CN103144097B - Asymmetric parallel robot mechanism with two rotations and one movement - Google Patents
Asymmetric parallel robot mechanism with two rotations and one movement Download PDFInfo
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- CN103144097B CN103144097B CN201310078090.1A CN201310078090A CN103144097B CN 103144097 B CN103144097 B CN 103144097B CN 201310078090 A CN201310078090 A CN 201310078090A CN 103144097 B CN103144097 B CN 103144097B
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Abstract
The invention discloses an asymmetric parallel robot mechanism with two rotations and one movement, which comprises a rack, a moving platform, and three movable branches, wherein the three movable branches are connected with the rack and the moving platform; a spherical pair in the first branch is connected with the rack; a revolute pair is connected with the moving platform; the spherical pair is connected with the revolute pair by a revolute pair; universal hinges in the second branch are connected with the rack; a revolute pair is connected with the moving platform; the universal hinges are connected with the revolute pair by a revolute pair; universal hinges in the third branch are connected with the rack; a spherical pair is connected with the moving platform; the universal hinges are connected with the spherical pair by a revolute pair; and an axis of the revolute pair connected with the moving platform in the first branch is not parallel to an axis of the revolute pair connected with the moving platform in the second branch. According to the asymmetric parallel robot mechanism, the branches are simple in structure and overconstraint-free; the processing and manufacturing are convenient; the calibration and control are easy to achieve; and the asymmetric parallel robot mechanism has good application prospects.
Description
technical fieldthe invention belongs to robot field, particularly the asymmetric parallel robot mechanism of one.
background technologyparallel robot, compared with serial manipulator, has that rigidity is large, movement velocity is fast, precision advantages of higher, have a wide range of applications in mechanical industry field.And the parallel institutions with two rotations one-movement-freedom-degree can be applied to motion simulator, coordinate measuring machine, the main shaft of machining center is first-class, wherein most typical application is the main tapping making parallel machine, an additional binary rotary head on this main tapping, just Aero-Space can be realized, the processing of the field complex parts such as auto industry.In existing document, as the paper (K.Neumann that K. Neumann delivers for 2008, 2008.Adaptive in-jig high load Exechon machining & assembly technology, SAE International, 08AMT-0044.) with patent CN 101049699A, CN 201625978U, the parallel institution mentioned in CN 201389855Y, there is the advantage having without the rotating shaft of associated movement and be easy to demarcate and control in moving platform, but there is the geometrical condition of this harshness of conllinear in these mechanisms, quality of fit requires very high, otherwise, if do not reach this geometrical condition, then the performance of mechanism does not just reach requirement, harsh geometrical condition is like this that the processing and manufacturing of mechanism brings very large difficulty, be difficult to ensure machining accuracy.And another kind of 3-RPS/SPR two turn moves parallel institution, though there is not harsh geometrical condition, exist in rotational motion with mobile, cause demarcating and controlling very difficult.
summary of the inventionthe object of the present invention is to provide a kind of branched structure simple, without Planar Mechanisms, convenient processing and manufacture and easily two turn one of guarantee machining accuracy move asymmetric parallel robot mechanism.The present invention includes their three active branch of moving platform, frame and connection, it has seven kinds of connected modes:
The first connected mode: the ball pair in the first branch is connected with frame, and revolute pair is connected with moving platform, and ball pair is connected by revolute pair with between revolute pair, and wherein above-mentioned two revolute pair axis are parallel to each other; Universal hinge in second branch is connected with frame, and revolute pair is connected with moving platform, and universal hinge is connected by revolute pair with between revolute pair, and wherein above-mentioned two revolute pair axis are all parallel to each other with the second revolute pair axis of universal hinge; Universal hinge in 3rd branch is connected with frame, and ball pair is connected with moving platform, and be connected by revolute pair between universal hinge with ball pair, wherein turns auxiliary shaft line parallel is in the second revolute pair axis of universal hinge; The revolute pair axis connecting moving platform in above-mentioned first branch is not parallel with the revolute pair axis being connected moving platform in the second branch.
