CN103286773B - Three-DOF (Degree of Freedom) parallel robot mechanism - Google Patents

Three-DOF (Degree of Freedom) parallel robot mechanism Download PDF

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Publication number
CN103286773B
CN103286773B CN201310271229.4A CN201310271229A CN103286773B CN 103286773 B CN103286773 B CN 103286773B CN 201310271229 A CN201310271229 A CN 201310271229A CN 103286773 B CN103286773 B CN 103286773B
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China
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horizontal movement
translation
bevel gear
master arm
horizontal
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CN201310271229.4A
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CN103286773A (en
Inventor
张良安
万俊
柏家峰
王鹏
单家正
解安东
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ANHUI TIANYI HEAVY INDUSTRY Co.,Ltd.
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ANHUI HUACHUANG INTELLIGENT EQUIPMENT Co Ltd
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Abstract

The invention discloses a three-DOF (Degree of Freedom) parallel robot mechanism, belonging to the technical field of industrial robots. The mechanism comprises a vertical driving chain, a horizontal driving chain, a rack, a terminal-end executing mechanism, wherein the vertical driving chain comprises a vertical movement driving arm, a vertical movement rod, a vertical movement driving device, and a vertical movement transmission device; the horizontal driving chain comprises a horizontal movement driving arm, a horizontal movement driving device and a horizontal movement transmission device; the terminal-end executing mechanism comprises a carrier platform, an elbow, an elbow shaft and a flange; and the rack is composed of a base, a motor base and a base upper cover. Motive power of both the vertical movement driving arm and the horizontal movement driving arm is provided by respective driving devices, so that horizontal movement and vertical movement of the terminal-end executing mechanism are realized. The three-DOF parallel robot mechanism provided by the invention has a high automation degree, achieve exact and steady actions as a servo system is adopted, and can realize good application in industry as a man-machine interface is adopted for operation.

Description

A kind of three-freedom parallel robot mechanism
Technical field:
The invention belongs to Industrial Robot Technology field, be specifically related to a kind of three-freedom parallel robot mechanism.
Background technology:
In the automatic production line of the industries such as light industry, medicine, food and electronics, such as sort, pack, the operation such as encapsulation often needs end effector to carry out the manipulator of high-speed job in space, therefore adopt multiple degrees of freedom Spatial Parallel machinery hand then seem need not, or manufacturing cost is too high.The invention discloses a kind of embodiment mechanism, this mechanism comprises frame, end effector mechanism and two side chains; ; Described dynamic end effector mechanism is connected with described translation bar and described vertical movement rod with the described knock-off joint that moves both vertically by described translation knock-off joint, realizes translation and moves both vertically; Described horizontal movement side chain contains a parallelogram sturcutre, respectively as group of drive rods and follower lever group, adopts turning joint to connect between each movement parts completely; Servomotor is installed in the inside of described frame, realizes the isolation of motor and external operating environment, plays a protective role to a great extent to motor device.
Summary of the invention:
The present invention is directed to the technical problem existed in existing Three Degree Of Freedom robot mechanism, a kind of three-freedom parallel robot mechanism is provided.
A kind of three-freedom parallel robot mechanism provided by the present invention comprises vertical drive chain 1, horizontal drive chain 2, frame 3, end effector mechanism 4, described vertical drive chain 1 comprises vertical movement driving device 5, the master arm 6 that moves both vertically, vertical movement rod 7, two interior ball link cover for seat 8, interior ball link mechanism 9, large end bevel gear 10, small end bevel gear 11, large end bevel gear shaft 12, small end bevel gear shaft 13, bevel gear installing plate 14, radial load bearing 15, bevel gear shaft-cup 16 and two knock-off joints 17 that move both vertically, described horizontal drive chain 2 comprises translation drive shaft 18, first horizontal movement master arm 19, first horizontal movement drive unit 20, first horizontal movement travelling gear 21, second horizontal movement master arm 22, second horizontal movement drive unit 23, second horizontal movement travelling gear 24, transition link 25, translation bar 26, second horizontal movement master arm joint 27, linkage connector 28, linkage connector bolt 29, translation knock-off joint 30, translation knock-off joint axle 31, translation knock-off joint axle sleeve 32, translation bar two grade bolt 33, sleeve 34 and hollow shaft 35, described end effector mechanism 4 comprises microscope carrier 36, microscope carrier cover 37, elbow 38, first elbow axle 39, second elbow axle 40, the axle 41 that moves both vertically, flange 42 and flap 43, described frame 3 comprises base 44, motor cabinet 45, base upper cover 46, described vertical drive chain 1 is fixed on described motor cabinet 45 by described bevel gear installing plate 14, described horizontal drive chain 2 to be arranged on described motor cabinet 45 and to be connected by bearing with described base upper cover 46, the microscope carrier 36 of described end effector mechanism 4 is connected by the translation bar 26 of translation bar two grade bolt 33 with described horizontal drive chain 2, and described end effector mechanism 4 is connected with revolute pair by the axle 41 that moves both vertically with the described knock-off joint 17 that moves both vertically by described flap 43.
