CN102717380B - Six-degree of freedom parallel mechanism based on different radii - Google Patents
Six-degree of freedom parallel mechanism based on different radii Download PDFInfo
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- CN102717380B CN102717380B CN201210162519.0A CN201210162519A CN102717380B CN 102717380 B CN102717380 B CN 102717380B CN 201210162519 A CN201210162519 A CN 201210162519A CN 102717380 B CN102717380 B CN 102717380B
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Abstract
The invention relates to a six-degree of freedom parallel mechanism based on different radii. The six-degree of freedom parallel mechanism comprises a static platform, a movable platform, six support frames, six upper spherical hinges, six lower spherical hinges, six direct-current motors, six branched chains and an operating rod, wherein the six support frames are fixedly connected with the static platform at the preset position; the six direct-current motors penetrate through holes in the support frames respectively and are connected with lower connecting rods of the six branched chains; upper connecting rods of the six branched chains are connected with the movable platform by the six upper spherical hinges; the upper and lower connecting rods of the six branched chains are connected with each other by the six lower spherical hinges; and the operating rod is connected with a through hole of the movable platform. According to the six-degree of freedom parallel mechanism, each branched chain can determine the spatial position of each spherical hinge on the movable platform, so that six degrees of freedom of motion of the platform can be realized by the six spherical hinges which are non-collinear; and three-dimensional force and three-dimensional moment are outputted on the movable platform, so that an interactive feeling that the three-dimensional force and the three-dimensional moment are the same as virtual force and virtual moment in virtual environment is provided for people. The six-degree of freedom parallel mechanism is force sense interactive equipment which is novel in configuration, simple in structure and high in performance.
Description
One, technical field:
The present invention relates to a kind of six-degree-of-freedom parallel connection mechanism based on different radii, particularly relate to a kind of parallel force sense man-machine interaction device with six-freedom degree, it be a kind of can the interphase interaction of accurate simulation Objects In A Virtual Environment produce contact force, contact force distance the Li Jue mechanism of size and Orientation.Belong to force sense man-machine interaction equipment technical field.
Two, background technology:
In the interaction of people and environment, operator to environment Input Forces or motion, environment not only with the form of vision or audible signal to operator's feedback effect effect, and by its corresponding with the form of motion or power by tactile feedback to operator.Broad sense sense of touch can be divided into power and feel and narrow sense sense of touch from its signal form, and power feel typically refers to the sensation of hardness, shape facility etc. to contacted object, and narrow sense sense of touch typically refers to the sensation to the texture characteristic of object etc.Correspond, interactive device is also divided into narrow sense haptic interaction device and force sense interactive device.
Dynamic sensing interexchanging is also known as tactile sense reproduction, and object is that the operator giving strange land provides power visual information, simulates the perception of its operation when participating in the cintest, to improve operational quality and efficiency.In recent years, power feels that reproducing technology is rapidly developed in field of virtual reality, become a kind of new computer man-machine interacting mode, when operating dummy object, by power, operator feels that on-line equipment sense receives the active force of dummy object, the material of object and shape, the even motion of object, experiences the power feel perceived effect as biconditional operation real-world object.Its function is measure operator operation trend, communicates, accept the fictitious force signal that virtual environment calculates, by mechanical interface, feedback force is applied to operator with virtual simulation environment.
The type of dynamic sensing interexchanging apparatus comprises and is fixed on operator's arm and is fixed on the large type of two on workbench, is applicable to different application scenarios.The former mainly comprises data ratio, data glove; The feature of this kind equipment to follow the tracks of the multifreedom motion of author's arm or finger, but the shortcomings such as fidelity difference are experienced in the feel of ubiquity bulky dimensions, heavier-weight, power, be applicable to not require that realism knows the occasion of reciprocal force, be generally used for the master-slave operation of mechanical arm or robot delicate.The present invention is a kind of desktop be fixed on workbench, is dynamic sensing interexchanging apparatus, has the features such as easy to operate, motion is flexible, power feel impression is true to nature.
Current existing six-degree-of-freedom parallel connection mechanism still also exists the less problem of space generally as dynamic sensing interexchanging apparatus, especially the performance in rotation is also poor, six-degree-of-freedom parallel connection mechanism of the present invention raising of performance in rotation makes great progress, and this strengthens the advantage that six-degree-of-freedom parallel connection mechanism is applied in dynamic sensing interexchanging apparatus greatly.
