CN104589314B - The flat one turn of space four-degree-of-freedom manipulator of gear drive three - Google Patents
The flat one turn of space four-degree-of-freedom manipulator of gear drive three Download PDFInfo
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- CN104589314B CN104589314B CN201510034736.5A CN201510034736A CN104589314B CN 104589314 B CN104589314 B CN 104589314B CN 201510034736 A CN201510034736 A CN 201510034736A CN 104589314 B CN104589314 B CN 104589314B
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Abstract
The flat one turn of space four-degree-of-freedom manipulator of gear drive three, comprise frame, the first side chain, the second side chain, the 3rd side chain, the 4th, the first motor, the second motor, the 3rd motor, the 4th motor and moving platform.First side chain, the second side chain, the 3rd side chain and the 4th side chain can realize the synchronization lifting motion of two toothed rack in respective side chain respectively under the driving of the first motor, the second motor, the 3rd motor and the 4th motor.The flat one turn of space four-degree-of-freedom manipulator of described gear drive three can realize the motion that moving platform three-dimensional translation and one-dimensional spatially rotates.Structure of the present invention is simple, compact, has occupation of land space little, the advantages such as flexible movements.
Description
Technical field
The present invention relates to industrial robot field, particularly the flat one turn of space four-degree-of-freedom manipulator of gear drive three.
Background technology
From the 1950's, robot is just applied to industrial circle, has now played great effect at industrial circle, has effectively reduced the production cost of factory, improve production efficiency.Industrial applied robot has a lot of aspect, as welding, assembling, piling, crawl etc.The frame for movement that the robot being applied in different field adopts also differs widely, and welding robot needs five or six axles to realize the motion of space curve of end welding gun, and robot palletizer then only needs four axles just can complete the piling task of producing on-line goods.In industrial application, have so class task, it needs article to put another place from a place, and does not need to make article run-off the straight campaign in the process of putting.This kind of robot can be divided into four kinds by the demand according to reality: the first is the crawl in plane, namely only need complete article two translational motions planar; The second also needs article rotating angle on the basis completing two translational motions; The third to complete article three translational motions spatially; 4th kind is also need article rotating angle on the basis completing three translations.In order to reduce the free degree of robot, the general joint connection mode that adopts adds one or more groups parallelogram sturcutre again to realize the horizontal movement of end effector of robot, and on market, robot palletizer and high speed capture this class formation of the many employings of parallel robot.But this class formation is because of in needs are arranged on articulated robot, admittedly cause, robot architecture is too fat to move, to take up an area space large.The present invention adopts four side chains to connect frame and moving platform, and every bar side chain can realize being synchronized with the movement of two toothed rack, and moving platform can complete the motion that three-dimensional translation and one-dimensional spatially rotates, and has compact conformation, takes up an area the advantages such as space is little, high load capability.
Summary of the invention
The object of the present invention is to provide the flat one turn of space four-degree-of-freedom manipulator of gear drive three, the motion of the flat one turn of space four-degree-of-freedom of moving platform three can be realized.
The present invention achieves the above object by the following technical programs: the flat one turn of space four-degree-of-freedom manipulator of gear drive three, comprises frame, the first side chain, the second side chain, the 3rd side chain, the 4th side chain, the first motor, the second motor, the 3rd motor, the 4th motor and moving platform.
First support of described first side chain is connected with frame by the first revolute pair, first rotating shaft of the first side chain is connected with moving platform by the second revolute pair, second support of the second side chain is connected with frame by the 3rd revolute pair, second rotating shaft of the second side chain is connected with moving platform by the 4th revolute pair, 3rd support of the 3rd side chain is connected with frame by the 5th revolute pair, 3rd rotating shaft of the 3rd side chain is connected with moving platform by the 6th revolute pair, 4th support of the 4th side chain is connected with frame by the 7th revolute pair, 4th rotating shaft of the 4th side chain is connected with moving platform by the 8th revolute pair.
