CN104690719B - V belt translation space four mobility mechanical hand - Google Patents
V belt translation space four mobility mechanical hand Download PDFInfo
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- CN104690719B CN104690719B CN201510034733.1A CN201510034733A CN104690719B CN 104690719 B CN104690719 B CN 104690719B CN 201510034733 A CN201510034733 A CN 201510034733A CN 104690719 B CN104690719 B CN 104690719B
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Abstract
V belt translation space four mobility mechanical hand, including frame, the first side chain, the second side chain, the 3rd side chain, the four, the first motors, the second motor, the 3rd motor, the 4th motor and translation platform mechanism.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.Described V belt translation space four mobility mechanical hand can realize the motion of translation platform mechanism spatially four mobilities.The advantages such as present configuration is simple, compact, has occupation of land space little, flexible movements.
Description
Technical field
The present invention relates to industrial robot field, particularly V belt translation space four mobility mechanical hand.
Background technology
From the 1950's, robot is just applied to industrial circle, has played great effect at industrial circle, effectively reduces the production cost of factory, improves production efficiency.Industrial applied robot has a lot of aspect, such as welding, assembling, piling, crawl etc..The frame for movement applying the robot in different field to be used 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 has only to four axles just can complete the piling task of production on-line goods.In industrial application, having so one class task, it needs from a place, article are put another place, and need not make article run-off the straight campaign during putting.This kind of robot can be divided into four kinds according to actual demand: the first is the crawl in plane, the most only need to complete article two translational motions planar；The second is also to need one angle of article rotating on the basis of completing two translational motions；The third has been intended to article three translational motions spatially；4th kind is also to need one angle of article rotating on the basis of completing three translations.In order to reduce the degree of freedom of robot, general joint connection mode is used to add one or more groups parallelogram sturcutre again to realize the horizontal movement of end effector of robot, robot palletizer and capture at a high speed parallel robot this class formation of many employings on market.But this class formation is because, in needs are arranged on articulated robot, admittedly cause, robot architecture is too fat to move, it is big to take up an area space.The present invention uses four side chains to couple frame peace Dong Tai mechanism, and every side chain can realize being synchronized with the movement of two toothed rack, and translation platform mechanism can complete the motion of spatially four mobilities, has compact conformation, takes up an area the advantages such as little, the high load capability in space.The present invention can complete the task that above-mentioned 4th kind of robot three translation one rotates.On market, this type of robot refers to China's mandate patent of invention of Publication No. CN102152306B.
Summary of the invention
It is an object of the invention to provide V belt translation space four mobility mechanical hand, the space four mobility motion of translation platform mechanism can be realized.
The present invention reaches above-mentioned purpose by the following technical programs: V belt translation space four mobility mechanical hand, including 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 translation platform mechanism.
First support of described first side chain is coupled with frame by the first revolute pair, first connecting shaft of the first side chain is coupled by the first flat motion bar of the second revolute pair with translation platform mechanism, second support of the second side chain is coupled with frame by the 3rd revolute pair, second connecting shaft of the second side chain is coupled by the first flat motion bar of the 4th revolute pair with translation platform mechanism, 3rd support of the 3rd side chain is coupled with frame by the 5th revolute pair, 3rd connecting shaft of the 3rd side chain is coupled by the second flat motion bar of the 6th revolute pair with translation platform mechanism, 4th support of the 4th side chain is coupled with frame by the 7th revolute pair, 4th connecting shaft of the 4th side chain is coupled by the second flat motion bar of the 8th revolute pair with translation platform mechanism.