Three, summary of the invention
1. object: the object of the invention is for force sense man-machine interaction device with six degrees of freedom provides a kind of six-degree-of-freedom parallel connection mechanism based on different radii, which overcoming the deficiencies in the prior art, is that a kind of configuration is novel, simple, the of good performance force sense interactive device of structure.
2. technical scheme:
A kind of six-degree-of-freedom parallel connection mechanism based on different radii of the present invention, it includes silent flatform, moving platform, six bracing frames, six upper ball pivots, six lower ball pivots, six direct current generators, six side chains and action bars, and the position annexation between them is: six bracing frames are connected in precalculated position and silent flatform; Six direct current generators are each passed through each lower link connection of the Kong Yuliu bar side chain on bracing frame; Article six, each upper connecting rod of side chain is connected with moving platform by six upper ball pivots; Article six, each upper and lower connecting rod of side chain is interconnected by six lower ball pivots, and action bars is connected with the through hole of moving platform.
Described silent flatform is the special triangle plate of block, and its centre of form is provided with through hole, and the middle part on top, its angle or Jiao Ding and limit is all provided with the rectangle plate of protrusion;
Described moving platform is the triangle plate that the centre of form is provided with through hole;
Described bracing frame is one piece of rectangle plate being provided with through hole and support member of forming vertical each other at another rectangle plate medium position;
Described six upper ball pivots, six lower ball pivots are common spherical hinge structures, choose as required in market;
Six described direct current generators are the motor that can realize position and force feedback, choose as required in market;
Six described side chains, be connected with lower ball pivot by upper and lower connecting rod respectively and form, this upper and lower connecting rod is common round bar part;
Described action bars is common round bar part.
Wherein, described first side chain motor 3
abe arranged on the inner side of bracing frame A, the second side chain motor 3
bbe arranged on the outside of bracing frame B, the 3rd side chain motor 3
cbe arranged on the inner side of bracing frame C, the 4th side chain motor 3
dbe arranged on the outside of bracing frame D, the 5th side chain motor 3
ebe arranged on the inner side of bracing frame E, the 6th side chain motor 3
fbe arranged on the outside of bracing frame F;
Wherein, described first side chain 4
athe first lower link 4
1one end be arranged on the first side chain motor 3
aoutput shaft on, the other end is arranged on first time ball pivot C
1on; Connecting rod 5 on first
1one end is arranged on the first time ball pivot C be connected with first end
1on, the other end be arranged on moving platform first on ball pivot B
1on; Second side chain 4
b, the 3rd side chain 4
c, the 4th side chain 4
d, the 5th side chain 4
e, the 6th side chain 4
fconnected mode and the first side chain 4
aidentical;
Wherein, described first lower link 4
1with the first side chain motor 3
aoutput forms the first revolute pair 3
1, the second lower link 4
2with the second side chain motor 3
boutput forms the second revolute pair 3
2, the 3rd lower link 4
3with the 3rd side chain motor 3
coutput forms the 3rd revolute pair 3
3, the 4th lower link 4
4with the 4th side chain motor 3
doutput forms the 4th revolute pair 3
4, the 5th lower link 4
5with the 5th side chain motor 3
eoutput forms the 5th revolute pair 3
5, the 6th lower link 4
6with the 6th side chain motor 3
foutput forms the 6th revolute pair 3
6;
Wherein, six direct current generators that described silent flatform 1 is installed, the turning cylinder of each motor points to silent flatform central point, and is distributed on silent flatform 1 in 60 °, wherein the second side chain motor 3
b, the 4th side chain motor 3
d, the 6th side chain motor 3
foutput apart from the distance e of silent flatform 1 central point
2it is the first side chain motor 3
a, the 3rd side chain motor 3
c, the 5th side chain motor output 3
eapart from the distance e of silent flatform 1 central point
1half;
Wherein, described moving platform central point O
2to the first ball pivot B
1, the 3rd ball pivot B
3, the 5th ball pivot B
5distance be e
2, the first ball pivot B
1with the 6th ball pivot B
6passing through moving platform central point O
2same straight line on; 3rd ball pivot B
3with the second ball pivot B
2passing through moving platform central point O
2same straight line on; 5th ball pivot B
5with the 4th ball pivot B
4passing through moving platform central point O
2same straight line on, be distributed on moving platform 2 in 120 °.
