle
On platform 1.
A kind of working method of the redundant constaint parallel institution of space two rotation-translation, sequentially includes the following steps: basis
Parallel institution movement mechanism uniquely determines dynamic under the common driving of first movement pair, the second prismatic pair and third prismatic pair
One pose of platform, to realize moving platform relative to the movement of the rotation of silent flatform two and a translation.
The above is only the preferred embodiment of the present invention, it is all done according to present utility model application the scope of the patents it is equal
Deng variation and modification, it should all belong to the covering scope of the utility model.
Claims (9)
1. a kind of redundant constaint parallel institution of space two rotation-translation, it is characterised in that: the parallel institution is a kind of 4 branches
The 1UPS&2RPS&1PU type Space expanding of 3DOF, the parallel institution include moving platform, silent flatform, the first branch,
Two branches, third branch and the 4th branch, the moving platform is through the first branch, the second branch, third branch and the 4th
Chain links together with silent flatform, and first branch is UPS type active movement branch, and second branch is the active of RPS type
Movement branched chain, the third branch are RPS type active movement branch, and the 4th branch is PU type passive movement branch, described
Output block of the moving platform as mechanism, under the common driving of three active movement branches, mechanism realizes the moving platform
The movement of the two rotation-translation of opposite silent flatform.
2. the redundant constaint parallel institution of space two rotation-translation according to claim 1, it is characterised in that: described
One branch includes the first Hooke's hinge, first movement pair and the first ball pair, and first Hooke's hinge is connected with silent flatform, described
Active movement pair of the first movement pair as mechanism, the first ball pair are connected with moving platform.
3. the redundant constaint parallel institution of space two rotation-translation according to claim 2, it is characterised in that: described
Two branches include the first revolute pair, the second prismatic pair and the second ball pair, and first revolute pair is connected with silent flatform, described
Active movement pair of second prismatic pair as mechanism, the second ball pair are connected with moving platform.
4. the redundant constaint parallel institution of space two rotation-translation according to claim 3, it is characterised in that: described
Three branches include the second revolute pair, third prismatic pair and third ball pair, and second revolute pair is connected with silent flatform, described
Active movement pair of the third prismatic pair as mechanism, the third ball pair are connected with moving platform.
5. the redundant constaint parallel institution of space two rotation-translation according to claim 4, it is characterised in that: described
Four branches include the 4th prismatic pair and the second Hooke's hinge, and the 4th prismatic pair is connected with silent flatform, and the described 4th is mobile
The secondary passive movement pair as mechanism, second Hooke's hinge are connected with moving platform.
6. the redundant constaint parallel institution of space two rotation-translation according to claim 5, it is characterised in that: described
The center of one revolute pair, the center of the second revolute pair, the first Hooke's hinge center be distributed on silent flatform with isosceles triangle, institute
State that the center of the second Hooke's hinge, the first ball is secondary, the second ball is secondary, third ball pair center is distributed in moving platform with isosceles triangle
On.