nullDescribed first side chain includes 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 shaft and the first band，One zero one drive is coupled with the first support by the one zero one revolute pair，One zero one drive is coupled with the one zero two drive by the first band，One zero one drive is coupled by the one zero one gear pair and the one zero one tooth bar，One zero two drive is coupled with the first support by the one zero two revolute pair，One zero two drive is coupled by the one zero two gear pair and the one zero two tooth bar，One zero one tooth bar is coupled by the one zero one moving sets and the one zero one side link，One zero one tooth bar is coupled with the first connecting shaft by the one zero three revolute pair，One zero two tooth bar is coupled by the one zero two moving sets and the one zero two side link，One zero two tooth bar is coupled with the first connecting shaft by the one zero four revolute pair，One zero one side link is coupled with the first support by the one zero five revolute pair，One zero one side link is coupled with first connecting rod by the one zero six revolute pair，One zero two side link is coupled with the first support by the one zero seven revolute pair，One zero two side link is coupled with first connecting rod by the one zero eight revolute pair.
nullDescribed second side chain includes the second support、2nd 01 drive、2nd 02 drive、2nd 01 side link、2nd 02 side link、Second connecting rod、2nd 01 tooth bar、2nd 02 tooth bar、Second connecting shaft and the second band，2nd 01 drive is coupled with the second support by the 2nd 01 revolute pair，2nd 01 drive is coupled with the 2nd 02 drive by the second band，2nd 01 drive is coupled by the 2nd 01 gear pair and the 2nd 01 tooth bar，2nd 02 drive is coupled with the second support by the 2nd 02 revolute pair，2nd 02 drive is coupled by the 2nd 02 gear pair and the 2nd 02 tooth bar，2nd 01 tooth bar is coupled by the 2nd 01 moving sets and the 2nd 01 side link，2nd 01 tooth bar is coupled with the second connecting shaft by the 2nd 03 revolute pair，2nd 02 tooth bar is coupled by the 2nd 02 moving sets and the 2nd 02 side link，2nd 02 tooth bar is coupled with the second connecting shaft by the 2nd 04 revolute pair，2nd 01 side link is coupled with the second support by the 2nd 05 revolute pair，2nd 01 side link is coupled with second connecting rod by the 2nd 06 revolute pair，2nd 02 side link is coupled with the second support by the 2nd 07 revolute pair，2nd 02 side link is coupled with second connecting rod by the 2nd 08 revolute pair.
nullDescribed 3rd side chain includes the 3rd support、3rd 01 drive、3rd 02 drive、3rd 01 side link、3rd 02 side link、Third connecting rod、3rd 01 tooth bar、3rd 02 tooth bar、3rd connecting shaft and the 3rd band，3rd 01 drive is coupled with the 3rd support by the 3rd 01 revolute pair，3rd 01 drive is coupled with the 3rd 02 drive by the 3rd band，3rd 01 drive is coupled by the 3rd 01 gear pair and the 3rd 01 tooth bar，3rd 02 drive is coupled with the 3rd support by the 3rd 02 revolute pair，3rd 02 drive is coupled by the 3rd 02 gear pair and the 3rd 02 tooth bar，3rd 01 tooth bar is coupled by the 3rd 01 moving sets and the 3rd 01 side link，3rd 01 tooth bar is coupled with the 3rd connecting shaft by the 3rd 03 revolute pair，3rd 02 tooth bar is coupled by the 3rd 02 moving sets and the 3rd 02 side link，3rd 02 tooth bar is coupled with the 3rd connecting shaft by the 3rd 04 revolute pair，3rd 01 side link is coupled with the 3rd support by the 3rd 05 revolute pair，3rd 01 side link is coupled with third connecting rod by the 3rd 06 revolute pair，3rd 02 side link is coupled with the 3rd support by the 3rd 07 revolute pair，3rd 02 side link is coupled with third connecting rod by the 3rd 08 revolute pair.