Wherein, six direct current generators be fixed on silent flatform drive six side chains respectively, and drive the lower link in side chain to rotate, lower link is connected by lower ball pivot with upper connecting rod, and upper connecting rod is connected with moving platform by upper ball pivot; Article six, side chain intersects at the ball pivot place on moving platform, namely six side chains determine the locus of a ball pivot on moving platform respectively, therefore six ball pivots can realize the six-freedom degree of moving platform, moving platform exports three-dimensional force and three-dimensional moment, provides an interactive feel identical with virtual moment with fictitious force in virtual environment to staff.
A kind of six-degree-of-freedom parallel connection mechanism based on different radii of the present invention, this parallel institution is except ensureing that translation and height vert except performance, Z axis more than more than the 300 degree anglec of rotation is also provided, compare the published parallel institution being applied in three-dimensional force and three-dimensional moment feedback, there is application widely.
The maximum shortcoming of conventional parallel mechanism is exactly interfere large between bar, limits space and the flexibility ratio of moving platform.Parallel institution of the present invention is taked to drive the secondary arrangement mode providing tangential force, the central point of the orientation of its axis silent flatform namely allowing driving secondary, and every three drive the secondary distance apart from central point different, realize interference being resolved into interior three kinematic chains of radius less (less apart from central point distance) and outer three kinematic chains of radius comparatively large (larger apart from central point distance), the interference between three kinematic chains is dissolved in interference by six kinematic chains, theoretically, the performance of this energy hoisting mechanism one times.
3. advantage and effect:
A kind of six-degree-of-freedom parallel connection mechanism based on different radii of the present invention, is relative to the advantage of general configuration: (1) has larger rotational angle, and solid modelling tests maximum Z axis corner can reach about 310 °; (2) distribution of motor is compacter, reduces the space of silent flatform; (3) interference is relatively little, because adjust for interference in design, changes interior three kinematic chains and the interference separately of outer bar three kinematic chain into, therefore greatly improve exercise performance by ingenious for the interference of 6 bars; (4) configuration is novel;
Four, accompanying drawing explanation
Fig. 1 is the overall structure figure of the first motor of methodology of novel parallel mechanism of the present invention distribution;
Fig. 2 is the overall structure figure of methodology of novel parallel mechanism the second motor of the present invention distribution;
Fig. 3 is silent flatform revolute pair distribution map;
Fig. 4 is that moving platform turns ball pivot distribution map;
Fig. 5 is that connector and rod member assemble schematic diagram;
Fig. 6 is the assembling schematic diagram of silent flatform and motor.
In figure:
Five, detailed description of the invention
1. layout and connected mode
The present invention is for force sense man-machine interaction device with six degrees of freedom provides a kind of six-degree-of-freedom parallel connection mechanism based on different radii, has six degrees of freedom of motion.
As shown in Figure 1, a kind of six-degree-of-freedom parallel connection mechanism based on different radii of the present invention is by silent flatform 1, moving platform 2, first side chain 4
a, the second side chain 4
b, the 3rd side chain 4
c, the 4th side chain 4
d, the 5th side chain 4
e, the 6th side chain 4
f, the first side chain motor 3
a, the second side chain motor 3
b, the 3rd side chain motor 3
c, the 4th side chain motor 3
d, the 5th side chain motor 3
e, the 6th side chain motor 3
f, six lower ball pivot C
1, C
2, C
3, C
4, C
5, C
6, six upper ball pivot B
1, B
2, B
3, B
4, B
5, B
6form with six bracing frames A, B, C, D, E, F and action bars 6; Position annexation between them is: six bracing frames A, B, C, D, E, F are connected in precalculated position and silent flatform 1; Article six, side chain 4
a, 4
b, 4
c, 4
d, 4
e, 4
fon six direct current generators 3
a, 3
b, 3
c, 3
d, 3
e, 3
fbe each passed through the Kong Yuliu bar side chain 4 on bracing frame A, B, C, D, E, F
a, 4
b, 4
c, 4
d, 4
e, 4
feach lower link 4
1, 4
2, 4
3, 4
4, 4
5, 4
6connect; Article six, side chain 4
a, 4
b, 4
c, 4
d, 4
e, 4
feach upper connecting rod 5
1, 5
2, 5
3, 5
4, 5
5, 5
6by six upper ball pivot B
1, B
2, B
3, B
4, B
5, B
6be connected with moving platform; Article six, side chain 4
a, 4
b, 4
c, 4
d, 4
e, 4
feach upper connecting rod 5
1, 5
2, 5
3, 5
4, 5
5, 5
6with each lower link 4
1, 4
2, 4
3, 4
4, 4
5, 4
6by six lower ball pivot C
1, C
2, C
3, C
4, C
5, C
6be interconnected, action bars 6 is connected with the through hole of moving platform 2.