Described first side chain comprises the first support, one zero one gear, one zero two gear, one zero three gear, one zero one side link, one zero two side link, first connecting rod, one zero one tooth bar, one zero two tooth bar and the first connecting axle, one zero one gear is connected with the first support by the one zero one revolute pair, one zero one gear is by the one zero one gear pair and the one zero two gear couplings, one zero one gear is connected with the one zero one tooth bar by the one zero two gear pair, one zero two gear is connected with the first support by the one zero two revolute pair, one zero two gear is by the one zero three gear pair and the one zero three gear couplings, one zero three gear is connected with the first support by the one zero three revolute pair, one zero three gear is connected with the one zero two tooth bar by the one zero four gear pair, one zero one tooth bar is connected with the one zero one side link by the one zero one moving sets, one zero one tooth bar is connected with the first connecting axle by the one zero four revolute pair, one zero two tooth bar is connected with the one zero two side link by the one zero two moving sets, one zero two tooth bar is connected with the first connecting axle by the one zero five revolute pair, one zero one side link is connected with the first support by the one zero six revolute pair, one zero one side link is connected with first connecting rod by the one zero seven revolute pair, one zero two side link is connected with the first support by the one zero eight revolute pair, one zero two side link is connected with first connecting rod by the one zero nine revolute pair, first connecting axle is connected with the first rotating shaft by the one one zero revolute pair.
Described second side chain comprises the second support, 201 gear, 202 gear, 203 gear, 201 side link, 202 side link, second connecting rod, 201 tooth bar, 202 tooth bar and the second connecting axle, 201 gear is connected with the second support by the 201 revolute pair, 201 gear is by the 201 gear pair and the 202 gear couplings, 201 gear is connected with the 201 tooth bar by the 202 gear pair, 202 gear is connected with the second support by the 202 revolute pair, 202 gear is by the 203 gear pair and the 203 gear couplings, 203 gear is connected with the second support by the 203 revolute pair, 203 gear is connected with the 202 tooth bar by the 204 gear pair, 201 tooth bar is connected with the 201 side link by the 201 moving sets, 201 tooth bar is connected with the second connecting axle by the 204 revolute pair, 202 tooth bar is connected with the 202 side link by the 202 moving sets, 202 tooth bar is connected with the second connecting axle by the 205 revolute pair, 201 side link is connected with the second support by the 206 revolute pair, 201 side link is connected with second connecting rod by the 207 revolute pair, 202 side link is connected with the second support by the 208 revolute pair, 202 side link is connected with second connecting rod by the 209 revolute pair, second connecting axle is connected with the second rotating shaft by the 210 revolute pair.
Described 3rd side chain comprises the 3rd support, 301 gear, 302 gear, 303 gear, 301 side link, 302 side link, third connecting rod, 301 tooth bar, 302 tooth bar and the 3rd connecting axle, 301 gear is connected with the 3rd support by the 301 revolute pair, 301 gear is by the 301 gear pair and the 302 gear couplings, 301 gear is connected with the 301 tooth bar by the 302 gear pair, 302 gear is connected with the 3rd support by the 302 revolute pair, 302 gear is by the 303 gear pair and the 303 gear couplings, 303 gear is connected with the 3rd support by the 303 revolute pair, 303 gear is connected with the 302 tooth bar by the 304 gear pair, 301 tooth bar is connected with the 301 side link by the 301 moving sets, 301 tooth bar is connected with the 3rd connecting axle by the 304 revolute pair, 302 tooth bar is connected with the 302 side link by the 302 moving sets, 302 tooth bar is connected with the 3rd connecting axle by the 305 revolute pair, 301 side link is connected with the 3rd support by the 306 revolute pair, 301 side link is connected with third connecting rod by the 307 revolute pair, 302 side link is connected with the 3rd support by the 308 revolute pair, 302 side link is connected with third connecting rod by the 309 revolute pair, 3rd connecting axle is connected with the 3rd rotating shaft by the 310 revolute pair.
