CN104589339A - Belt-driven three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator - Google Patents
Belt-driven three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator Download PDFInfo
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- CN104589339A CN104589339A CN201510034734.6A CN201510034734A CN104589339A CN 104589339 A CN104589339 A CN 104589339A CN 201510034734 A CN201510034734 A CN 201510034734A CN 104589339 A CN104589339 A CN 104589339A
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Abstract
The invention relates to a belt-driven three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator, which comprises a frame, a first support articulator, a second support articulator, a third support articulator, a fourth support articulator, a first motor, a second motor, a third motor, a fourth motor and a movable platform. The first support articulator, the second support articulator, the third support articulator and the fourth support articulator can respectively carry out the synchronous lifting motion of two racks in each support articulator under the drive of the first motor, the second motor, the third motor and the fourth motor. The belt-driven three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator can carry out the spatial three-dimensional translational and one-dimensional rotational motion of the movable platform. The belt-driven three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator has the advantages of simple and compact structure, small occupied floor space, agile action and the like.
Description
Technical field
The present invention relates to industrial robot field, particularly the flat one turn of space four-degree-of-freedom manipulator of V belt translation 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 V belt translation 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 V belt translation 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 drive, one zero two drive, one zero one side link, one zero two side link, first connecting rod, one zero one tooth bar, one zero two tooth bar, first connecting axle and the first band, one zero one drive is connected with the first support by the one zero one revolute pair, one zero one drive is connected with the one zero two drive by the first band, one zero one drive is connected with the one zero one tooth bar by the one zero one gear pair, one zero two drive is connected with the first support by the one zero two revolute pair, one zero two drive is connected with the one zero two tooth bar by the one zero two 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 three 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 four revolute pair, one zero one side link is connected with the first support by the one zero five revolute pair, one zero one side link is connected with first connecting rod by the one zero six revolute pair, one zero two side link is connected with the first support by the one zero seven revolute pair, one zero two side link is connected with first connecting rod by the one zero eight revolute pair, first connecting axle is connected with the first rotating shaft by the one zero nine revolute pair.
Described second side chain comprises the second support, 201 drive, 202 drive, 201 side link, 202 side link, second connecting rod, 201 tooth bar, 202 tooth bar, second connecting axle and the second band, 201 drive is connected with the second support by the 201 revolute pair, 201 drive is connected with the 202 drive by the second band, 201 drive is connected with the 201 tooth bar by the 201 gear pair, 202 drive is connected with the second support by the 202 revolute pair, 202 drive is connected with the 202 tooth bar by the 202 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 203 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 204 revolute pair, 201 side link is connected with the second support by the 205 revolute pair, 201 side link is connected with second connecting rod by the 206 revolute pair, 202 side link is connected with the second support by the 207 revolute pair, 202 side link is connected with second connecting rod by the 208 revolute pair, second connecting axle is connected with the second rotating shaft by the 209 revolute pair.
Described 3rd side chain comprises the 3rd support, 301 drive, 302 drive, 301 side link, 302 side link, third connecting rod, 301 tooth bar, 302 tooth bar, 3rd connecting axle and the 3rd band, 301 drive is connected with the 3rd support by the 301 revolute pair, 301 drive is connected with the 302 drive by the 3rd band, 301 drive is connected with the 301 tooth bar by the 301 gear pair, 302 drive is connected with the 3rd support by the 302 revolute pair, 302 drive is connected with the 302 tooth bar by the 302 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 303 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 304 revolute pair, 301 side link is connected with the 3rd support by the 305 revolute pair, 301 side link is connected with third connecting rod by the 306 revolute pair, 302 side link is connected with the 3rd support by the 307 revolute pair, 302 side link is connected with third connecting rod by the 308 revolute pair, 3rd connecting axle is connected with the 3rd rotating shaft by the 309 revolute pair.