Described silent flatform 1 is provided with six bracing frames, i.e. bracing frame A, bracing frame B, bracing frame C, bracing frame D, bracing frame E, bracing frame F; The distribution of bracing frame takes different radii to distribute, and be namely one group with every three supports, the pack support that radius is large is called support arm group, and the pack support that radius is little is called inner support group.Distance with the support distance center point of group is identical, and the kinematic chain that inner support group connects is called interior kinematic chain, and the kinematic chain that support arm group connects is called outer kinematic chain.Support in same group is distributed as every 120 degree of supports, namely three supports on silent flatform 1 with silent flatform 1 central point for center of circle same radius is uniformly distributed, and two pack supports are distributed with two kinds of modes on silent flatform 1: the first is that two pack supports are uniformly distributed around silent flatform 1 central point, namely 60 degree are respectively separated by between six supports, wherein two support arms and an inner support draw a straight line, and six support lines form an equilateral triangle; The second is that an inner support and a support arm partner, and namely a support arm and an inner support draw a straight line, and overlap with the straight line by central point, and three pairs of often pair, supports are separated by 120 degree altogether, be uniformly distributed, see Fig. 2 around central point.Highlight first kind of way herein, the difference of the second way and first kind of way can illustrate at accompanying drawing directly to be found out.As shown in Figure 6.Fig. 3 is silent flatform 1 revolute pair distribution map.
The first described side chain motor 3
abe arranged on the inner side of bracing frame A, the second side chain motor 3
bbe arranged on the outside of bracing frame B, the 3rd side chain motor 3
cbe arranged on the inner side of bracing frame C, the 4th side chain motor 3
dbe arranged on the outside of bracing frame D, the 5th side chain motor 3
ebe arranged on the inner side of bracing frame E, the 6th side chain motor 3
fbe arranged on the outside of bracing frame F; As Fig. 6.Wherein, the first side chain motor 3
a, the 3rd side chain motor 3
c, the 5th side chain motor 3
efor outer side chain motor, the second side chain motor 3
b, the 4th side chain motor 3
d, the 6th side chain motor 3
ffor interior side chain motor.Take Fig. 1 as reference.
Ball pivot distribution on moving platform 2 of the present invention only has one, namely the same with the second that motor distributes, and often organizes three ball pivots, and the size according to ball pivot distance moving platform 2 central point is divided into inside and outside ball pivot two groups, ball pivot B on first
1, ball pivot B on the 3rd
3, ball pivot B on the 5th
5for outer ball pivot group, ball pivot B on second
2, ball pivot B on the 4th
4, ball pivot B on the 6th
6for interior ball pivot group.An interior ball pivot group and an outer ball pivot partner, and two ball pivots are linked to be a straight line, overlap with the straight line by moving platform central point, and between three pairs of ball pivots, each distance 120 degree, is uniformly distributed around central point.As shown in Figure 4.
Described kinematic chain connected mode is as follows, the lower link of outer kinematic chain is connected with outer side chain motor, on outer kinematic chain, the ectosphere of connecting rod and moving platform 2 is hinged, and the lower link of interior kinematic chain is connected with interior motor, interior kinematic chain is connected with ball pivot in moving platform 2, and an interior kinematic chain forms one group of kinematic chain with an outer kinematic chain is connected with the ball pivot of a pair moving platform.Wherein interior lower link intersects with the direction of outer lower link.Be specially the first side chain 4
athe first lower link 4
1one end be arranged on the first side chain motor 3
aoutput shaft on, the other end is arranged on first time ball pivot C
1on; Connecting rod 5 on first
1one end is arranged on first time ball pivot C
1on, the other end be arranged on moving platform 2 first on ball pivot B
1on; Second side chain 4
b, the 3rd side chain 4
c, the 4th side chain 4
d, the 5th side chain 4
e, the 6th side chain 4
fconnected mode and the first side chain 4
aidentical; As shown in Figure 5:
Described action bars 6 is for when force sense man-machine interaction device is in reverse drive state, and the hand-held action bars 6 be arranged on moving platform 2 of operator moves at space free, as shown in Figure 1.
Direct current generator of the present invention is in order to space utilization and reduce inertia suffered by operation sense, all direct current generators are all placed on silent flatform 1, and adopt placement symmetrically, output silent flatform 1 central point dorsad of outside direct current generator, and the output end face of inner side direct current generator is to the central point of silent flatform 1, as shown in Figure 6.
