CN100384599C - 四自由度并联机械臂 - Google Patents
四自由度并联机械臂 Download PDFInfo
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- CN100384599C CN100384599C CNB2006100128246A CN200610012824A CN100384599C CN 100384599 C CN100384599 C CN 100384599C CN B2006100128246 A CNB2006100128246 A CN B2006100128246A CN 200610012824 A CN200610012824 A CN 200610012824A CN 100384599 C CN100384599 C CN 100384599C
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- rods
- electric motors
- linear electric
- moving slider
- branched chain
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Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CNB2006100128246A CN100384599C (zh) | 2006-06-09 | 2006-06-09 | 四自由度并联机械臂 |
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CNB2006100128246A CN100384599C (zh) | 2006-06-09 | 2006-06-09 | 四自由度并联机械臂 |
Publications (2)
Publication Number | Publication Date |
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CN1864943A CN1864943A (zh) | 2006-11-22 |
CN100384599C true CN100384599C (zh) | 2008-04-30 |
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CNB2006100128246A Expired - Fee Related CN100384599C (zh) | 2006-06-09 | 2006-06-09 | 四自由度并联机械臂 |
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CN (1) | CN100384599C (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101444914A (zh) * | 2008-11-19 | 2009-06-03 | 浙江工业大学 | 三自由度拟人并联机械臂 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1231226A (zh) * | 1999-04-29 | 1999-10-13 | 清华大学 | 平面双滑块三自由度虚拟轴机床结构 |
CN1246400A (zh) * | 1999-07-16 | 2000-03-08 | 清华大学 | 龙门滑块式内外副混合驱动虚拟轴机床结构 |
JP2002096281A (ja) * | 2000-09-14 | 2002-04-02 | Yoshi Marukawa | 二足歩行ロボット |
CN2484153Y (zh) * | 2001-05-30 | 2002-04-03 | 中国科学院沈阳自动化研究所 | 实现两维转动两维平动的四自由度并联机构 |
US6516681B1 (en) * | 1999-09-17 | 2003-02-11 | Francois Pierrot | Four-degree-of-freedom parallel robot |
CN1439492A (zh) * | 2003-03-06 | 2003-09-03 | 天津大学 | 四自由度混联机器人 |
CN1498149A (zh) * | 2001-02-23 | 2004-05-19 | ά������е�ɷ�����˾ | 机器或仪器中终端零件的支撑和可编程移动的运动装置 |
JP2004351544A (ja) * | 2003-05-28 | 2004-12-16 | Taiyo Kogyo Kk | 無線操縦二足歩行ロボット |
CN1772444A (zh) * | 2005-11-11 | 2006-05-17 | 华南理工大学 | 一种二维平动二维转动的四自由度并联机器人机构 |
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2006
- 2006-06-09 CN CNB2006100128246A patent/CN100384599C/zh not_active Expired - Fee Related
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1231226A (zh) * | 1999-04-29 | 1999-10-13 | 清华大学 | 平面双滑块三自由度虚拟轴机床结构 |
CN1246400A (zh) * | 1999-07-16 | 2000-03-08 | 清华大学 | 龙门滑块式内外副混合驱动虚拟轴机床结构 |
US6516681B1 (en) * | 1999-09-17 | 2003-02-11 | Francois Pierrot | Four-degree-of-freedom parallel robot |
JP2002096281A (ja) * | 2000-09-14 | 2002-04-02 | Yoshi Marukawa | 二足歩行ロボット |
CN1498149A (zh) * | 2001-02-23 | 2004-05-19 | ά������е�ɷ�����˾ | 机器或仪器中终端零件的支撑和可编程移动的运动装置 |
CN2484153Y (zh) * | 2001-05-30 | 2002-04-03 | 中国科学院沈阳自动化研究所 | 实现两维转动两维平动的四自由度并联机构 |
CN1439492A (zh) * | 2003-03-06 | 2003-09-03 | 天津大学 | 四自由度混联机器人 |
JP2004351544A (ja) * | 2003-05-28 | 2004-12-16 | Taiyo Kogyo Kk | 無線操縦二足歩行ロボット |
CN1772444A (zh) * | 2005-11-11 | 2006-05-17 | 华南理工大学 | 一种二维平动二维转动的四自由度并联机器人机构 |
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Publication number | Publication date |
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CN1864943A (zh) | 2006-11-22 |
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Date | Code | Title | Description |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Harbin Lingyun Automobile Parts Co., Ltd. Assignor: Yanshan University Contract fulfillment period: 2009.9.21 to 2015.9.21 contract change Contract record no.: 2009990001126 Denomination of invention: Four-freedom parallel mechanical arm Granted publication date: 20080430 License type: Exclusive license Record date: 2009.10.9 |
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LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2009.9.21 TO 2015.9.21; CHANGE OF CONTRACT Name of requester: HARBIN LINGYUN CAR PARTS CO., LTD. Effective date: 20091009 |
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C17 | Cessation of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080430 Termination date: 20130609 |