nullDescribed 4th side chain includes the 4th support、4th 01 drive、4th 02 drive、4th 01 side link、4th 02 side link、Fourth link、4th 01 tooth bar、4th 02 tooth bar、4th connecting shaft and the 4th band，4th 01 drive is coupled with the 4th support by the 4th 01 revolute pair，4th 01 drive is coupled with the 4th 02 drive by the 4th band，4th 01 drive is coupled by the 4th 01 gear pair and the 4th 01 tooth bar，4th 02 drive is coupled with the 4th support by the 4th 02 revolute pair，4th 02 drive is coupled by the 4th 02 gear pair and the 4th 02 tooth bar，4th 01 tooth bar is coupled by the 4th 01 moving sets and the 4th 01 side link，4th 01 tooth bar is coupled with the 4th connecting shaft by the 4th 03 revolute pair，4th 02 tooth bar is coupled by the 4th 02 moving sets and the 4th 02 side link，4th 02 tooth bar is coupled with the 4th connecting shaft by the 4th 04 revolute pair，4th 01 side link is coupled with the 4th support by the 4th 05 revolute pair，4th 01 side link is coupled with fourth link by the 4th 06 revolute pair，4th 02 side link is coupled with the 4th support by the 4th 07 revolute pair，4th 02 side link is coupled with fourth link by the 4th 08 revolute pair.
Described translation platform mechanism includes the first flat motion bar, the second flat motion bar, the 3rd flat motion bar and the 4th flat motion bar, first flat motion bar is coupled with the 3rd flat motion bar by the 5th 01 revolute pair, 3rd flat motion bar is coupled with the second flat motion bar by the 5th 02 revolute pair, second flat motion bar is coupled with the 4th flat motion bar by the 5th 03 revolute pair, and the 4th flat motion bar is coupled with the first flat motion bar by the 5th 04 revolute pair.
The present invention has the prominent advantages that:
1, four are arranged symmetrically with the motion that side chain realizes space four mobility of translation platform mechanism, mechanism's compact overall structure, take up an area space little；
2, mechanical hand inertia is little, kinematics and dynamics performance is good.
Accompanying drawing explanation
Fig. 1 is the structural representation of V belt translation space four of the present invention mobility mechanical hand.
Fig. 2 is V belt translation space four of the present invention mobility mechanical hand the first branched structure schematic diagram.
Fig. 3 is V belt translation space four of the present invention mobility mechanical hand the second branched structure schematic diagram.
Fig. 4 is V belt translation space four of the present invention mobility mechanical hand the 3rd branched structure schematic diagram.
Fig. 5 is V belt translation space four of the present invention mobility mechanical hand the 4th branched structure schematic diagram.
Fig. 6 is the first support schematic diagram of V belt translation space four of the present invention mobility mechanical hand the first side chain.
Fig. 7 is the second support schematic diagram of V belt translation space four of the present invention mobility mechanical hand the second side chain.
Fig. 8 is the 3rd support schematic diagram of V belt translation space four of the present invention mobility mechanical hand the 3rd side chain.
Fig. 9 is the 4th support schematic diagram of V belt translation space four of the present invention mobility mechanical hand the 4th side chain.
Figure 10 is the one zero one side link and the one zero two side link schematic diagram of V belt translation space four of the present invention mobility mechanical hand the first side chain.
Figure 11 is the 2nd 01 side link and the 2nd 02 side link schematic diagram of V belt translation space four of the present invention mobility mechanical hand the second side chain.
Figure 12 is the 3rd 01 side link and the 3rd 02 side link schematic diagram of V belt translation space four of the present invention mobility mechanical hand the 3rd side chain.
Figure 13 is the 4th 01 side link and the 4th 02 side link schematic diagram of V belt translation space four of the present invention mobility mechanical hand the 4th side chain.
Figure 14 is the schematic diagram of V belt translation space four of the present invention mobility mechanical hand translation platform mechanism.
Figure 15 is the motion schematic diagram of V belt translation space four of the present invention mobility mechanical hand.
Detailed description of the invention
Below in conjunction with the accompanying drawings and technical scheme is described further by embodiment.