The described master arm 6 that moves both vertically is arranged on described large end bevel gear shaft 12 one end and with locking nut location, described bevel gear shaft-cup 16 is affixed with the described master arm 6 that moves both vertically; One in described two interior ball link cover for seat 8 is fixed in and described moves both vertically in the hole of master arm 6 one end, and another and described two of moving both vertically in knock-off joint 17 in described two interior ball link cover for seat 8 are affixed; It is affixed that described interior ball link mechanism 9 two ends link cover for seat 8 with described two interior balls respectively; Described two knock-off joints 17 that move both vertically are fixed in the two ends of described vertical movement rod 7 respectively; Described small end bevel gear shaft 13 is fixed on motor cabinet 45; Described small end bevel gear 11 to be fixed on described small end bevel gear shaft 13 and with hold bevel gear to engage greatly to realize transmission; Described bevel gear installing plate 14 is fixed on described motor cabinet 45; Described large end bevel gear 10 is mounted on described large end bevel gear shaft 12 with key; Described radial load bearing 15 is arranged on described large end bevel gear shaft 12; Described vertical movement driving device 5 is arranged on described motor cabinet 45, and described vertical movement driving device 5 is connected with key with described small end bevel gear shaft 13, and band dynamic bevel gear rotates, thus the vertical movement rod 7 described in driving moves up and down.
One end of described translation drive shaft 18 is connected with key with two bearings, and the other end of described translation drive shaft 18 is connected with the first described horizontal movement master arm 19 and fixes its position with locking nut; The gear wheel of the first described horizontal movement travelling gear 21 is connected by key with described translation drive shaft 18, the pinion of the first described horizontal movement travelling gear 21 is connected by key with the first described horizontal movement drive unit 20, thus the Plane Rotation of the first horizontal movement master arm 19 described in driving; The gear wheel of the second described horizontal movement travelling gear 24 and described translation drive shaft 18 are installed by two bearings and are connected, and the pinion of the second described horizontal movement travelling gear 24 is connected by key with the second described horizontal movement drive unit 23; Described hollow shaft 35 is connected by key with the gear wheel of the second described horizontal movement travelling gear 24; The second described horizontal movement master arm 22 is connected by key with described hollow shaft 35, thus the Plane Rotation of the second horizontal movement master arm 22 described in driving; Described sleeve 34 is arranged between the first described horizontal movement master arm 19 and the second described horizontal movement master arm 22, described sleeve 34 is connected by bearing with the first described horizontal movement master arm 19, described sleeve 34 is connected with the second described horizontal movement master arm 22 interference, and described sleeve 34 is arranged in described translation drive shaft 18 by bearing; The first described horizontal movement drive unit 20 and the second described horizontal movement drive unit 23 are arranged on described motor cabinet 45; Described transition link joint 30 is connected with described transition link 25 two ends respectively; Described transition link 25 one end is connected by described linkage connector bolt 29 with the first described horizontal movement master arm 19, and the other end of described transition link 25 is connected by described translation knock-off joint axle 31 with described translation bar 26; Described translation bar 26 one end is connected with described translation knock-off joint 30, and the other end of described translation bar 26 is connected by described translation bar two grade bolt 33 with the microscope carrier 36 of described end effector mechanism; The second described horizontal movement master arm 22 is connected with described translation bar 26 by the second described horizontal movement actuating arm joint 27, thus drives the plane motion of translation bar 26.
