CN104842367A - Serial-parallel quasi-human mechanical arm - Google Patents

Serial-parallel quasi-human mechanical arm Download PDF

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Publication number
CN104842367A
CN104842367A CN201510061760.8A CN201510061760A CN104842367A CN 104842367 A CN104842367 A CN 104842367A CN 201510061760 A CN201510061760 A CN 201510061760A CN 104842367 A CN104842367 A CN 104842367A
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China
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pedestal
composite hinge
kinematic chain
affixed
motor
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CN201510061760.8A
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CN104842367B (en
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李研彪
孙鹏
张利
赵章风
计时鸣
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Zhejiang University of Technology ZJUT
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Zhejiang University of Technology ZJUT
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Abstract

The invention discloses a serial-parallel quasi-human mechanical arm. The mechanical arm comprises a top end base, a first movable platform, a big arm base, a small arm base, a bottom end base and a second movable platform; the top end base is connected with the first movable platform through a first kinematic chain and a second kinematic chain, the bottom face of the first movable platform is fixedly connected to the upper end face of the big arm base, the lower end of the big arm base is connected with the upper end of the small arm base through a revolute pair hinge, a third kinematic chain is arranged between the big arm base and the small arm base, and the lower end face of the small arm base is fixedly connected with the upper end face of the bottom end base; a jackstay is fixedly connected to the middle of the lower end face of the bottom end base, and the lower end of the jackstay is connected to the second movable platform through a spherical hinge; a fourth kinematic chain, a fifth kinematic chain and a sixth kinematic chain which are formed by identical members are arranged between the bottom end base and the second movable platform. The mechanical arm is simple and compact in structure, low in production cost, high in bearing capacity and small in inertia and moves flexibly, and machining and assembling technologies are good.