The second connected mode: the ball pair in the first branch is connected with frame, and revolute pair is connected with moving platform, and ball pair is connected by moving sets with between revolute pair, and wherein revolute pair axis is perpendicular to moving sets axis; Universal hinge in second branch is connected with frame, and revolute pair is connected with moving platform, and universal hinge is connected by revolute pair with between revolute pair, and wherein above-mentioned two revolute pair axis are all parallel to each other with the second revolute pair axis of universal hinge; Universal hinge in 3rd branch is connected with frame, and ball pair is connected with moving platform, and be connected by revolute pair between universal hinge with ball pair, wherein turns auxiliary shaft line parallel is in the second revolute pair axis of universal hinge; The revolute pair axis connecting moving platform in above-mentioned first branch is not parallel with the revolute pair axis being connected moving platform in the second branch.
The third connected mode: the ball pair in the first branch is connected with frame, and revolute pair is connected with moving platform, and ball pair is connected by revolute pair with between revolute pair, and wherein two revolute pair axis are parallel to each other; Universal hinge in second branch is connected with frame, and revolute pair is connected with moving platform, and universal hinge is connected by moving sets with between revolute pair, and wherein revolute pair axis had both been parallel to the second revolute pair axis of universal hinge, again perpendicular to moving sets axis; Universal hinge in 3rd branch is connected with frame, and ball pair is connected with moving platform, and be connected by revolute pair between universal hinge with ball pair, wherein turns auxiliary shaft line parallel is in the second revolute pair axis of universal hinge; The revolute pair axis connecting moving platform in above-mentioned first branch is not parallel with the revolute pair axis being connected moving platform in the second branch.
4th kind of connected mode: the ball pair in the first branch is connected with frame, and revolute pair is connected with moving platform, and ball pair is connected by revolute pair with between revolute pair, and wherein two revolute pair axis are parallel to each other; Universal hinge in second branch is connected with frame, and revolute pair is connected with moving platform, and universal hinge is connected by revolute pair with between revolute pair, and wherein above-mentioned two revolute pair axis are all parallel to each other with the second revolute pair axis of universal hinge; Universal hinge in 3rd branch is connected with frame, and ball pair is connected with moving platform, and be connected by moving sets between universal hinge with ball pair, wherein moving sets axes normal is in the second revolute pair axis of universal hinge; The revolute pair axis connecting moving platform in above-mentioned first branch is not parallel with the revolute pair axis being connected moving platform in the second branch.
5th kind of connected mode: the ball pair in the first branch is connected with frame, and revolute pair is connected with moving platform, and ball pair is connected by moving sets with between revolute pair, and wherein revolute pair axis is perpendicular to moving sets axis; Universal hinge in second branch is connected with frame, and revolute pair is connected with moving platform, and universal hinge is connected by moving sets with between revolute pair, and wherein revolute pair axis had both been parallel to the second revolute pair axis of universal hinge, again perpendicular to moving sets axis; Universal hinge in 3rd branch is connected with frame, and ball pair is connected with moving platform, and be connected by revolute pair between universal hinge with ball pair, wherein turns auxiliary shaft line parallel is in the second revolute pair axis of universal hinge; The revolute pair axis connecting moving platform in above-mentioned first branch is not parallel with the revolute pair axis being connected moving platform in the second branch.
6th kind of connected mode: the ball pair in the first branch is connected with frame, and revolute pair is connected with moving platform, and ball pair is connected by moving sets with between revolute pair, and wherein revolute pair axis is perpendicular to moving sets axis; Universal hinge in second branch is connected with frame, and revolute pair is connected with moving platform, and universal hinge is connected by revolute pair with between revolute pair, and wherein above-mentioned two revolute pair axis are all parallel to each other with the second revolute pair axis of universal hinge; Universal hinge in 3rd branch is connected with frame, and ball pair is connected with moving platform, and be connected by moving sets between universal hinge with ball pair, wherein moving sets axes normal is in the second revolute pair axis of universal hinge; The revolute pair axis connecting moving platform in above-mentioned first branch is not parallel with the revolute pair axis being connected moving platform in the second branch.
7th kind of connected mode: the ball pair in the first branch is connected with frame, and revolute pair is connected with moving platform, and ball pair is connected by revolute pair with between revolute pair, and wherein two revolute pair axis are parallel to each other; Universal hinge in second branch is connected with frame, and revolute pair is connected with moving platform, and universal hinge is connected by moving sets with between revolute pair, and wherein revolute pair axis had both been parallel to the second revolute pair axis of universal hinge, again perpendicular to moving sets axis; Universal hinge in 3rd branch is connected with frame, and ball pair is connected with moving platform, and be connected by moving sets between universal hinge with ball pair, wherein moving sets axes normal is in the second revolute pair axis of universal hinge; The revolute pair axis connecting moving platform in above-mentioned first branch is not parallel with the revolute pair axis being connected moving platform in the second branch.