Described microscope carrier 36 is connected with described translation bar 26 one end; First described elbow axle 39 one end is connected by revolute pair with described flap 43, and the other end and the described elbow 38 of described first elbow axle 39 are affixed; Second described elbow axle 40 one end and described elbow 38 affixed, the second described elbow axle 40 37 to be connected with described microscope carrier 36 by microscope carrier cover; Described flange 42 is connected to the lower end of the second described elbow axle 40.
Described base upper cover 46 is affixed with described base 44; It is inner that described motor cabinet 45 is fixed in described frame 3.
Move both vertically master arm 6, first horizontal movement master arm 19 and the second horizontal movement master arm 22 provides power by respective drive unit, the plane of the end effector mechanism 4 described in realization and moving both vertically.
The control system of robot mechanism of the present invention adopts industrial PLC control system, and drive unit adopts AC servo drive system.
The present invention has following technical characterstic:
1, two translations one of the end effector of the present invention free degree that moves both vertically is driven by different driving side chains respectively;
2, drive employing servo-drive system, action is accurate, flexible operation.
3, robot mechanism provided by the present invention, two translations one realizing end effector with different driving side chain respectively move both vertically, effectively improve the flexibility of mechanism, simplify parallel robot mechanism, the inertia simultaneously maintaining mechanism is preferably little, high speed high acceleration, the feature of high position precision and repetitive positioning accuracy.
Accompanying drawing illustrates:
Fig. 1 is the structural representation of mechanism of the present invention;
Fig. 2 is the structural representation of the vertical drive chain in mechanism of the present invention;
Fig. 3 is the structural representation of the horizontal drive chain in mechanism of the present invention;
Fig. 4 is the translation drive shaft portion cross-sectional view of the horizontal drive chain in mechanism of the present invention;
Fig. 5 is the structural representation of the end effector mechanism in mechanism of the present invention;
Fig. 6 is the frame part section structural representation in mechanism of the present invention.
In figure: 1: vertical drive chain; 2: horizontal drive chain; 3: frame; 4: end effector mechanism; 5: vertical movement driving device; 6: move both vertically master arm; 7: vertical movement rod; 8: interior ball link cover for seat; 9: interior ball link mechanism; 10: hold bevel gear greatly; 11: small end bevel gear; 12: hold bevel gear shaft greatly; 13: small end bevel gear shaft; 14: bevel gear installing plate; 15: radial load bearing; 16: bevel gear shaft-cup; 17: move both vertically knock-off joint; 18: translation drive shaft; 19: the first horizontal movement master arms; 20: the first horizontal movement drive units; 21: the first horizontal movement travelling gears; 22: the second horizontal movement master arms; 23: the second horizontal movement drive units; 24: the second horizontal movement travelling gears; 25: transition link; 26: translation bar; 27: the second horizontal movement master arm joints; 28 linkage connectors; 29: linkage connector bolt; 30: translation knock-off joint; 31: translation knock-off joint axle; 32: translation knock-off joint axle sleeve; 33: translation bar two grade bolt; 34: sleeve; 35: hollow shaft; 36: microscope carrier; 37: microscope carrier cover; 38: elbow; 39: the first elbow axles; 40: the second elbow axles; 41: move both vertically axle; 42: flange; 43: flap; 44: base; 45: motor cabinet; 46: base upper cover.
Detailed description of the invention:
As shown in Figure 1, a kind of three-freedom parallel robot mechanism comprises vertical drive chain 1, horizontal drive chain 2, frame 3, end effector mechanism 4.Vertical drive chain 1 comprises the master arm 6 that moves both vertically, vertical movement rod 7, vertical movement driving device 5, vertical movement transmission device and bevel gear installing plate 14.Horizontal drive chain 2 comprises the first horizontal movement master arm 19, second horizontal movement master arm 22, transition link 25, translation bar 26, first horizontal movement drive unit 20, first horizontal movement travelling gear 21, second horizontal movement drive unit 23, second horizontal movement travelling gear 24, translation drive shaft 18, hollow shaft 35.First horizontal movement master arm 19 is arranged on translation drive shaft 18 upper part, carries out position fix with locking nut.Frame is made up of base 44, motor cabinet 45, base upper cover 46.End effector mechanism 4 is made up of microscope carrier 36, elbow 38, first elbow axle 39, second elbow axle 40, microscope carrier cover 37, the axle 41 that moves both vertically, flange 42.Move both vertically master arm 6, first horizontal movement master arm 19 and the second horizontal movement master arm 22 provides power by respective drive unit, the plane of the end effector mechanism 4 described in realization and moving both vertically.