Described 4th side chain comprises the 4th support, 401 gear, 402 gear, 403 gear, 401 side link, 402 side link, double leval jib, 401 tooth bar, 402 tooth bar and the 4th connecting axle, 401 gear is connected with the 4th support by the 401 revolute pair, 401 gear is by the 401 gear pair and the 402 gear couplings, 401 gear is connected with the 401 tooth bar by the 402 gear pair, 402 gear is connected with the 4th support by the 402 revolute pair, 402 gear is by the 403 gear pair and the 403 gear couplings, 403 gear is connected with the 4th support by the 403 revolute pair, 403 gear is connected with the 402 tooth bar by the 404 gear pair, 401 tooth bar is connected with the 401 side link by the 401 moving sets, 401 tooth bar is connected with the 4th connecting axle by the 404 revolute pair, 402 tooth bar is connected with the 402 side link by the 402 moving sets, 402 tooth bar is connected with the 4th connecting axle by the 405 revolute pair, 401 side link is connected with the 4th support by the 406 revolute pair, 401 side link is connected with double leval jib by the 407 revolute pair, 402 side link is connected with the 4th support by the 408 revolute pair, 402 side link is connected with double leval jib by the 409 revolute pair, 4th connecting axle is connected with the 4th rotating shaft by the 410 revolute pair.
Outstanding advantages of the present invention is:
1, four are arranged symmetrically with the motion that side chain realizes three flat one turn of space four-degree-of-freedom of moving platform, whole mechanism compact conformation, and occupation of land space is little;
2, manipulator inertia is little, kinematics and dynamics performance is good.
Accompanying drawing explanation
Fig. 1 is the structural representation of the flat one turn of space four-degree-of-freedom manipulator of gear drive three of the present invention.
Fig. 2 is the flat one turn of space four-degree-of-freedom manipulator first branched structure schematic diagram of gear drive three of the present invention.
Fig. 3 is the flat one turn of space four-degree-of-freedom manipulator second branched structure schematic diagram of gear drive three of the present invention.
Fig. 4 is flat one turn of space four-degree-of-freedom manipulator the 3rd branched structure schematic diagram of gear drive three of the present invention.
Fig. 5 is flat one turn of space four-degree-of-freedom manipulator the 4th branched structure schematic diagram of gear drive three of the present invention.
Fig. 6 is the first support schematic diagram of flat one turn of space four-degree-of-freedom manipulator first side chain of gear drive three of the present invention.
Fig. 7 is the second support schematic diagram of flat one turn of space four-degree-of-freedom manipulator second side chain of gear drive three of the present invention.
Fig. 8 is the 3rd support schematic diagram of flat one turn of space four-degree-of-freedom manipulator the 3rd side chain of gear drive three of the present invention.
Fig. 9 is the 4th support schematic diagram of flat one turn of space four-degree-of-freedom manipulator the 4th side chain of gear drive three of the present invention.
Figure 10 is the one zero one side link and the one zero two side link schematic diagram of flat one turn of space four-degree-of-freedom manipulator first side chain of gear drive three of the present invention.
Figure 11 is the 201 side link and the 202 side link schematic diagram of flat one turn of space four-degree-of-freedom manipulator second side chain of gear drive three of the present invention.
Figure 12 is the 301 side link and the 302 side link schematic diagram of flat one turn of space four-degree-of-freedom manipulator the 3rd side chain of gear drive three of the present invention.
Figure 13 is the 401 side link and the 402 side link schematic diagram of flat one turn of space four-degree-of-freedom manipulator the 4th side chain of gear drive three of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12 and Figure 13, the flat one turn of space four-degree-of-freedom manipulator of gear drive three, comprises frame 1, first side chain, the second side chain, the 3rd side chain, the 4th side chain, the first motor 2, second motor 3, the 3rd motor 4, the 4th motor 5 and moving platform 6.