2. specific implementation and performance parameter table
The present invention passed through solid modelling and drew concrete performance parameter, and table 1 is parameters of structural dimension, and table 2 is performance parameter.
Table 1
| Parameters of structural dimension | Size (mm) |
| Silent flatform e 1 | 100 |
| Moving platform e 2 | 50 |
| First and third, five lower links | 200 |
| First and third, connecting rod on five | 200 |
| The second, four, six lower links | 100 |
| The second, connecting rod on four, six | 250 |
| All connecting rod diameters | 7 |
Table 2
| Performance indications | Design parameter |
| The free degree | 6DOF |
| X-direction displacement | ±100mm |
| Y-direction displacement | ±110mm |
| Z-direction displacement | 90mm |
| Z axis corner (α angle) | +120°,-190° |
| Y-axis corner (β angle) | ±90° |
| X-axis corner (γ angle) | ±90° |
Claims (1)
1. based on a six-degree-of-freedom parallel connection mechanism for different radii, it is characterized in that: comprise silent flatform, moving platform, the first side chain, the second side chain, the 3rd side chain, the 4th side chain, the 5th side chain, the 6th side chain, the first side chain motor, the second side chain motor, the 3rd side chain motor, the 4th side chain motor, the 5th side chain motor, the 6th side chain motor, six lower ball pivots, six upper ball pivots and six bracing frames and action bars; Position annexation between them is: six bracing frames are connected in precalculated position and silent flatform; Article six, each lower link of the Kong Yuliu bar side chain that six direct current generators on side chain are each passed through on bracing frame connects; Article six, each upper connecting rod of side chain is connected with moving platform by six upper ball pivots; Article six, each upper connecting rod of side chain and each lower link are interconnected by six lower ball pivots, and action bars is connected with the through hole of moving platform;
Described silent flatform is provided with six bracing frames; The distribution of bracing frame takes different radii to distribute, and be namely one group with every three supports, the pack support that radius is large is called support arm group, and the pack support that radius is little is called inner support group; Distance with the support distance center point of group is identical, and the kinematic chain that inner support group connects is called interior kinematic chain, and the kinematic chain that support arm group connects is called outer kinematic chain; Support in same group is distributed as every 120 degree of supports, namely three supports on silent flatform with silent flatform central point for center of circle same radius is uniformly distributed, and two pack supports are distributed with two kinds of modes on silent flatform: the first is that two pack supports are uniformly distributed around silent flatform central point, namely 60 degree are respectively separated by between six supports, wherein two support arms and an inner support draw a straight line, and six support lines form an equilateral triangle; The second is that an inner support and a support arm partner, and namely a support arm and an inner support draw a straight line, and overlap with the straight line by central point, and three pairs of often pair, supports are separated by 120 degree altogether, are uniformly distributed around central point;
The first described side chain motor is arranged on the inner side of the first bracing frame, second side chain motor is arranged on the outside of the second bracing frame, 3rd side chain motor is arranged on the inner side of the 3rd bracing frame, 4th side chain motor is arranged on the outside of the 4th bracing frame, the outside that the 5th side chain motor is arranged on the inner side of the 5th bracing frame, the 6th side chain motor is arranged on the 6th bracing frame; Wherein, the first side chain motor, the 3rd side chain motor, the 5th side chain motor are outer side chain motor, and the second side chain motor, the 4th side chain motor, the 6th side chain motor are interior side chain motor;
Ball pivot distribution on described moving platform only has one, namely the same with the second that motor distributes, often organize three ball pivots, size according to ball pivot distance moving platform central point is divided into inside and outside ball pivot two groups, on first, on ball pivot, the 3rd, on ball pivot, the 5th, ball pivot is outer ball pivot group, and on second, on ball pivot, the 4th, on ball pivot, the 6th, ball pivot is interior ball pivot group; An interior ball pivot group and an outer ball pivot partner, and two ball pivots are linked to be a straight line, overlap with the straight line by moving platform central point, and between three pairs of ball pivots, each distance 120 degree, is uniformly distributed around central point;
Described kinematic chain connected mode is as follows, the lower link of outer kinematic chain is connected with outer side chain motor, on outer kinematic chain, the ectosphere of connecting rod and moving platform is hinged, and the lower link of interior kinematic chain is connected with interior motor, interior kinematic chain is connected with ball pivot in moving platform, and interior kinematic chain and an outer kinematic chain form one group of kinematic chain with the ball pivot of a pair moving platform is connected; Wherein interior lower link intersects with the direction of outer lower link; The one end being specially the first lower link of the first side chain is arranged on the output shaft of the first side chain motor, and the other end is arranged on first time ball pivot; On first, connecting rod one end is arranged on first time ball pivot, the other end be arranged on moving platform first on ball pivot; The connected mode of the second side chain, the 3rd side chain, the 4th side chain, the 5th side chain, the 6th side chain is identical with the first side chain;
Described action bars is for when force sense man-machine interaction device is in reverse drive state, and the hand-held action bars be arranged on moving platform of operator moves at space free;
Direct current generator is in order to space utilization and reduce inertia suffered by operation sense, all direct current generators are all placed on silent flatform, and adopt placement symmetrically, the output silent flatform central point dorsad of outside direct current generator, and the output end face of inner side direct current generator is to the central point of silent flatform (1).