As shown in Figure 2, vertical drive chain 1 is linked cover for seat 8, interior ball link mechanism 9, large end bevel gear 10, small end bevel gear 11 by vertical movement driving device 5, the master arm 6 that moves both vertically, the interior ball of vertical movement rod 7, two, is held bevel gear shaft 12, small end bevel gear shaft 13, bevel gear installing plate 14, radial load bearing 15, bevel gear shaft-cup 16 and two knock-off joints 17 that move both vertically to form greatly; The master arm 6 that moves both vertically is arranged on described large end bevel gear shaft 12 one end and locates with locking nut; Bevel gear shaft-cup 16 is affixed with the described master arm 6 that moves both vertically; One in two interior ball link cover for seat 8 is fixed in and described moves both vertically in the hole of master arm 6 one end, and another is affixed with the knock-off joint 17 that moves both vertically; It is affixed that interior ball link mechanism 9 two ends link cover for seat 8 with two interior balls respectively; Two knock-off joints 17 that move both vertically are fixed in vertical movement rod 7 two ends respectively; Small end bevel gear shaft 13 is fixed on motor cabinet 45; Small end bevel gear 11 to be fixed on small end bevel gear shaft 13 and with hold bevel gear to engage greatly to realize transmission; Large end bevel gear mount pad 14 is fixed on motor cabinet 45; Large end bevel gear 10 is mounted on large end bevel gear shaft 12 with key; Radial load bearing 15 is arranged on large end bevel gear shaft 12, and its outer ring is fixed in bevel gear installing plate 14 hole; Vertical movement driving device 5 is arranged on motor cabinet 45 and is connected with key with small end bevel gear shaft 13, and band dynamic bevel gear rotates, thus drives vertical movement rod 7 to move up and down.
As shown in Figure 3, Figure 4, horizontal drive chain 2 comprises translation drive shaft 18, first horizontal movement master arm 19, first horizontal movement device 20, first horizontal movement travelling gear 21, second horizontal movement master arm 22, second horizontal movement drive unit 23, second horizontal movement travelling gear 24, transition link 25, translation bar 26, second horizontal movement master arm joint 27, linkage connector 28, linkage connector bolt 29, translation knock-off joint 30, translation knock-off joint axle 31, translation knock-off joint axle sleeve 32, translation bar two grade bolt 33, sleeve 34, hollow shaft 35.Translation drive shaft 18 one end is connected with key with two bearings, and the other end is connected with the first horizontal movement master arm 19 and fixes its position with locking nut; The gear wheel of the first horizontal movement travelling gear 21 is connected by key with translation drive shaft 18, the pinion of the first horizontal movement travelling gear 21 is connected by key with the first horizontal movement drive unit 20, thus drives the Plane Rotation of the first horizontal movement master arm 19; The gear wheel of the second horizontal movement travelling gear 24 and translation drive shaft 18 are installed by two bearings and are connected, and the pinion of the second horizontal movement travelling gear 24 is connected by key with the second horizontal movement drive unit 23; Hollow shaft 35 is connected by key with the gear wheel of the second horizontal movement travelling gear 24; Second horizontal movement master arm 22 is connected by key with hollow shaft 35, thus drives the Plane Rotation of the second horizontal movement master arm 22; Sleeve 34 is between the first horizontal movement master arm 19 and the second horizontal movement master arm 22, sleeve 34 is connected by bearing with the first horizontal movement master arm 19, and sleeve 34 is connected with the second horizontal movement master arm 22 interference and is arranged in translation drive shaft 18 by bearing; First horizontal movement drive unit 20 and the second horizontal movement drive unit 23 are arranged on motor cabinet 45; Translation knock-off joint 30 is connected with transition link 25 two ends respectively; Transition link 25 one end is connected by linkage connector bolt 29 with the first horizontal movement master arm 19, and transition link 25 other end is connected by translation knock-off joint axle 31 with translation bar 26; Translation bar 26 one end is connected with translation knock-off joint 30, and the other end is connected by translation bar two grade bolt 33 with the microscope carrier 36 of end effector mechanism; Second horizontal movement master arm 22 is connected with translation bar 26 by the second horizontal movement actuating arm joint 27, thus drives the plane motion of translation bar 26.