Described 4th side chain comprises the 4th support, 401 drive, 402 drive, 401 side link, 402 side link, double leval jib, 401 tooth bar, 402 tooth bar, 4th connecting axle and the 4th band, 401 drive is connected with the 4th support by the 401 revolute pair, 401 drive is connected with the 402 drive by the 4th band, 401 drive is connected with the 401 tooth bar by the 401 gear pair, 402 drive is connected with the 4th support by the 402 revolute pair, 402 drive is connected with the 402 tooth bar by the 402 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 403 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 404 revolute pair, 401 side link is connected with the 4th support by the 405 revolute pair, 401 side link is connected with double leval jib by the 406 revolute pair, 402 side link is connected with the 4th support by the 407 revolute pair, 402 side link is connected with double leval jib by the 408 revolute pair, 4th connecting axle is connected with the 4th rotating shaft by the 409 revolute pair.
Outstanding advantages of the present invention is:
1, four are arranged symmetrically with the motion that side chain realizes the flat one turn of space four-degree-of-freedom of moving platform three, 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 V belt translation 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 V belt translation 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 V belt translation 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 V belt translation 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 V belt translation 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 V belt translation 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 V belt translation 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 V belt translation 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 V belt translation 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 V belt translation 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 V belt translation 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 V belt translation 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 V belt translation 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 V belt translation 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 124 of the first side chain is connected with moving platform 6 by the second revolute pair 7, second support 202 of the second side chain is connected with frame 1 by the 3rd revolute pair 201, second rotating shaft 224 of the second side chain is connected with moving platform 6 by the 4th revolute pair 8, 3rd support 302 of the 3rd side chain is connected with frame 1 by the 5th revolute pair 301, 3rd rotating shaft 324 of the 3rd side chain is connected with moving platform 6 by the 6th revolute pair 9, 4th support 402 of the 4th side chain is connected with frame 1 by the 7th revolute pair 401, 4th rotating shaft 424 of the 4th side chain is connected with moving platform 6 by the 8th revolute pair 10.
Described first side chain comprises the first support 102, one zero one drive 103, one zero two drive 104, one zero one side link 107, one zero two side link 108, first connecting rod 109, one zero one tooth bar 105, one zero two tooth bar 106, first connecting axle 110 and the first band 111, one zero one drive 103 is connected with the first support 102 by the one zero one revolute pair 112, one zero one drive 103 is connected with the one zero two drive 104 by the first band 111, one zero one drive 103 is connected with the one zero one tooth bar 105 by the one zero one gear pair 116, one zero two drive 104 is connected with the first support 102 by the one zero two revolute pair 113, one zero two drive 104 is connected with the one zero two tooth bar 106 by the one zero two gear pair 117, one zero one tooth bar 105 is connected with the one zero one side link 107 by the one zero one moving sets 118, one zero one tooth bar 105 is connected with the first connecting axle 110 by the one zero three revolute pair 122, one zero two tooth bar 106 is connected with the one zero two side link 108 by the one zero two moving sets 119, one zero two tooth bar 106 is connected with the first connecting axle 110 by the one zero four revolute pair 123, one zero one side link 107 is connected with the first support 102 by the one zero five revolute pair 114, one zero one side link 107 is connected with first connecting rod 109 by the one zero six revolute pair 120, one zero two side link 108 is connected with the first support 102 by the one zero seven revolute pair 115, one zero two side link 108 is connected with first connecting rod 109 by the one zero eight revolute pair 121, first connecting axle 110 is connected with the first rotating shaft 124 by the one zero nine revolute pair 125.
Described second side chain comprises the second support 202, 201 drive 203, 202 drive 204, 201 side link 207, 202 side link 208, second connecting rod 209, 201 tooth bar 205, 202 tooth bar 206, second connecting axle 210 and the second band 211, 201 drive 203 is connected with the second support 202 by the 201 revolute pair 212, 201 drive 203 is connected with the 202 drive 204 by the second band 211, 201 drive 203 is connected with the 201 tooth bar 205 by the 201 gear pair 216, 202 drive 204 is connected with the second support 202 by the 202 revolute pair 213, 202 drive 204 is connected with the 202 tooth bar 206 by the 202 gear pair 217, 201 tooth bar 205 is connected with the 201 side link 207 by the 201 moving sets 218, 201 tooth bar 205 is connected with the second connecting axle 210 by the 203 revolute pair 222, 202 tooth bar 206 is connected with the 202 side link 208 by the 202 moving sets 219, 202 tooth bar 206 is connected with the second connecting axle 210 by the 204 revolute pair 223, 201 side link 207 is connected with the second support 202 by the 205 revolute pair 214, 201 side link 207 is connected with second connecting rod 209 by the 206 revolute pair 220, 202 side link 208 is connected with the second support 202 by the 207 revolute pair 215, 202 side link 208 is connected with second connecting rod 209 by the 208 revolute pair 221, second connecting axle 210 is connected with the second rotating shaft 224 by the 209 revolute pair 225.