The present invention compared with prior art tool has the following advantages: without harsh geometrical condition in mechanism, moving platform exists without the rotating shaft with movement, driver can close to frame, branched structure is very simple, without Planar Mechanisms, processing and manufacturing is more convenient, demarcates and controls easily to realize, having very good application prospect.
accompanying drawing illustrates:
Fig. 1 is the schematic perspective view of the embodiment of the present invention 1.
Fig. 2 is the schematic perspective view of the embodiment of the present invention 2.
Fig. 3 is the schematic perspective view of the embodiment of the present invention 3.
Fig. 4 is the schematic perspective view of the embodiment of the present invention 4.
Fig. 5 is the schematic perspective view of the embodiment of the present invention 5.
Fig. 6 is the schematic perspective view of the embodiment of the present invention 6.
Fig. 7 is the schematic perspective view of the embodiment of the present invention 7.
detailed description of the invention:
Further illustrate below in conjunction with embodiment shown in the drawings.
In following embodiment, described moving sets axis refers to the straight line parallel with the direction of motion of moving sets, when revolute pair axis refers to that revolute pair is rotated around rotate center line, first revolute pair of universal hinge refers to the revolute pair near frame, and the second revolute pair of universal hinge refers to the revolute pair near moving platform.
Embodiment 1:
Move in asymmetric parallel robot mechanism schematic diagram two shown in Fig. 1 turn, ball secondary S11 in first branch is connected with frame 1, revolute pair R13 is connected with moving platform 2, and ball pair is connected by revolute pair R12 with between revolute pair, and wherein above-mentioned two revolute pair R13, R12 axis are parallel to each other; Universal hinge R21, R22 in second branch are connected with frame, revolute pair R24 is connected with moving platform, universal hinge is connected by revolute pair R23 with between revolute pair, and wherein above-mentioned two revolute pair R24, R23 axis the second revolute pair R22 axis that is equal and universal hinge are parallel to each other; Universal hinge R31, R32 in 3rd branch are connected with frame, and ball secondary S34 is connected with moving platform, is connected between universal hinge with ball pair by revolute pair R33, and wherein revolute pair R33 axis being parallel is in the second revolute pair R32 axis of universal hinge; Revolute pair R13 axis in above-mentioned first branch and the revolute pair R24 axis in the second branch not parallel.
Embodiment 2:
Move in asymmetric parallel robot mechanism schematic diagram two shown in Fig. 2 turn, ball secondary S11 in first branch is connected with frame 1, revolute pair R13 is connected with moving platform 2, and ball pair is connected by moving sets P12 with between revolute pair, and wherein revolute pair R13 axes normal is in moving sets P12 axis; Universal hinge R21, R22 in second branch are connected with frame, revolute pair R24 is connected with moving platform, universal hinge is connected by revolute pair R23 with between revolute pair, and wherein above-mentioned two revolute pair R24, R23 axis the second revolute pair R22 axis that is equal and universal hinge are parallel to each other; Universal hinge R31, R32 in 3rd branch are connected with frame, and ball secondary S34 is connected with moving platform, is connected between universal hinge with ball pair by revolute pair R33, and wherein revolute pair R33 axis being parallel is in the second revolute pair R32 axis of universal hinge; Revolute pair R13 axis in above-mentioned first branch and the revolute pair R24 axis in the second branch not parallel.
Embodiment 3:
Move in asymmetric parallel robot mechanism schematic diagram two shown in Fig. 3 turn, ball secondary S11 in first branch is connected with frame 1, revolute pair R13 is connected with moving platform 2, and ball pair is connected by revolute pair R12 with between revolute pair, and wherein above-mentioned two revolute pair R13, R12 axis are parallel to each other; Universal hinge R21, R22 in second branch are connected with frame, revolute pair R24 is connected with moving platform, universal hinge is connected by moving sets P23 with between revolute pair, and wherein revolute pair R24 axis had both been parallel to the second revolute pair R22 axis of universal hinge, again perpendicular to moving sets P23 axis; Universal hinge R31, R32 in 3rd branch are connected with frame, and ball secondary S34 is connected with moving platform, is connected between universal hinge with ball pair by revolute pair R33, and wherein revolute pair R33 axis being parallel is in the second revolute pair R32 axis of universal hinge; Revolute pair R13 axis in above-mentioned first branch and the revolute pair R24 axis in the second branch not parallel.