First support 102 of described first side chain is connected with frame 1 by the first revolute pair 101, first rotating shaft 127 of the first side chain is connected with moving platform 6 by the second revolute pair 8, second support 202 of the second side chain is connected with frame 1 by the 3rd revolute pair 201, second rotating shaft 227 of the second side chain is connected with moving platform 6 by the 4th revolute pair 9, 3rd support 302 of the 3rd side chain is connected with frame 1 by the 5th revolute pair 301, 3rd rotating shaft 327 of the 3rd side chain is connected with moving platform 6 by the 6th revolute pair 10, 4th support 402 of the 4th side chain is connected with frame 1 by the 7th revolute pair 401, 4th rotating shaft 427 of the 4th side chain is connected with moving platform 6 by the 8th revolute pair 7.
Described first side chain comprises the first support 102, one zero one gear 103, one zero two gear 104, one zero three gear 105, one zero one side link 108, one zero two side link 109, first connecting rod 110, one zero one tooth bar 106, one zero two tooth bar 107 and the first connecting axle 111, one zero one gear 103 is connected with the first support 102 by the one zero one revolute pair 112, one zero one gear 103 is connected with the one zero two gear 104 by the one zero one gear pair 117, one zero one gear 103 is connected with the one zero one tooth bar 106 by the one zero two gear pair 118, one zero two gear 104 is connected with the first support 102 by the one zero two revolute pair 113, one zero two gear 104 is connected with the one zero three gear 105 by the one zero three gear pair 119, one zero three gear 105 is connected with the first support 102 by the one zero three revolute pair 114, one zero three gear 105 is connected with the one zero two tooth bar 107 by the one zero four gear pair 120, one zero one tooth bar 106 is connected with the one zero one side link 108 by the one zero one moving sets 121, one zero one tooth bar 106 is connected with the first connecting axle 111 by the one zero four revolute pair 125, one zero two tooth bar 107 is connected with the one zero two side link 109 by the one zero two moving sets 122, one zero two tooth bar 107 is connected with the first connecting axle 111 by the one zero five revolute pair 126, one zero one side link 108 is connected with the first support 102 by the one zero six revolute pair 115, one zero one side link 108 is connected with first connecting rod 110 by the one zero seven revolute pair 123, one zero two side link 109 is connected with the first support 102 by the one zero eight revolute pair 116, one zero two side link 109 is connected with first connecting rod 110 by the one zero nine revolute pair 124, first connecting axle 111 is connected with the first rotating shaft 127 by the one one zero revolute pair 128.
Described second side chain comprises the second support 202, 201 gear 203, 202 gear 204, 203 gear 205, 201 side link 208, 202 side link 209, second connecting rod 210, 201 tooth bar 206, 202 tooth bar 207 and the second connecting axle 211, 201 gear 203 is connected with the second support 202 by the 201 revolute pair 212, 201 gear 203 is connected with the 202 gear 204 by the 201 gear pair 217, 201 gear 203 is connected with the 201 tooth bar 206 by the 202 gear pair 218, 202 gear 204 is connected with the second support 202 by the 202 revolute pair 213, 202 gear 204 is connected with the 203 gear 205 by the 203 gear pair 219, 203 gear 205 is connected with the second support 202 by the 203 revolute pair 214, 203 gear 205 is connected with the 202 tooth bar 207 by the 204 gear pair 220, 201 tooth bar 206 is connected with the 201 side link 208 by the 201 moving sets 221, 201 tooth bar 206 is connected with the second connecting axle 211 by the 204 revolute pair 225, 202 tooth bar 207 is connected with the 202 side link 209 by the 202 moving sets 222, 202 tooth bar 207 is connected with the second connecting axle 211 by the 205 revolute pair 226, 201 side link 208 is connected with the second support 202 by the 206 revolute pair 215, 201 side link 208 is connected with second connecting rod 210 by the 207 revolute pair 223, 202 side link 209 is connected with the second support 202 by the 208 revolute pair 216, 202 side link 209 is connected with second connecting rod 210 by the 209 revolute pair 224, second connecting axle 211 is connected with the second rotating shaft 227 by the 210 revolute pair 228.