Described 3rd side chain comprises the 3rd support 302, 301 drive 303, 302 drive 304, 301 side link 307, 302 side link 308, third connecting rod 309, 301 tooth bar 305, 302 tooth bar 306, 3rd connecting axle 310 and the 3rd band 311, 301 drive 303 is connected with the 3rd support 302 by the 301 revolute pair 312, 301 drive 303 is connected with the 302 drive 304 by the 3rd band 311, 301 drive 303 is connected with the 301 tooth bar 305 by the 301 gear pair 316, 302 drive 304 is connected with the 3rd support 302 by the 302 revolute pair 313, 302 drive 304 is connected with the 302 tooth bar 306 by the 302 gear pair 317, 301 tooth bar 305 is connected with the 301 side link 307 by the 301 moving sets 318, 301 tooth bar 305 is connected with the 3rd connecting axle 310 by the 303 revolute pair 322, 302 tooth bar 306 is connected with the 302 side link 308 by the 302 moving sets 319, 302 tooth bar 306 is connected with the 3rd connecting axle 310 by the 304 revolute pair 323, 301 side link 307 is connected with the 3rd support 302 by the 305 revolute pair 314, 301 side link 307 is connected with third connecting rod 309 by the 306 revolute pair 320, 302 side link 308 is connected with the 3rd support 302 by the 307 revolute pair 315, 302 side link 308 is connected with third connecting rod 309 by the 308 revolute pair 321, 3rd connecting axle 310 is connected with the 3rd rotating shaft 324 by the 309 revolute pair 325.
Described 4th side chain comprises the 4th support 402, 401 drive 403, 402 drive 404, 401 side link 407, 402 side link 408, double leval jib 409, 401 tooth bar 405, 402 tooth bar 406, 4th connecting axle 410 and the 4th band 411, 401 drive 403 is connected with the 4th support 402 by the 401 revolute pair 412, 401 drive 403 is connected with the 402 drive 404 by the 4th band 411, 401 drive 403 is connected with the 401 tooth bar 405 by the 401 gear pair 416, 402 drive 404 is connected with the 4th support 402 by the 402 revolute pair 413, 402 drive 404 is connected with the 402 tooth bar 406 by the 402 gear pair 417, 401 tooth bar 405 is connected with the 401 side link 407 by the 401 moving sets 418, 401 tooth bar 405 is connected with the 4th connecting axle 410 by the 403 revolute pair 422, 402 tooth bar 406 is connected with the 402 side link 408 by the 402 moving sets 419, 402 tooth bar 406 is connected with the 4th connecting axle 410 by the 404 revolute pair 423, 401 side link 407 is connected with the 4th support 402 by the 405 revolute pair 414, 401 side link 407 is connected with double leval jib 409 by the 406 revolute pair 420, 402 side link 408 is connected with the 4th support 402 by the 407 revolute pair 415, 402 side link 408 is connected with double leval jib 409 by the 408 revolute pair 421, 4th connecting axle 410 is connected with the 4th rotating shaft 424 by the 409 revolute pair 425.
Described first motor 2 drives the one zero two drive 104 of the first side chain to move, second motor 3 drives the 202 drive 204 of the second side chain to move, 3rd motor 4 drives the 302 drive 304 of the 3rd side chain to move, 4th motor 5 drives the 402 drive 404 of the 4th side chain to move, and can realize the motion of the flat one turn of space four-degree-of-freedom of moving platform three.