Description

A kind of connection in series-parallel anthropomorphous machine arm
Technical field
The present invention relates to a kind of anthropomorphous machine's arm, especially a kind of connection in series-parallel anthropomorphous machine arm.
Background technology
Anthropomorphous machine's arm is in Precision Machining, and aviation, shipbuilding, the modern industry fields such as automobile have a wide range of applications.At present, the mechanism form of anthropomorphous machine's arm mainly adopts serial mechanism, parallel institution and string also hybrid mechanism.Wherein, cascade machine mechanical arm has the advantages such as motion is flexible, working space is large, the anthropomorphic arm of the TH1 type as Tsing-Hua University's development, the anthropomorphic arm of Wendy type of Japanese Waseda University development, the IRB family machine mechanical arm that ABB AB of Sweden develops; It is simple that parallel mechanical arm has structure, motional inertia is little, the advantages such as bearing capacity is strong, the SIG XR22 released as SIG company of Switzerland is operated in parallel at a high speed device, the two-freedom parallel robot operator run up of the development such as University Of Tianjin professor Huang Tian, the four-freedom parallel mechanical arm that University On The Mountain Of Swallows professor Jin Zhenlin proposes.Serial mechanism and parallel institution present stronger complementary relationship in Structure and Properties feature, string series-parallel mechanical arm then has both the advantage of above-mentioned two kinds, the seven freedom string proposed as peak professor series-parallel mechanical arm.
Summary of the invention
Object of the present invention is just the requirement in order to make anthropomorphous machine's arm can meet various different operating environment as far as possible, anthropomorphous machine's arm is except will having larger working space and flexibility ratio, also to have the requirements such as higher bearing capacity and high accuracy, there is provided a kind of motion flexibly, bearing capacity is strong, inertia is little, processing and the good connection in series-parallel anthropomorphous machine arm of assembly technology.
The present invention is achieved through the following technical solutions above-mentioned purpose: a kind of connection in series-parallel anthropomorphous machine arm, comprise top pedestal, first moving platform, large arm pedestal, forearm pedestal, bottom pedestal and the second moving platform, top pedestal is connected the first moving platform by the first kinematic chain with the second kinematic chain, the upper surface of the first affixed large arm pedestal in moving platform bottom surface, the lower end of large arm pedestal is connected with the upper end of forearm pedestal by revolute pair hinge, the 3rd kinematic chain is also provided with between large arm pedestal and forearm pedestal, the lower surface of forearm pedestal and the upper surface of bottom pedestal affixed, affixed strut in the middle part of the lower surface of bottom pedestal, the lower end of strut connects the second moving platform by spherical linkage, the 4th kinematic chain be made up of identical components is also provided with between bottom pedestal and the second moving platform, 5th kinematic chain and the 6th kinematic chain,
Described first kinematic chain comprises the first motor, the first drive rod and first connecting rod, one end of affixed first drive rod of turning cylinder of the first motor, the other end of the first drive rod passes through one end of revolute pair chain connection first connecting rod, and the other end of first connecting rod is connected with the side of the first moving platform by revolute pair hinge;
Described second kinematic chain comprises the second motor, second drive rod and second connecting rod, one end of affixed second drive rod of turning cylinder of the second motor, the other end of the second drive rod by one end of revolute pair chain connection second connecting rod, the other end of second connecting rod and the end face of the first moving platform affixed;
Described first motor is set up mutually vertical with the second motor at space cloth and is all fixed on the pedestal of top; First motor and the second motor drive the first kinematic chain and the second kinematic chain to realize two frees degree of the first moving platform respectively;
Described 3rd kinematic chain comprises the 3rd motor, crank and third connecting rod, 3rd motor is fixed on the side of large arm pedestal, one end of the affixed crank of turning cylinder of motor, the other end of crank passes through one end of revolute pair chain connection third connecting rod, and the other end of third connecting rod is by revolute pair chain connection forearm pedestal; 3rd motor drives the 3rd kinematic chain to realize relatively rotating of large arm pedestal and forearm pedestal;
Described 4th kinematic chain comprises the first electric drive hydraulic thruster, the first composite hinge, the second composite hinge and the first connecting-rods with constant lengh, the pedestal upper surface of the first electric drive hydraulic thruster and the lower surface of bottom pedestal affixed and be positioned at the left end of pedestal lower surface, bottom, the piston rod of the first electric drive hydraulic thruster connects the upper surface of the first composite hinge, the lower surface of the first composite hinge connects the upper end of the first connecting-rods with constant lengh, the lower end of the first connecting-rods with constant lengh connects the upper surface of the second composite hinge, the upper surface of affixed second moving platform in lower surface of the second composite hinge;