7. the redundant constaint parallel institution of space two rotation-translation according to claim 5 or 6, it is characterised in that: institute
Stating the first ball pair includes pivot center, pivot centerAnd pivot center, the pivot center, pivot center
And pivot centerIt intersects at a point and non-coplanar；The second ball pair includes pivot center, pivot centerAnd turn
Shaft line, the pivot center, pivot centerAnd pivot centerIt intersects at a point and non-coplanar；The third
Ball pair includes pivot center, pivot centerAnd pivot center, the pivot center, pivot centerAnd turn
Shaft lineIt intersects at a point and non-coplanar；First Hooke's hinge includes pivot centerWith pivot center, the rotation
AxisWith pivot centerIt intersects vertically；Second Hooke's hinge includes pivot centerWith pivot center, the rotation
AxisWith pivot centerIt intersects vertically；The pivot center of first revolute pair is, the rotation of second revolute pair
Axis is, the pivot centerWith pivot centerIt is parallel to each other, the pivot centerWith pivot centerIt hangs down mutually
Directly, the pivot centerWith pivot centerIt is orthogonal；The mobile axis of the first movement pair is, the movement
AxisPerpendicular to pivot centerWith pivot center；The mobile axis of second prismatic pair is, the mobile axisPerpendicular to pivot centerWith pivot center；The mobile axis of the third prismatic pair is, the mobile axisIt hangs down
Directly in pivot centerWith pivot center；The mobile axis of 4th prismatic pair is, the mobile axisPerpendicular to
Pivot center。
8. the redundant constaint parallel institution of space two rotation-translation according to claim 5 or 6, it is characterised in that: institute
First movement pair is stated using screw slide, the 4th prismatic pair uses slide block guide rail；The first movement pair includes the first sliding block, the
One lead screw, the first straight line guide rail matched with the first sliding block, first connecting rod and the first servo motor for driving the first lead screw,
Guide of first sliding block as first movement pair, first sliding block are fixedly connected on the first Hooke's hinge, and described
Movement parts of one linear guide as first movement pair, are fixedly connected on the first connecting rod；Second prismatic pair is sliding using lead screw
Platform, second prismatic pair include the second sliding block, the second lead screw, the second straight line guide rail matched with the second sliding block, the second company
Bar and the second servo motor for driving the second lead screw, guide of second sliding block as the second prismatic pair, described second
Sliding block is fixedly connected in the first revolute pair, and movement parts of the second straight line guide rail as the second prismatic pair are fixedly connected on
The second connecting rod；Third prismatic pair uses screw slide, and the third prismatic pair includes third sliding block, third lead screw, with the
Third linear guide, third connecting rod and the third servo motor for driving third lead screw that three sliding blocks match, the third are sliding
Guide of the block as third prismatic pair, the third sliding block are fixedly connected in the second revolute pair, the third linear guide
As the movement parts of third prismatic pair, it is fixedly connected on the third connecting rod.
9. the redundant constaint parallel institution of space two rotation-translation according to claim 8, it is characterised in that: described
The 4th linear guide that four prismatic pairs are matched comprising Four-slider, Four-slider, the Four-slider is as the 4th prismatic pair
Guide, the Four-slider is fixedly connected on fixed frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821027965.XU CN208468376U (en) | 2018-06-30 | 2018-06-30 | A kind of redundant constaint parallel institution of space two rotation-translation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821027965.XU CN208468376U (en) | 2018-06-30 | 2018-06-30 | A kind of redundant constaint parallel institution of space two rotation-translation |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858141A (en) * | 2018-06-30 | 2018-11-23 | 福州大学 | A kind of the redundant constaint parallel institution and its working method of space two rotation-translation |
| CN112428255A (en) * | 2020-11-13 | 2021-03-02 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
| CN113664812A (en) * | 2021-08-12 | 2021-11-19 | 上海工程技术大学 | Novel modular series-parallel robot of front-driving type |
| CN114603328A (en) * | 2022-03-15 | 2022-06-10 | 上海智能制造功能平台有限公司 | 3PRS-2PP double-platform equipment for intelligent assembly |
-
2018
- 2018-06-30 CN CN201821027965.XU patent/CN208468376U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858141A (en) * | 2018-06-30 | 2018-11-23 | 福州大学 | A kind of the redundant constaint parallel institution and its working method of space two rotation-translation |
| CN108858141B (en) * | 2018-06-30 | 2023-12-19 | 福州大学 | Space two-rotation one-translation redundancy constraint parallel mechanism and working method thereof |
| CN112428255A (en) * | 2020-11-13 | 2021-03-02 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
| CN112428255B (en) * | 2020-11-13 | 2022-12-27 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
| CN113664812A (en) * | 2021-08-12 | 2021-11-19 | 上海工程技术大学 | Novel modular series-parallel robot of front-driving type |
| CN114603328A (en) * | 2022-03-15 | 2022-06-10 | 上海智能制造功能平台有限公司 | 3PRS-2PP double-platform equipment for intelligent assembly |
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