Embodiment 4:
Move in asymmetric parallel robot mechanism schematic diagram two shown in Fig. 4 turn, ball secondary S11 in first branch is connected with frame 1, revolute pair R13 is connected with moving platform 2, and ball pair is connected by revolute pair R12 with between revolute pair, and wherein above-mentioned two revolute pair R13, R12 axis are parallel to each other; Universal hinge R21, R22 in second branch are connected with frame, revolute pair R24 is connected with moving platform, universal hinge is connected by revolute pair R23 with between revolute pair, and wherein above-mentioned two revolute pair R24, R23 axis the second revolute pair R22 axis that is equal and universal hinge are parallel to each other; Universal hinge R31, R32 in 3rd branch are connected with frame, and ball secondary S34 is connected with moving platform, is connected between universal hinge with ball pair by moving sets P33, and wherein moving sets P33 axes normal is in the second revolute pair R32 axis of universal hinge; Revolute pair R13 axis in above-mentioned first branch and the revolute pair R24 axis in the second branch not parallel.
Embodiment 5:
Move in asymmetric parallel robot mechanism schematic diagram two shown in Fig. 5 turn, ball secondary S11 in first branch is connected with frame 1, revolute pair R13 is connected with moving platform 2, and ball pair is connected by moving sets P12 with between revolute pair, and wherein revolute pair R13 axes normal is in moving sets P12 axis; Universal hinge R21, R22 in second branch are connected with frame, revolute pair R24 is connected with moving platform, universal hinge is connected by moving sets P23 with between revolute pair, and wherein revolute pair R24 axis had both been parallel to the second revolute pair R22 axis of universal hinge, again perpendicular to moving sets P23 axis; Universal hinge R31, R32 in 3rd branch are connected with frame, and ball secondary S34 is connected with moving platform, is connected between universal hinge with ball pair by revolute pair R33, and wherein revolute pair R33 axis being parallel is in the second revolute pair R32 axis of universal hinge; Revolute pair R13 axis in above-mentioned first branch and the revolute pair R24 axis in the second branch not parallel.
Embodiment 6:
Move in asymmetric parallel robot mechanism schematic diagram two shown in Fig. 6 turn, ball secondary S11 in first branch is connected with frame 1, revolute pair R13 is connected with moving platform 2, and ball pair is connected by moving sets P12 with between revolute pair, and wherein revolute pair R13 axes normal is in moving sets P12 axis; Universal hinge R21, R22 in second branch are connected with frame, revolute pair R24 is connected with moving platform, universal hinge is connected by revolute pair R23 with between revolute pair, and wherein above-mentioned two revolute pair R24, R23 axis the second revolute pair R22 axis that is equal and universal hinge are parallel to each other; Universal hinge R31, R32 in 3rd branch are connected with frame, and ball secondary S34 is connected with moving platform, is connected between universal hinge with ball pair by moving sets P33, and wherein moving sets P33 axes normal is in the second revolute pair R32 axis of universal hinge; Revolute pair R13 axis in above-mentioned first branch and the revolute pair R24 axis in the second branch not parallel.
Embodiment 7:
Move in asymmetric parallel robot mechanism schematic diagram two shown in Fig. 7 turn, ball secondary S11 in first branch is connected with frame 1, revolute pair R13 is connected with moving platform 2, and ball pair is connected by revolute pair R12 with between revolute pair, and wherein above-mentioned two revolute pair R13, R12 axis are parallel to each other; Universal hinge R21, R22 in second branch are connected with frame, revolute pair R24 is connected with moving platform, universal hinge is connected by moving sets P23 with between revolute pair, and wherein revolute pair R24 axis had both been parallel to the second revolute pair R22 axis of universal hinge, again perpendicular to moving sets P23 axis; Universal hinge R31, R32 in 3rd branch are connected with frame, and ball secondary S34 is connected with moving platform, is connected between universal hinge with ball pair by moving sets P33, and wherein moving sets P33 axes normal is in the second revolute pair R32 axis of universal hinge; Revolute pair R13 axis in above-mentioned first branch and the revolute pair R24 axis in the second branch not parallel.