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|---|---|---|---|
| CN201210162519.0A CN102717380B (en) | 2012-05-23 | 2012-05-23 | Six-degree of freedom parallel mechanism based on different radii |
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|---|---|---|---|
| CN201210162519.0A CN102717380B (en) | 2012-05-23 | 2012-05-23 | Six-degree of freedom parallel mechanism based on different radii |
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| CN102717380A CN102717380A (en) | 2012-10-10 |
| CN102717380B true CN102717380B (en) | 2015-02-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103085060B (en) * | 2012-12-31 | 2015-04-22 | 中国科学院自动化研究所 | Butt joint / separating device and method based on force sense and visual sense mixture detection |
| CN103092166A (en) * | 2013-01-06 | 2013-05-08 | 杭州夸克科技有限公司 | Bus type parallel connection six degree of freedom platform array |
| CN103984365A (en) * | 2014-05-22 | 2014-08-13 | 北京航天易联科技发展有限公司 | Three-dimensional interactive device and interaction method thereof |
| CN104678885B (en) * | 2014-12-30 | 2017-07-14 | 中国矿业大学 | A kind of Six Degree-of-Freedom Parallel Platform of driving quadrature arrangement |
| CN104931222B (en) * | 2015-05-04 | 2018-04-10 | 中国航天空气动力技术研究院 | Machine bullet separated track captive test system |
| CN104786212B (en) * | 2015-05-13 | 2017-01-04 | 哈尔滨工业大学 | A kind of parallel institution realizing the motion of apocenter, space |
| CN106426086A (en) * | 2015-08-05 | 2017-02-22 | 江苏金源锻造股份有限公司 | Robot for forging system |
| CN105710866B (en) * | 2016-04-22 | 2017-12-29 | 燕山大学 | A kind of four-degree-of-freedparallel parallel manipulator with nested structure |
| CN105843166B (en) * | 2016-05-23 | 2019-02-12 | 北京理工大学 | A kind of special type multiple degrees of freedom automatic butt jointing device and its working method |
| CN105936045B (en) * | 2016-06-17 | 2018-01-02 | 南京航空航天大学 | A kind of six-degree-of-freedom parallel connection mechanism of partly decoupled |
| CN107571245B (en) * | 2017-09-27 | 2020-10-16 | 北京航空航天大学 | Small-size handling machine of 6 degrees of freedom parallel mechanism of numerical control |
| CN110561392B (en) * | 2019-09-26 | 2022-08-16 | 中国民航大学 | Three-translation parallel mechanism with reconfigurable characteristic |
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| JPH0616995B2 (en) * | 1990-04-09 | 1994-03-09 | 工業技術院長 | Parallel link manipulator |
| JP3169484B2 (en) * | 1993-08-20 | 2001-05-28 | 新日本製鐵株式会社 | Parallel link manipulator |
| JP2000097306A (en) * | 1998-09-24 | 2000-04-04 | Olympus Optical Co Ltd | Parallel link mechanism |
| JP2000210831A (en) * | 1999-01-22 | 2000-08-02 | Seiko Seiki Co Ltd | Parallel mechanism |
| JP3488909B2 (en) * | 2000-03-08 | 2004-01-19 | 独立行政法人産業技術総合研究所 | Multi-degree-of-freedom drive mechanism by parallel mechanism |
| CN101664924B (en) * | 2009-08-05 | 2011-02-02 | 河北工业大学 | Two-degree freedom rope traction and parallel-connection mechanism |
| WO2011114723A1 (en) * | 2010-03-17 | 2011-09-22 | パナソニック株式会社 | Parallel link robot, and method of teaching parallel link robot |
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