Described 5th kinematic chain comprises the second electric drive hydraulic thruster, the 3rd composite hinge, the 4th composite hinge and the second connecting-rods with constant lengh, the pedestal upper surface of the second electric drive hydraulic thruster and the lower surface of bottom pedestal affixed and be positioned at the right-hand member of pedestal lower surface, bottom, the piston rod of the second electric drive hydraulic thruster connects the upper surface of the 3rd composite hinge, the lower surface of the 3rd composite hinge connects the upper end of the second connecting-rods with constant lengh, the lower end of the second connecting-rods with constant lengh connects the upper surface of the 4th composite hinge, the upper surface of affixed second moving platform in lower surface of the 4th composite hinge;
Affixed first fagging vertical with bottom pedestal in pedestal lower surface, described bottom, described second affixed second fagging vertical with the second moving platform in moving platform upper surface, described first fagging and the parallel installation of the second fagging;
Described 6th kinematic chain comprises the 3rd electric drive hydraulic thruster, the 5th composite hinge, the 6th composite hinge and the 3rd connecting-rods with constant lengh, 6th kinematic chain is mutually vertical with the 4th kinematic chain, the inner side end of the affixed fagging of base end face of the 3rd electric drive hydraulic thruster, the piston rod of the 3rd electric drive hydraulic thruster connects one end of the 5th composite hinge, the other end of the 5th composite hinge connects one end of the 3rd connecting-rods with constant lengh, the other end of the 3rd connecting-rods with constant lengh connects one end of the 6th composite hinge, and the other end of the 6th composite hinge connects the inner side end of the second fagging.
Further, described top pedestal is provided with orthogonal two vertical end faces, and the first motor and the second motor are separately fixed on two vertical end faces.
Further, described first fagging is bolted on the left side of pedestal lower surface, bottom, and described second fagging is bolted on the right side of the second moving platform upper surface.
Further, described first electric drive hydraulic thruster, the second electric drive hydraulic thruster and the 3rd electric drive hydraulic thruster are same parts.
Further, described first composite hinge, the second composite hinge, the 3rd composite hinge, the 4th composite hinge, the 5th composite hinge and the 6th composite hinge are same parts.
Further, described first connecting-rods with constant lengh, the second connecting-rods with constant lengh and the 3rd connecting-rods with constant lengh are same parts.
Beneficial effect of the present invention is: mechanical arm structure of the present invention is simple and compact for structure, and production cost is low; Motion is flexibly, bearing capacity is strong, and inertia is little, processing and assembly technology good.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of connection in series-parallel anthropomorphous machine of the present invention arm.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described:
As shown in Figure 1, a kind of connection in series-parallel anthropomorphous machine arm, comprise top pedestal 1, first moving platform 8, large arm pedestal 9, forearm pedestal 13, bottom pedestal 14 and the second moving platform 19, top pedestal 1 is connected the first moving platform 8 by the first kinematic chain with the second kinematic chain, the upper surface of the first affixed large arm pedestal 9 in moving platform 8 bottom surface, the lower end of large arm pedestal 9 is connected with the upper end of forearm pedestal 13 by revolute pair hinge, the 3rd kinematic chain is also provided with between large arm pedestal 9 and forearm pedestal 13, the lower surface of forearm pedestal 13 and the upper surface of bottom pedestal 14 affixed, affixed strut 20 in the middle part of the lower surface of bottom pedestal 14, the lower end of strut 20 connects the second moving platform 19 by spherical linkage, the 4th kinematic chain be made up of identical components is also provided with between bottom pedestal 14 and the second moving platform 19, 5th kinematic chain and the 6th kinematic chain,
First kinematic chain comprises the first motor 2, first drive rod 3 and first connecting rod 4, one end of affixed first drive rod 3 of turning cylinder of the first motor 2, the other end of the first drive rod 3 passes through one end of revolute pair chain connection first connecting rod 4, and the other end of first connecting rod 4 is connected with the side of the first moving platform 8 by revolute pair hinge;
Second kinematic chain comprises the second motor 5, second drive rod 6 and second connecting rod 7, one end of affixed second drive rod 6 of turning cylinder of the second motor 5, the other end of the second drive rod 6 by one end of revolute pair chain connection second connecting rod 7, the other end of second connecting rod 7 and the end face of the first moving platform 8 affixed;
First motor 2 is set up mutually vertical with the second motor 5 at space cloth and is all fixed on top pedestal 1; First motor 2 and the second motor 5 drive the first kinematic chain and the second kinematic chain to realize two frees degree of the first moving platform 8 respectively;
