CN100348376C - Two-free-degree decoupling spherical parallel mechanism - Google Patents
Two-free-degree decoupling spherical parallel mechanism Download PDFInfo
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- CN100348376C CN100348376C CNB2005101221784A CN200510122178A CN100348376C CN 100348376 C CN100348376 C CN 100348376C CN B2005101221784 A CNB2005101221784 A CN B2005101221784A CN 200510122178 A CN200510122178 A CN 200510122178A CN 100348376 C CN100348376 C CN 100348376C
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- rotary pair
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- connecting rod
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CNB2005101221784A CN100348376C (en) | 2005-12-06 | 2005-12-06 | Two-free-degree decoupling spherical parallel mechanism |
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CNB2005101221784A CN100348376C (en) | 2005-12-06 | 2005-12-06 | Two-free-degree decoupling spherical parallel mechanism |
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CN1775487A CN1775487A (en) | 2006-05-24 |
CN100348376C true CN100348376C (en) | 2007-11-14 |
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CNB2005101221784A Expired - Fee Related CN100348376C (en) | 2005-12-06 | 2005-12-06 | Two-free-degree decoupling spherical parallel mechanism |
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Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101439515B (en) * | 2008-12-25 | 2010-08-18 | 上海交通大学 | Parallel four-bar type structure decoupling six-dimension force feedback device |
CN101791798B (en) * | 2010-03-27 | 2011-05-25 | 燕山大学 | Two-freedom rotary decoupling parallel robot mechanism |
CN103624773B (en) * | 2013-12-05 | 2015-06-10 | 燕山大学 | Two-degree-of-freedom rotating parallel mechanism |
CN104942800B (en) * | 2015-07-02 | 2017-03-22 | 上海交通大学 | Three-translation one-rotation four-freedom rotation and translation complete decoupling parallel mechanism |
CN105252525A (en) * | 2015-11-30 | 2016-01-20 | 中国科学院光电技术研究所 | Two-degree-of-freedom spherical parallel mechanism |
CN106426109B (en) * | 2016-11-25 | 2018-06-15 | 河北工业大学 | The decoupling type two-freedom-degree parallel mechanism of whole world face working space can be achieved |
CN107351059A (en) * | 2017-06-09 | 2017-11-17 | 深圳先进技术研究院 | A kind of parallel institution of two-free-degree decoupling |
US11458614B2 (en) | 2017-06-09 | 2022-10-04 | Shenzhen Institutes Of Advanced Technology | 2 degree-of-freedoms decoupling parallel mechanism |
CN112192552B (en) * | 2020-10-30 | 2021-08-27 | 燕山大学 | Spatial spherical two-degree-of-freedom parallel mechanism |
CN114668629B (en) * | 2022-04-22 | 2024-01-12 | 河北工业大学 | Four-degree-of-freedom ankle joint rehabilitation parallel mechanism with closed chain of children |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5966991A (en) * | 1997-04-23 | 1999-10-19 | Universite Laval | Two degree-of-freedom spherical orienting device |
CN1546286A (en) * | 2003-12-15 | 2004-11-17 | 河北工业大学 | Rotation pair combination unit and motion decoupling parallel mechanism formed thereby |
WO2004106011A1 (en) * | 2003-05-30 | 2004-12-09 | Matteo Zoppi | Armilleye: a three degree- of-freedom spherical parallel mechanism |
CN1631612A (en) * | 2005-01-04 | 2005-06-29 | 浙江理工大学 | Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide |
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2005
- 2005-12-06 CN CNB2005101221784A patent/CN100348376C/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5966991A (en) * | 1997-04-23 | 1999-10-19 | Universite Laval | Two degree-of-freedom spherical orienting device |
WO2004106011A1 (en) * | 2003-05-30 | 2004-12-09 | Matteo Zoppi | Armilleye: a three degree- of-freedom spherical parallel mechanism |
CN1546286A (en) * | 2003-12-15 | 2004-11-17 | 河北工业大学 | Rotation pair combination unit and motion decoupling parallel mechanism formed thereby |
CN1631612A (en) * | 2005-01-04 | 2005-06-29 | 浙江理工大学 | Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide |
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CN1775487A (en) | 2006-05-24 |
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C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract |
Assignee: SEW- transmission equipment (Suzhou) Co., Ltd. Assignor: Hebei University of Technology Contract fulfillment period: 2008.12.6 to 2014.12.5 contract change Contract record no.: 2009990000146 Denomination of invention: Two-free-degree decoupling spherical parallel mechanism Granted publication date: 20071114 License type: Exclusive license Record date: 2009.3.4 |
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LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2008.12.6 TO 2014.12.5; CHANGE OF CONTRACT Name of requester: SEW- TRANSMISSION EQUIPMENT ( SUZHOU) CO., LTD. Effective date: 20090304 |
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CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20071114 Termination date: 20141206 |
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EXPY | Termination of patent right or utility model |