Described 3rd side chain comprises the 3rd support 302, 301 gear 303, 302 gear 304, 303 gear 305, 301 side link 308, 302 side link 309, third connecting rod 310, 301 tooth bar 306, 302 tooth bar 307 and the 3rd connecting axle 311, 301 gear 303 is connected with the 3rd support 302 by the 301 revolute pair 312, 301 gear 303 is connected with the 302 gear 304 by the 301 gear pair 317, 301 gear 303 is connected with the 301 tooth bar 306 by the 302 gear pair 318, 302 gear 304 is connected with the 3rd support 302 by the 302 revolute pair 313, 302 gear 304 is connected with the 303 gear 305 by the 303 gear pair 319, 303 gear 305 is connected with the 3rd support 302 by the 303 revolute pair 314, 303 gear 305 is connected with the 302 tooth bar 307 by the 304 gear pair 320, 301 tooth bar 306 is connected with the 301 side link 308 by the 301 moving sets 321, 301 tooth bar 306 is connected with the 3rd connecting axle 311 by the 304 revolute pair 325, 302 tooth bar 307 is connected with the 302 side link 309 by the 302 moving sets 322, 302 tooth bar 307 is connected with the 3rd connecting axle 311 by the 305 revolute pair 326, 301 side link 308 is connected with the 3rd support 302 by the 306 revolute pair 315, 301 side link 308 is connected with third connecting rod 310 by the 307 revolute pair 323, 302 side link 309 is connected with the 3rd support 302 by the 308 revolute pair 316, 302 side link 309 is connected with third connecting rod 310 by the 309 revolute pair 324, 3rd connecting axle 311 is connected with the 3rd rotating shaft 327 by the 310 revolute pair 328.
Described 4th side chain comprises the 4th support 402, 401 gear 403, 402 gear 404, 403 gear 405, 401 side link 408, 402 side link 409, double leval jib 410, 401 tooth bar 406, 402 tooth bar 407 and the 4th connecting axle 411, 401 gear 403 is connected with the 4th support 402 by the 401 revolute pair 412, 401 gear 403 is connected with the 402 gear 404 by the 401 gear pair 417, 401 gear 403 is connected with the 401 tooth bar 406 by the 402 gear pair 418, 402 gear 404 is connected with the 4th support 402 by the 402 revolute pair 413, 402 gear 404 is connected with the 403 gear 405 by the 403 gear pair 419, 403 gear 405 is connected with the 4th support 402 by the 403 revolute pair 414, 403 gear 405 is connected with the 402 tooth bar 407 by the 404 gear pair 420, 401 tooth bar 406 is connected with the 401 side link 408 by the 401 moving sets 421, 401 tooth bar 406 is connected with the 4th connecting axle 411 by the 404 revolute pair 425, 402 tooth bar 407 is connected with the 402 side link 409 by the 402 moving sets 422, 402 tooth bar 407 is connected with the 4th connecting axle 411 by the 405 revolute pair 426, 401 side link 408 is connected with the 4th support 402 by the 406 revolute pair 415, 401 side link 408 is connected with double leval jib 410 by the 407 revolute pair 423, 402 side link 409 is connected with the 4th support 402 by the 408 revolute pair 416, 402 side link 409 is connected with double leval jib 410 by the 409 revolute pair 424, 4th connecting axle 411 is connected with the 4th rotating shaft 427 by the 410 revolute pair 428.
Described first motor 2 drives the one zero two gear 104 of the first side chain to move, second motor 3 drives the 202 gear 204 of the second side chain to move, 3rd motor 4 drives the 302 gear 304 of the 3rd side chain to move, 4th motor 5 drives the 402 gear 404 of the 4th side chain to move, and can realize the motion of three flat one turn of space four-degree-of-freedom of moving platform.