As shown in Figure 5, end effector mechanism 4 is made up of microscope carrier 36, microscope carrier cover 37, elbow 38, first elbow axle 39, second elbow axle 40, the axle 41 that moves both vertically, flange 42 and flap 43.Microscope carrier 36 is connected with translation bar 26 one end; Flap 43 is connected with revolute pair by the axle 41 that moves both vertically with the knock-off joint 17 that moves both vertically; First elbow axle 39 one end is connected with revolute pair with flap 43, the other end and elbow 38 affixed; Second elbow axle 40 one end and elbow 38 affixed, and 37 to be connected with microscope carrier 36 by microscope carrier cover; Flange 42 is connected to the lower end of the second described elbow axle 40.
As shown in Figure 6, frame 3 is made up of base 44, motor cabinet 45, base upper cover 46.Base upper cover 46 is affixed with base 44; It is inner that motor cabinet 45 is fixed in frame 3.

Claims (1)

1. a three-freedom parallel robot mechanism, is characterized in that this robot mechanism comprises vertical drive chain (1), horizontal drive chain (2), frame (3), end effector mechanism (4), described vertical drive chain (1) comprises vertical movement driving device (5), move both vertically master arm (6), vertical movement rod (7), two interior balls connect cover for seat (8), Nei Qiu bindiny mechanism (9), large end bevel gear (10), small end bevel gear (11), large end bevel gear shaft (12), small end bevel gear shaft (13), bevel gear installing plate (14), radial load bearing (15), bevel gear shaft-cup (16) and two knock-off joints that move both vertically (17), described horizontal drive chain (2) comprises translation drive shaft (18), first horizontal movement master arm (19), first horizontal movement drive unit (20), first horizontal movement travelling gear (21), second horizontal movement master arm (22), second horizontal movement drive unit (23), second horizontal movement travelling gear (24), transition link (25), translation bar (26), second horizontal movement master arm joint (27), linkage connector (28), linkage connector bolt (29), translation knock-off joint (30), translation knock-off joint axle (31), translation knock-off joint axle sleeve (32), translation bar two grade bolt (33), sleeve (34) and hollow shaft (35), described end effector mechanism (4) comprises microscope carrier (36), microscope carrier cover (37), elbow (38), the first elbow axle (39), the second elbow axle (40), the axle that moves both vertically (41), flange (42) and flap (43), described frame (3) comprises base (44), motor cabinet (45), base upper cover (46), described vertical drive chain (1) is fixed on described motor cabinet (45) by described bevel gear installing plate (14), described horizontal drive chain (2) is arranged on described motor cabinet (45) and goes up and be connected by bearing with described base upper cover (46), the microscope carrier (36) of described end effector mechanism (4) is connected by the translation bar (26) of translation bar two grade bolt (33) with described horizontal drive chain (2), described end effector mechanism (4) is connected with revolute pair by the axle that moves both vertically (41) with the described knock-off joint that moves both vertically (17) by described flap (43), the described master arm that moves both vertically (6) is arranged on described large end bevel gear shaft (12) one end and with locking nut location, described bevel gear shaft-cup (16) is affixed with the described master arm that moves both vertically (6), described two interior balls one of connecting in cover for seat (8) is fixed in the hole of the described master arm that moves both vertically (6) one end, and another and described two of moving both vertically in knock-off joint (17) that described two interior balls connect in cover for seat (8) are affixed, it is affixed that described Nei Qiu bindiny mechanism (9) two ends are connected cover for seat (8) with described two interior balls respectively, two described knock-off joints that move both vertically (17) are fixed in the two ends of described vertical movement rod (7) respectively, described small end bevel gear shaft (13) is fixed on motor cabinet (45), described small end bevel gear (11) be fixed on described small end bevel gear shaft (13) upper and with hold bevel gear to engage greatly to realize transmission, described bevel gear installing plate (14) is fixed on described motor cabinet (45), described large end bevel gear (10) is mounted on described large end bevel gear shaft (12) with key, described radial load bearing (15) is arranged on described large end bevel gear shaft (12), described vertical movement driving device (5) is arranged on described motor cabinet (45), described vertical movement driving device (5) is connected with key with described small end bevel gear shaft (13), band dynamic bevel gear rotates, thus