Comparison Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13 and Figure 14, V belt translation space four mobility mechanical hand, including frame the 1, first side chain, the second side chain, the 3rd side chain, the 4th side chain, first motor the 2, second motor the 3, the 3rd motor the 4, the 4th motor 5 and translation platform mechanism.
nullFirst support 102 of described first side chain is coupled with frame 1 by the first revolute pair 101，First connecting shaft 110 of the first side chain is coupled by the first flat motion bar 501 of the second revolute pair 505 with translation platform mechanism，Second support 202 of the second side chain is coupled with frame 1 by the 3rd revolute pair 201，Second connecting shaft 210 of the second side chain is coupled by the first flat motion bar 501 of the 4th revolute pair 508 with translation platform mechanism，3rd support 302 of the 3rd side chain is coupled with frame 1 by the 5th revolute pair 301，3rd connecting shaft 310 of the 3rd side chain is coupled by the second flat motion bar 502 of the 6th revolute pair 507 with translation platform mechanism，4th support 402 of the 4th side chain is coupled with frame 1 by the 7th revolute pair 401，4th connecting shaft 410 of the 4th side chain is coupled by the second flat motion bar 502 of the 8th revolute pair 506 with translation platform mechanism.
nullDescribed first side chain includes 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 shaft 110 and the first band 111，One zero one drive 103 is coupled with the first support 102 by the one zero one revolute pair 112，One zero one drive 103 is coupled with the one zero two drive 104 by the first band 111，One zero one drive 103 is coupled with the one zero one tooth bar 105 by the one zero one gear pair 116，One zero two drive 104 is coupled with the first support 102 by the one zero two revolute pair 113，One zero two drive 104 is coupled with the one zero two tooth bar 106 by the one zero two gear pair 117，One zero one tooth bar 105 is coupled with the one zero one side link 107 by the one zero one moving sets 118，One zero one tooth bar 105 is coupled with the first connecting shaft 110 by the one zero three revolute pair 122，One zero two tooth bar 106 is coupled with the one zero two side link 108 by the one zero two moving sets 119，One zero two tooth bar 106 is coupled with the first connecting shaft 110 by the one zero four revolute pair 123，One zero one side link 107 is coupled with the first support 102 by the one zero five revolute pair 114，One zero one side link 107 is coupled with first connecting rod 109 by the one zero six revolute pair 120，One zero two side link 108 is coupled with the first support 102 by the one zero seven revolute pair 115，One zero two side link 108 is coupled with first connecting rod 109 by the one zero eight revolute pair 121.
nullDescribed second side chain includes the second support 202、2nd 01 drive 203、2nd 02 drive 204、2nd 01 side link 207、2nd 02 side link 208、Second connecting rod 209、2nd 01 tooth bar 205、2nd 02 tooth bar 206、Second connecting shaft 210 and the second band 211，2nd 01 drive 203 is coupled with the second support 202 by the 2nd 01 revolute pair 212，2nd 01 drive 203 is coupled with the 2nd 02 drive 204 by the second band 211，2nd 01 drive 203 is coupled with the 2nd 01 tooth bar 205 by the 2nd 01 gear pair 216，2nd 02 drive 204 is coupled with the second support 202 by the 2nd 02 revolute pair 213，2nd 02 drive 204 is coupled with the 2nd 02 tooth bar 206 by the 2nd 02 gear pair 217，2nd 01 tooth bar 205 is coupled with the 2nd 01 side link 207 by the 2nd 01 moving sets 218，2nd 01 tooth bar 205 is coupled with the second connecting shaft 210 by the 2nd 03 revolute pair 222，2nd 02 tooth bar 206 is coupled with the 2nd 02 side link 208 by the 2nd 02 moving sets 219，2nd 02 tooth bar 206 is coupled with the second connecting shaft 210 by the 2nd 04 revolute pair 223，2nd 01 side link 207 is coupled with the second support 202 by the 2nd 05 revolute pair 214，2nd 01 side link 207 is coupled with second connecting rod 209 by the 2nd 06 revolute pair 220，2nd 02 side link 208 is coupled with the second support 202 by the 2nd 07 revolute pair 215，2nd 02 side link 208 is coupled with second connecting rod 209 by the 2nd 08 revolute pair 221.