Claims (1)
1. the flat one turn of space four-degree-of-freedom manipulator of gear drive three, comprises frame, the first side chain, the second side chain, the 3rd side chain, the 4th side chain, the first motor, the second motor, the 3rd motor, the 4th motor and moving platform, it is characterized in that:
First support of described first side chain is connected with frame by the first revolute pair, first rotating shaft of the first side chain is connected with moving platform by the second revolute pair, second support of the second side chain is connected with frame by the 3rd revolute pair, second rotating shaft of the second side chain is connected with moving platform by the 4th revolute pair, 3rd support of the 3rd side chain is connected with frame by the 5th revolute pair, 3rd rotating shaft of the 3rd side chain is connected with moving platform by the 6th revolute pair, 4th support of the 4th side chain is connected with frame by the 7th revolute pair, 4th rotating shaft of the 4th side chain is connected with moving platform by the 8th revolute pair,
Described first side chain comprises the first support, one zero one gear, one zero two gear, one zero three gear, one zero one side link, one zero two side link, first connecting rod, one zero one tooth bar, one zero two tooth bar and the first connecting axle, one zero one gear is connected with the first support by the one zero one revolute pair, one zero one gear is by the one zero one gear pair and the one zero two gear couplings, one zero one gear is connected with the one zero one tooth bar by the one zero two gear pair, one zero two gear is connected with the first support by the one zero two revolute pair, one zero two gear is by the one zero three gear pair and the one zero three gear couplings, one zero three gear is connected with the first support by the one zero three revolute pair, one zero three gear is connected with the one zero two tooth bar by the one zero four gear pair, one zero one tooth bar is connected with the one zero one side link by the one zero one moving sets, one zero one tooth bar is connected with the first connecting axle by the one zero four revolute pair, one zero two tooth bar is connected with the one zero two side link by the one zero two moving sets, one zero two tooth bar is connected with the first connecting axle by the one zero five revolute pair, one zero one side link is connected with the first support by the one zero six revolute pair, one zero one side link is connected with first connecting rod by the one zero seven revolute pair, one zero two side link is connected with the first support by the one zero eight revolute pair, one zero two side link is connected with first connecting rod by the one zero nine revolute pair, first connecting axle is connected with the first rotating shaft by the one one zero revolute pair,
Described second side chain comprises the second support, 201 gear, 202 gear, 203 gear, 201 side link, 202 side link, second connecting rod, 201 tooth bar, 202 tooth bar and the second connecting axle, 201 gear is connected with the second support by the 201 revolute pair, 201 gear is by the 201 gear pair and the 202 gear couplings, 201 gear is connected with the 201 tooth bar by the 202 gear pair, 202 gear is connected with the second support by the 202 revolute pair, 202 gear is by the 203 gear pair and the 203 gear couplings, 203 gear is connected with the second support by the 203 revolute pair, 203 gear is connected with the 202 tooth bar by the 204 gear pair, 201 tooth bar is connected with the 201 side link by the 201 moving sets, 201 tooth bar is connected with the second connecting axle by the 204 revolute pair, 202 tooth bar is connected with the 202 side link by the 202 moving sets, 202 tooth bar is connected with the second connecting axle by the 205 revolute pair, 201 side link is connected with the second support by the 206 revolute pair, 201 side link is connected with second connecting rod by the 207 revolute pair, 202 side link is connected with the second support by the 208 revolute pair, 202 side link is connected with second connecting rod by the 209 revolute pair, second connecting axle is connected with the second rotating shaft by the 210 revolute pair,