Claims (1)
1. the flat one turn of space four-degree-of-freedom manipulator of V belt translation 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 drive, one zero two drive, one zero one side link, one zero two side link, first connecting rod, one zero one tooth bar, one zero two tooth bar, first connecting axle and the first band, one zero one drive is connected with the first support by the one zero one revolute pair, one zero one drive is connected with the one zero two drive by the first band, one zero one drive is connected with the one zero one tooth bar by the one zero one gear pair, one zero two drive is connected with the first support by the one zero two revolute pair, one zero two drive is connected with the one zero two tooth bar by the one zero two 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 three 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 four revolute pair, one zero one side link is connected with the first support by the one zero five revolute pair, one zero one side link is connected with first connecting rod by the one zero six revolute pair, one zero two side link is connected with the first support by the one zero seven revolute pair, one zero two side link is connected with first connecting rod by the one zero eight revolute pair, first connecting axle is connected with the first rotating shaft by the one zero nine revolute pair,
Described second side chain comprises the second support, 201 drive, 202 drive, 201 side link, 202 side link, second connecting rod, 201 tooth bar, 202 tooth bar, second connecting axle and the second band, 201 drive is connected with the second support by the 201 revolute pair, 201 drive is connected with the 202 drive by the second band, 201 drive is connected with the 201 tooth bar by the 201 gear pair, 202 drive is connected with the second support by the 202 revolute pair, 202 drive is connected with the 202 tooth bar by the 202 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 203 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 204 revolute pair, 201 side link is connected with the second support by the 205 revolute pair, 201 side link is connected with second connecting rod by the 206 revolute pair, 202 side link is connected with the second support by the 207 revolute pair, 202 side link is connected with second connecting rod by the 208 revolute pair, second connecting axle is connected with the second rotating shaft by the 209 revolute pair,
Described 3rd side chain comprises the 3rd support, 301 drive, 302 drive, 301 side link, 302 side link, third connecting rod, 301 tooth bar, 302 tooth bar, 3rd connecting axle and the 3rd band, 301 drive is connected with the 3rd support by the 301 revolute pair, 301 drive is connected with the 302 drive by the 3rd band, 301 drive is connected with the 301 tooth bar by the 301 gear pair, 302 drive is connected with the 3rd support by the 302 revolute pair, 302 drive is connected with the 302 tooth bar by the 302 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 303 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 304 revolute pair, 301 side link is connected with the 3rd support by the 305 revolute pair, 301 side link is connected with third connecting rod by the 306 revolute pair, 302 side link is connected with the 3rd support by the 307 revolute pair, 302 side link is connected with third connecting rod by the 308 revolute pair, 3rd connecting axle is connected with the 3rd rotating shaft by the 309 revolute pair,
Described 4th side chain comprises the 4th support, 401 drive, 402 drive, 401 side link, 402 side link, double leval jib, 401 tooth bar, 402 tooth bar, 4th connecting axle and the 4th band, 401 drive is connected with the 4th support by the 401 revolute pair, 401 drive is connected with the 402 drive by the 4th band, 401 drive is connected with the 401 tooth bar by the 401 gear pair, 402 drive is connected with the 4th support by the 402 revolute pair, 402 drive is connected with the 402 tooth bar by the 402 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 403 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 404 revolute pair, 401 side link is connected with the 4th support by the 405 revolute pair, 401 side link is connected with double leval jib by the 406 revolute pair, 402 side link is connected with the 4th support by the 407 revolute pair, 402 side link is connected with double leval jib by the 408 revolute pair, 4th connecting axle is connected with the 4th rotating shaft by the 409 revolute pair.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510034734.6A CN104589339B (en) | 2015-01-24 | 2015-01-24 | The flat one turn of space four-degree-of-freedom manipulator of V belt translation three |
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| CN201510034734.6A CN104589339B (en) | 2015-01-24 | 2015-01-24 | The flat one turn of space four-degree-of-freedom manipulator of V belt translation three |
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| CN109968330A (en) * | 2019-05-03 | 2019-07-05 | 江西制造职业技术学院 | Flat one turn of the three of toothed belt transmission structure independent moving platform grabs robot mechanism |
| CN110000763A (en) * | 2019-05-03 | 2019-07-12 | 江西制造职业技术学院 | The flat one turn of H4 type of the three of toothed belt transmission structure grabs robot mechanism |
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| US20040028516A1 (en) * | 2000-10-24 | 2004-02-12 | Torgny Brogardh | Industrial robot |
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| CN104589339B (en) | 2015-12-02 |
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