nullDescribed 3rd side chain includes the 3rd support 302、3rd 01 drive 303、3rd 02 drive 304、3rd 01 side link 307、3rd 02 side link 308、Third connecting rod 309、3rd 01 tooth bar 305、3rd 02 tooth bar 306、3rd connecting shaft 310 and the 3rd band 311，3rd 01 drive 303 is coupled with the 3rd support 302 by the 3rd 01 revolute pair 312，3rd 01 drive 303 is coupled with the 3rd 02 drive 304 by the 3rd band 311，3rd 01 drive 303 is coupled with the 3rd 01 tooth bar 305 by the 3rd 01 gear pair 316，3rd 02 drive 304 is coupled with the 3rd support 302 by the 3rd 02 revolute pair 313，3rd 02 drive 304 is coupled with the 3rd 02 tooth bar 306 by the 3rd 02 gear pair 317，3rd 01 tooth bar 305 is coupled with the 3rd 01 side link 307 by the 3rd 01 moving sets 318，3rd 01 tooth bar 305 is coupled with the 3rd connecting shaft 310 by the 3rd 03 revolute pair 322，3rd 02 tooth bar 306 is coupled with the 3rd 02 side link 308 by the 3rd 02 moving sets 319，3rd 02 tooth bar 306 is coupled with the 3rd connecting shaft 310 by the 3rd 04 revolute pair 323，3rd 01 side link 307 is coupled with the 3rd support 302 by the 3rd 05 revolute pair 314，3rd 01 side link 307 is coupled with third connecting rod 309 by the 3rd 06 revolute pair 320，3rd 02 side link 308 is coupled with the 3rd support 302 by the 3rd 07 revolute pair 315，3rd 02 side link 308 is coupled with third connecting rod 309 by the 3rd 08 revolute pair 321.
nullDescribed 4th side chain includes the 4th support 402、4th 01 drive 403、4th 02 drive 404、4th 01 side link 407、4th 02 side link 408、Fourth link 409、4th 01 tooth bar 405、4th 02 tooth bar 406、4th connecting shaft 410 and the 4th band 411，4th 01 drive 403 is coupled with the 4th support 402 by the 4th 01 revolute pair 412，4th 01 drive 403 is coupled with the 4th 02 drive 404 by the 4th band 411，4th 01 drive 403 is coupled with the 4th 01 tooth bar 405 by the 4th 01 gear pair 416，4th 02 drive 404 is coupled with the 4th support 402 by the 4th 02 revolute pair 413，4th 02 drive 404 is coupled with the 4th 02 tooth bar 406 by the 4th 02 gear pair 417，4th 01 tooth bar 405 is coupled with the 4th 01 side link 407 by the 4th 01 moving sets 418，4th 01 tooth bar 405 is coupled with the 4th connecting shaft 410 by the 4th 03 revolute pair 422，4th 02 tooth bar 406 is coupled with the 4th 02 side link 408 by the 4th 02 moving sets 419，4th 02 tooth bar 406 is coupled with the 4th connecting shaft 410 by the 4th 04 revolute pair 423，4th 01 side link 407 is coupled with the 4th support 402 by the 4th 05 revolute pair 414，4th 01 side link 407 is coupled with fourth link 409 by the 4th 06 revolute pair 420，4th 02 side link 408 is coupled with the 4th support 402 by the 4th 07 revolute pair 415，4th 02 side link 408 is coupled with fourth link 409 by the 4th 08 revolute pair 421.
Described translation platform mechanism includes the first flat motion bar the 501, second flat motion bar the 502, the 3rd flat motion bar 503 and the 4th flat motion bar 504, first flat motion bar 501 is coupled with the 3rd flat motion bar 503 by the 5th 01 revolute pair 509,3rd flat motion bar 503 is coupled with the second flat motion bar 502 by the 5th 02 revolute pair 510, second flat motion bar 502 is coupled with the 4th flat motion bar 504 by the 5th 03 revolute pair 511, and the 4th flat motion bar 504 is coupled with the first flat motion bar 501 by the 5th 04 revolute pair 512.
Described first motor 2 drives the one zero two drive 104 of the first side chain to move, second motor 3 drives the 2nd 02 drive 204 of the second side chain to move, 3rd motor 4 drives the 3rd 02 drive 304 of the 3rd side chain to move, 4th motor 5 drives the 4th 02 drive 404 of the 4th side chain to move, and can realize the motion of space four mobility of translation platform mechanism.