Described 3rd side chain comprises the 3rd support, 301 gear, 302 gear, 303 gear, 301 side link, 302 side link, third connecting rod, 301 tooth bar, 302 tooth bar and the 3rd connecting axle, 301 gear is connected with the 3rd support by the 301 revolute pair, 301 gear is by the 301 gear pair and the 302 gear couplings, 301 gear is connected with the 301 tooth bar by the 302 gear pair, 302 gear is connected with the 3rd support by the 302 revolute pair, 302 gear is by the 303 gear pair and the 303 gear couplings, 303 gear is connected with the 3rd support by the 303 revolute pair, 303 gear is connected with the 302 tooth bar by the 304 gear pair, 301 tooth bar is connected with the 301 side link by the 301 moving sets, 301 tooth bar is connected with the 3rd connecting axle by the 304 revolute pair, 302 tooth bar is connected with the 302 side link by the 302 moving sets, 302 tooth bar is connected with the 3rd connecting axle by the 305 revolute pair, 301 side link is connected with the 3rd support by the 306 revolute pair, 301 side link is connected with third connecting rod by the 307 revolute pair, 302 side link is connected with the 3rd support by the 308 revolute pair, 302 side link is connected with third connecting rod by the 309 revolute pair, 3rd connecting axle is connected with the 3rd rotating shaft by the 310 revolute pair,
Described 4th side chain comprises the 4th support, 401 gear, 402 gear, 403 gear, 401 side link, 402 side link, double leval jib, 401 tooth bar, 402 tooth bar and the 4th connecting axle, 401 gear is connected with the 4th support by the 401 revolute pair, 401 gear is by the 401 gear pair and the 402 gear couplings, 401 gear is connected with the 401 tooth bar by the 402 gear pair, 402 gear is connected with the 4th support by the 402 revolute pair, 402 gear is by the 403 gear pair and the 403 gear couplings, 403 gear is connected with the 4th support by the 403 revolute pair, 403 gear is connected with the 402 tooth bar by the 404 gear pair, 401 tooth bar is connected with the 401 side link by the 401 moving sets, 401 tooth bar is connected with the 4th connecting axle by the 404 revolute pair, 402 tooth bar is connected with the 402 side link by the 402 moving sets, 402 tooth bar is connected with the 4th connecting axle by the 405 revolute pair, 401 side link is connected with the 4th support by the 406 revolute pair, 401 side link is connected with double leval jib by the 407 revolute pair, 402 side link is connected with the 4th support by the 408 revolute pair, 402 side link is connected with double leval jib by the 409 revolute pair, 4th connecting axle is connected with the 4th rotating shaft by the 410 revolute pair,
Described first motor and the first support affixed and drive the one zero two gear movement by the one zero two revolute pair, described second motor and the second support affixed and drive the 202 gear movement by the 202 revolute pair, described 3rd motor and the 3rd support affixed and drives the 302 gear movement by the 302 revolute pair, described 4th motor and the 4th support affixed and pass through the 402 revolute pair and drive the 402 gear movement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510034736.5A CN104589314B (en) | 2015-01-24 | 2015-01-24 | The flat one turn of space four-degree-of-freedom manipulator of gear drive three |
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| CN201510034736.5A CN104589314B (en) | 2015-01-24 | 2015-01-24 | The flat one turn of space four-degree-of-freedom manipulator of gear drive three |
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| CN104589314B true CN104589314B (en) | 2016-04-20 |
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| CN105479454B (en) * | 2015-12-22 | 2017-03-29 | 东莞市鸿泰自动化设备有限公司 | A kind of Multi-freedom-degreemanipulator manipulator based on toothed belt transmission |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6702805B1 (en) * | 1999-11-12 | 2004-03-09 | Microdexterity Systems, Inc. | Manipulator |
| CN101708611B (en) * | 2009-11-09 | 2011-07-27 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
| CN102441889A (en) * | 2010-09-30 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Parallel-connection robot |
| CN103707281A (en) * | 2012-09-29 | 2014-04-09 | 南昌大学 | Spatial four-degree-of-freedom parallel mechanism capable of three-dimensional translation and one-dimensional rotation |
| CN103231365B (en) * | 2013-05-07 | 2014-12-31 | 哈尔滨工业大学 | Back type exoskeleton finger joint circuitous mechanism |
| CN204525445U (en) * | 2015-01-24 | 2015-08-05 | 江西省机械科学研究所 | The flat one turn of space four-degree-of-freedom manipulator of gear drive three |
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