Claims (7)
1. one kind two turns one are moved asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and connect their three active branch, it is characterized in that: the ball pair (S11) in its first branch is connected with frame, revolute pair (R13) is connected with moving platform, ball is secondary to be connected by revolute pair (R12) with between revolute pair, and wherein above-mentioned two revolute pair (R13, R12) axis are parallel to each other; Universal hinge (R21, R22) in second branch is connected with frame, revolute pair (R24) is connected with moving platform, universal hinge is connected by revolute pair (R23) with between revolute pair, and wherein above-mentioned two revolute pair (R24, R23) axis are all parallel to each other with the second revolute pair (R22) axis of universal hinge; Universal hinge (R31, R32) in 3rd branch is connected with frame, ball pair (S34) is connected with moving platform, be connected by revolute pair (R33) between universal hinge with ball pair, wherein revolute pair (R33) axis being parallel is in the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned first branch and revolute pair (R24) axis in the second branch not parallel.
2. one kind two turns one are moved asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and connect their three active branch, it is characterized in that: the ball pair (S11) in its first branch is connected with frame, revolute pair (R13) is connected with moving platform, ball is secondary to be connected by moving sets (P12) with between revolute pair, and wherein revolute pair (R13) axes normal is in moving sets (P12) axis; Universal hinge (R21, R22) in second branch is connected with frame, revolute pair (R24) is connected with moving platform, universal hinge is connected by revolute pair (R23) with between revolute pair, and wherein above-mentioned two revolute pair (R24, R23) axis are all parallel to each other with the second revolute pair (R22) axis of universal hinge; Universal hinge (R31, R32) in 3rd branch is connected with frame, ball pair (S34) is connected with moving platform, be connected by revolute pair (R33) between universal hinge with ball pair, wherein revolute pair (R33) axis being parallel is in the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned first branch and revolute pair (R24) axis in the second branch not parallel.
3. one kind two turns one are moved asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and connect their three active branch, it is characterized in that: the ball pair (S11) in its first branch is connected with frame, revolute pair (R13) is connected with moving platform, ball is secondary to be connected by revolute pair (R12) with between revolute pair, and wherein above-mentioned two revolute pair (R13, R12) axis are parallel to each other; Universal hinge (R21, R22) in second branch is connected with frame, revolute pair (R24) is connected with moving platform, universal hinge is connected by moving sets (P23) with between revolute pair, wherein revolute pair (R24) axis had both been parallel to the second revolute pair (R22) axis of universal hinge, again perpendicular to moving sets (P23) axis; Universal hinge (R31, R32) in 3rd branch is connected with frame, ball pair (S34) is connected with moving platform, be connected by revolute pair (R33) between universal hinge with ball pair, wherein revolute pair (R33) axis being parallel is in the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned first branch and revolute pair (R24) axis in the second branch not parallel.
4. one kind two turns one are moved asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and connect their three active branch, it is characterized in that: the ball pair (S11) in its first branch is connected with frame, revolute pair (R13) is connected with moving platform, ball is secondary to be connected by revolute pair (R12) with between revolute pair, and wherein above-mentioned two revolute pair (R13, R12) axis are parallel to each other; Universal hinge (R21, R22) in second branch is connected with frame, revolute pair (R24) is connected with moving platform, universal hinge is connected by revolute pair (R23) with between revolute pair, and wherein above-mentioned two revolute pair (R24, R23) axis are all parallel to each other with the second revolute pair (R22) axis of universal hinge; Universal hinge (R31, R32) in 3rd branch is connected with frame, ball pair (S34) is connected with moving platform, be connected by moving sets (P33) between universal hinge with ball pair, wherein moving sets (P33) axes normal is in the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned first branch and revolute pair (R24) axis in the second branch not parallel.
5. one kind two turns one are moved asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and connect their three active branch, it is characterized in that: the ball pair (S11) in its first branch is connected with frame, revolute pair (R13) is connected with moving platform, ball is secondary to be connected by moving sets (P12) with between revolute pair, and wherein revolute pair (R13) axes normal is in moving sets (P12) axis; Universal hinge (R21, R22) in second branch is connected with frame, revolute pair (R24) is connected with moving platform, universal hinge is connected by moving sets (P23) with between revolute pair, wherein revolute pair (R24) axis had both been parallel to the second revolute pair (R22) axis of universal hinge, again perpendicular to moving sets (P23) axis; Universal hinge (R31, R32) in 3rd branch is connected with frame, ball pair (S34) is connected with moving platform, be connected by revolute pair (R33) between universal hinge with ball pair, wherein revolute pair (R33) axis being parallel is in the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned first branch and revolute pair (R24) axis in the second branch not parallel.