Comparison Figure 15, show certain flashy schematic diagram of V belt translation space four mobility robot movement.
Claims (1)
1. V belt translation space four mobility mechanical hand, including 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 translation platform mechanism, it is characterised in that:
First support of described first side chain is coupled with frame by the first revolute pair, first connecting shaft of the first side chain is coupled by the first flat motion bar of the second revolute pair with translation platform mechanism, second support of the second side chain is coupled with frame by the 3rd revolute pair, second connecting shaft of the second side chain is coupled by the first flat motion bar of the 4th revolute pair with translation platform mechanism, 3rd support of the 3rd side chain is coupled with frame by the 5th revolute pair, 3rd connecting shaft of the 3rd side chain is coupled by the second flat motion bar of the 6th revolute pair with translation platform mechanism, 4th support of the 4th side chain is coupled with frame by the 7th revolute pair, 4th connecting shaft of the 4th side chain is coupled by the second flat motion bar of the 8th revolute pair with translation platform mechanism,
nullDescribed first side chain includes 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 shaft and the first band，One zero one drive is coupled with the first support by the one zero one revolute pair，One zero one drive is coupled with the one zero two drive by the first band，One zero one drive is coupled by the one zero one gear pair and the one zero one tooth bar，One zero two drive is coupled with the first support by the one zero two revolute pair，One zero two drive is coupled by the one zero two gear pair and the one zero two tooth bar，One zero one tooth bar is coupled by the one zero one moving sets and the one zero one side link，One zero one tooth bar is coupled with the first connecting shaft by the one zero three revolute pair，One zero two tooth bar is coupled by the one zero two moving sets and the one zero two side link，One zero two tooth bar is coupled with the first connecting shaft by the one zero four revolute pair，One zero one side link is coupled with the first support by the one zero five revolute pair，One zero one side link is coupled with first connecting rod by the one zero six revolute pair，One zero two side link is coupled with the first support by the one zero seven revolute pair，One zero two side link is coupled with first connecting rod by the one zero eight revolute pair，
nullDescribed second side chain includes the second support、2nd 01 drive、2nd 02 drive、2nd 01 side link、2nd 02 side link、Second connecting rod、2nd 01 tooth bar、2nd 02 tooth bar、Second connecting shaft and the second band，2nd 01 drive is coupled with the second support by the 2nd 01 revolute pair，2nd 01 drive is coupled with the 2nd 02 drive by the second band，2nd 01 drive is coupled by the 2nd 01 gear pair and the 2nd 01 tooth bar，2nd 02 drive is coupled with the second support by the 2nd 02 revolute pair，2nd 02 drive is coupled by the 2nd 02 gear pair and the 2nd 02 tooth bar，2nd 01 tooth bar is coupled by the 2nd 01 moving sets and the 2nd 01 side link，2nd 01 tooth bar is coupled with the second connecting shaft by the 2nd 03 revolute pair，2nd 02 tooth bar is coupled by the 2nd 02 moving sets and the 2nd 02 side link，2nd 02 tooth bar is coupled with the second connecting shaft by the 2nd 04 revolute pair，2nd 01 side link is coupled with the second support by the 2nd 05 revolute pair，2nd 01 side link is coupled with second connecting rod by the 2nd 06 revolute pair，2nd 02 side link is coupled with the second support by the 2nd 07 revolute pair，2nd 02 side link is coupled with second connecting rod by the 2nd 08 revolute pair，