the vertical movement rod (7) described in driving moves up and down, one end of described translation drive shaft (18) is connected with key with two bearings, and the other end of described translation drive shaft (18) is connected with the first described horizontal movement master arm (19) and fixes its position with locking nut, the gear wheel of the first described horizontal movement travelling gear (21) is connected by key with described translation drive shaft (18), the pinion of the first described horizontal movement travelling gear (21) is connected by key with the first described horizontal movement drive unit (20), thus the Plane Rotation of the first horizontal movement master arm (19) described in driving, the gear wheel of the second described horizontal movement travelling gear (24) and described translation drive shaft (18) are installed by two bearings and are connected, and the pinion of the second described horizontal movement travelling gear (24) is connected by key with the second described horizontal movement drive unit (23), described hollow shaft (35) is connected by key with the gear wheel of the second described horizontal movement travelling gear (24), the second described horizontal movement master arm (22) is connected by key with described hollow shaft (35), thus the Plane Rotation of the second horizontal movement master arm (22) described in driving, described sleeve (34) is arranged between the first described horizontal movement master arm (19) and the second described horizontal movement master arm (22), described sleeve (34) is connected by bearing with the first described horizontal movement master arm (19), described sleeve (34) is connected with the second described horizontal movement master arm (22) interference, and described sleeve (34) is arranged in described translation drive shaft (18) by bearing, the first described horizontal movement drive unit (20) and the second described horizontal movement drive unit (23) are arranged on described motor cabinet (45), described translation knock-off joint (30) is connected with described transition link (25) two ends respectively, described transition link (25) one end is connected by described linkage connector bolt (29) with the first described horizontal movement master arm (19), and the other end of described transition link (25) is connected by described translation knock-off joint axle (31) with described translation bar (26), described translation bar (26) one end is connected with described translation knock-off joint (30), and the other end of described translation bar (26) is connected by described translation bar two grade bolt (33) with the microscope carrier (36) of described end effector mechanism, the second described horizontal movement master arm (22) is connected with described translation bar (26) by the second described horizontal movement actuating arm joint (27), thus drives translation bar (26) plane motion, described microscope carrier (36) is connected with described translation bar (26) one end, first described elbow axle (39) one end is connected by revolute pair with described flap (43), and the other end and the described elbow (38) of described first elbow axle (39) are affixed, second described elbow axle (40) one end and described elbow (38) affixed, the second described elbow axle (40) is connected with described microscope carrier (36) by microscope carrier cover (37), described flange (42) is connected to the lower end of the second described elbow axle (40), described base upper cover (46) is affixed with described base (44), it is inner that described motor cabinet (45) is fixed in described frame (3).
CN201310271229.4A 2013-07-01 2013-07-01 Three-DOF (Degree of Freedom) parallel robot mechanism Active CN103286773B (en)

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CN104260083A (en) * 2014-10-09 2015-01-07 马鞍山市安工大工业技术研究院有限公司 Five-degree-of-freedom planar joint robot mechanism
CN104626114B (en) * 2015-01-21 2016-05-18 安徽工业大学 The detachable light-duty sorting machine people of a kind of multiple degrees of freedom
CN105269569B (en) * 2015-11-30 2017-12-08 梅江平 A kind of three coaxial two-dimensional rotary one-dimensional translation parallel institutions

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CN100410029C (en) * 2006-08-03 2008-08-13 天津大学 Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing
CN201275760Y (en) * 2008-10-30 2009-07-22 杜宏图 Plane parallel robot mechanism with two freedom degrees
CN101531003A (en) * 2009-01-14 2009-09-16 哈尔滨工业大学深圳研究生院 Parallel mechanism to implement tri-translation and mono-rotation
FR2967603B1 (en) * 2010-11-22 2013-06-21 Cnrs Dire PARALLEL ROBOT WITH TWO DEGREES OF FREEDOM HAVING TWO CINEMATIC CHAINS WITH FLEXION STIFFNESS ETS MAXIMIZED
JP2012192499A (en) * 2011-03-17 2012-10-11 Canon Electronics Inc Parallel link robot

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