6. one kind two turns one are moved asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and connect their three active branch, it is characterized in that: the ball pair (S11) in its first branch is connected with frame, revolute pair (R13) is connected with moving platform, ball is secondary to be connected by moving sets (P12) with between revolute pair, and wherein revolute pair (R13) axes normal is in moving sets (P12) axis; Universal hinge (R21, R22) in second branch is connected with frame, revolute pair (R24) is connected with moving platform, universal hinge is connected by revolute pair (R23) with between revolute pair, and wherein above-mentioned two revolute pair (R24, R23) axis are all parallel to each other with the second revolute pair (R22) axis of universal hinge; Universal hinge (R31, R32) in 3rd branch is connected with frame, ball pair (S34) is connected with moving platform, be connected by moving sets (P33) between universal hinge with ball pair, wherein moving sets (P33) axes normal is in the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned first branch and revolute pair (R24) axis in the second branch not parallel.
7. one kind two turns one are moved asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and connect their three active branch, it is characterized in that: the ball pair (S11) in its first branch is connected with frame, revolute pair (R13) is connected with moving platform, ball is secondary to be connected by revolute pair (R12) with between revolute pair, and wherein above-mentioned two revolute pair (R13, R12) axis are parallel to each other; Universal hinge (R21, R22) in second branch is connected with frame, revolute pair (R24) is connected with moving platform, universal hinge is connected by moving sets (P23) with between revolute pair, wherein revolute pair (R24) axis had both been parallel to the second revolute pair (R22) axis of universal hinge, again perpendicular to moving sets (P23) axis; Universal hinge (R31, R32) in 3rd branch is connected with frame, ball pair (S34) is connected with moving platform, be connected by moving sets (P33) between universal hinge with ball pair, wherein moving sets (P33) axes normal is in the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned first branch and revolute pair (R24) axis in the second branch not parallel.
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| CN201310078090.1A CN103144097B (en) | 2013-03-13 | 2013-03-13 | Asymmetric parallel robot mechanism with two rotations and one movement |
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| CN201310078090.1A CN103144097B (en) | 2013-03-13 | 2013-03-13 | Asymmetric parallel robot mechanism with two rotations and one movement |
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| CN103302510B (en) * | 2013-07-03 | 2015-10-28 | 上海交通大学 | Can be floated containing two the parallel institution of staggered rotating shaft |
| CN103481282B (en) * | 2013-09-10 | 2015-08-12 | 常州大学 | A kind of two-freedom two rotation parallel connection motion device |
| CN105215983B (en) * | 2015-09-30 | 2018-02-23 | 河南科技大学 | Asymmetric parallel robot mechanism with two turn of one shift three degrees of freedom |
| CN105904436B (en) * | 2016-04-22 | 2018-04-06 | 燕山大学 | One kind is without two turn of one shifting parallel institution of associated movement |
| CN106112974A (en) * | 2016-07-18 | 2016-11-16 | 燕山大学 | A kind of with parallel institution that arbitrary line in plane is continuous rotating shaft |
| CN106863276B (en) * | 2017-03-24 | 2019-04-26 | 燕山大学 | A kind of few two turn one of joint motion three-freedom-degree parallel mechanism |
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| CN2075574U (en) * | 1990-10-27 | 1991-04-24 | 东北重型机械学院秦皇岛分校 | Parallel connection multi-ring structure robot |
| GB9107207D0 (en) * | 1991-04-05 | 1991-05-22 | Tycho Technology Ltd | Mechanical manipulator |
| US6330837B1 (en) * | 1997-08-28 | 2001-12-18 | Microdexterity Systems, Inc. | Parallel mechanism |
| CN100413656C (en) * | 2006-10-13 | 2008-08-27 | 燕山大学 | Spacial non-symmetric two freedom rotary parallel mechanism |
| CN201389855Y (en) * | 2009-04-09 | 2010-01-27 | 浙江理工大学 | Parallel mechanism with three freedom degree of two-rotation and one-shifting |
| CN201625978U (en) * | 2009-12-10 | 2010-11-10 | 西安理工大学 | Completely decoupled one-translational two-rotational three-freedom-of-degree spatial parallel mechanism |
| CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
| CN203092549U (en) * | 2013-03-13 | 2013-07-31 | 燕山大学 | Non-symmetric parallel connection robot mechanism with two rotational degrees of freedom and one translational degree of freedom |
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