nullDescribed 3rd side chain includes the 3rd support、3rd 01 drive、3rd 02 drive、3rd 01 side link、3rd 02 side link、Third connecting rod、3rd 01 tooth bar、3rd 02 tooth bar、3rd connecting shaft and the 3rd band，3rd 01 drive is coupled with the 3rd support by the 3rd 01 revolute pair，3rd 01 drive is coupled with the 3rd 02 drive by the 3rd band，3rd 01 drive is coupled by the 3rd 01 gear pair and the 3rd 01 tooth bar，3rd 02 drive is coupled with the 3rd support by the 3rd 02 revolute pair，3rd 02 drive is coupled by the 3rd 02 gear pair and the 3rd 02 tooth bar，3rd 01 tooth bar is coupled by the 3rd 01 moving sets and the 3rd 01 side link，3rd 01 tooth bar is coupled with the 3rd connecting shaft by the 3rd 03 revolute pair，3rd 02 tooth bar is coupled by the 3rd 02 moving sets and the 3rd 02 side link，3rd 02 tooth bar is coupled with the 3rd connecting shaft by the 3rd 04 revolute pair，3rd 01 side link is coupled with the 3rd support by the 3rd 05 revolute pair，3rd 01 side link is coupled with third connecting rod by the 3rd 06 revolute pair，3rd 02 side link is coupled with the 3rd support by the 3rd 07 revolute pair，3rd 02 side link is coupled with third connecting rod by the 3rd 08 revolute pair，
nullDescribed 4th side chain includes the 4th support、4th 01 drive、4th 02 drive、4th 01 side link、4th 02 side link、Fourth link、4th 01 tooth bar、4th 02 tooth bar、4th connecting shaft and the 4th band，4th 01 drive is coupled with the 4th support by the 4th 01 revolute pair，4th 01 drive is coupled with the 4th 02 drive by the 4th band，4th 01 drive is coupled by the 4th 01 gear pair and the 4th 01 tooth bar，4th 02 drive is coupled with the 4th support by the 4th 02 revolute pair，4th 02 drive is coupled by the 4th 02 gear pair and the 4th 02 tooth bar，4th 01 tooth bar is coupled by the 4th 01 moving sets and the 4th 01 side link，4th 01 tooth bar is coupled with the 4th connecting shaft by the 4th 03 revolute pair，4th 02 tooth bar is coupled by the 4th 02 moving sets and the 4th 02 side link，4th 02 tooth bar is coupled with the 4th connecting shaft by the 4th 04 revolute pair，4th 01 side link is coupled with the 4th support by the 4th 05 revolute pair，4th 01 side link is coupled with fourth link by the 4th 06 revolute pair，4th 02 side link is coupled with the 4th support by the 4th 07 revolute pair，4th 02 side link is coupled with fourth link by the 4th 08 revolute pair，
Described translation platform mechanism includes the first flat motion bar, the second flat motion bar, the 3rd flat motion bar and the 4th flat motion bar, first flat motion bar is coupled with the 3rd flat motion bar by the 5th 01 revolute pair, 3rd flat motion bar is coupled with the second flat motion bar by the 5th 02 revolute pair, second flat motion bar is coupled with the 4th flat motion bar by the 5th 03 revolute pair, and the 4th flat motion bar is coupled with the first flat motion bar by the 5th 04 revolute pair.
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| CN201510034733.1A CN104690719B (en) | 2015-01-24 | 2015-01-24 | V belt translation space four mobility mechanical hand |
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| CN201510034733.1A CN104690719B (en) | 2015-01-24 | 2015-01-24 | V belt translation space four mobility mechanical hand |
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| CN104690719B true CN104690719B (en) | 2016-09-28 |
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| JP3834117B2 (en) * | 1996-12-24 | 2006-10-18 | 松下電工株式会社 | Parallel link robot and control method thereof |
| CN100372657C (en) * | 2006-04-18 | 2008-03-05 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| CN100395086C (en) * | 2006-07-31 | 2008-06-18 | 华南理工大学 | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type |
| CN101407059B (en) * | 2008-11-06 | 2010-08-11 | 燕山大学 | Four-freedom degree industrial robot |
| CN103448059B (en) * | 2013-08-19 | 2015-11-18 | 燕山大学 | Containing planar six-rod closed loop side chain 6DOF parallel institution |
| CN204525442U (en) * | 2015-01-24 | 2015-08-05 | 江西省机械科学研究所 | V belt translation space four mobility manipulator |
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