3rd kinematic chain comprises the 3rd motor 10, crank 11 and third connecting rod 12,3rd motor 10 is fixed on the side of large arm pedestal 9, one end of the affixed crank 11 of turning cylinder of motor, the other end of crank 11 passes through one end of revolute pair chain connection third connecting rod 12, and the other end of third connecting rod 12 is by revolute pair chain connection forearm pedestal 13; 3rd motor 10 drives the 3rd kinematic chain to realize relatively rotating of large arm pedestal 9 and forearm pedestal 13;
4th kinematic chain comprises the first electric drive hydraulic thruster 16, first composite hinge 17, second composite hinge and the first connecting-rods with constant lengh 18, the pedestal upper surface of the first electric drive hydraulic thruster 16 and the lower surface of bottom pedestal 14 affixed and be positioned at the left end of bottom pedestal 14 lower surface, the piston rod of the first electric drive hydraulic thruster 16 connects the upper surface of the first composite hinge 17, the lower surface of the first composite hinge 17 connects the upper end of the first connecting-rods with constant lengh 18, the lower end of the first connecting-rods with constant lengh 18 connects the upper surface of the second composite hinge, the upper surface of affixed second moving platform 19 in lower surface of the second composite hinge;
5th kinematic chain comprises the second electric drive hydraulic thruster, the 3rd composite hinge, the 4th composite hinge and the second connecting-rods with constant lengh, the pedestal upper surface of the second electric drive hydraulic thruster and the lower surface of bottom pedestal 14 affixed and be positioned at the right-hand member of bottom pedestal 14 lower surface, the piston rod of the second electric drive hydraulic thruster connects the upper surface of the 3rd composite hinge, the lower surface of the 3rd composite hinge connects the upper end of the second connecting-rods with constant lengh, the lower end of the second connecting-rods with constant lengh connects the upper surface of the 4th composite hinge, the upper surface of affixed second moving platform 19 in lower surface of the 4th composite hinge;
Affixed first fagging 15, second moving platform 19 upper surface affixed with second moving platform 19 vertical second fagging 21, first fagging 15 and the second fagging 21 parallel installation vertical with bottom pedestal 14 in bottom pedestal 14 lower surface;
6th kinematic chain comprises the 3rd electric drive hydraulic thruster, the 5th composite hinge, the 6th composite hinge and the 3rd connecting-rods with constant lengh, 6th kinematic chain is mutually vertical with the 4th kinematic chain, the inner side end of the affixed fagging of base end face of the 3rd electric drive hydraulic thruster, the piston rod of the 3rd electric drive hydraulic thruster connects one end of the 5th composite hinge, the other end of the 5th composite hinge connects one end of the 3rd connecting-rods with constant lengh, the other end of the 3rd connecting-rods with constant lengh connects one end of the 6th composite hinge, and the other end of the 6th composite hinge connects the inner side end of the second fagging 21.
Top pedestal 1 is provided with orthogonal two vertical end faces, and the first motor 2 and the second motor 5 are separately fixed on two vertical end faces.
First fagging 15 is bolted on the left side of bottom pedestal 14 lower surface, and the second fagging 21 is bolted on the right side of the second moving platform 19 upper surface.
First electric drive hydraulic thruster 16, second electric drive hydraulic thruster and the 3rd electric drive hydraulic thruster are same parts; First composite hinge 17, second composite hinge, the 3rd composite hinge, the 4th composite hinge, the 5th composite hinge and the 6th composite hinge are same parts; First connecting-rods with constant lengh 18, second connecting-rods with constant lengh and the 3rd connecting-rods with constant lengh are same parts.
Above-described embodiment is preferred embodiment of the present invention; it is not the restriction to technical solution of the present invention; as long as without the technical scheme that creative work can realize on the basis of above-described embodiment, all should be considered as falling within the scope of the rights protection of patent of the present invention.

Claims (6)

1. a connection in series-parallel anthropomorphous machine arm, it is characterized in that: comprise top pedestal (1), first moving platform (8), large arm pedestal (9), forearm pedestal (13), bottom pedestal (14) and the second moving platform (19), top pedestal (1) is connected the first moving platform (8) by the first kinematic chain with the second kinematic chain, the upper surface of the affixed large arm pedestal (9) in the first moving platform (8) bottom surface, the lower end of large arm pedestal (9) is connected with the upper end of forearm pedestal (13) by revolute pair hinge, the 3rd kinematic chain is also provided with between large arm pedestal (9) and forearm pedestal (13), the lower surface of forearm pedestal (13) and the upper surface of bottom pedestal (14) affixed, affixed strut (20) in the middle part of the lower surface of bottom pedestal (14), the lower end of strut (20) connects the second moving platform (19) by spherical linkage, the 4th kinematic chain be made up of identical components is also provided with between bottom pedestal (14) and the second moving platform (19), 5th kinematic chain and the 6th kinematic chain,
Described first kinematic chain comprises the first motor (2), the first drive rod (3) and first connecting rod (4), one end of affixed first drive rod (3) of turning cylinder of the first motor (2), the other end of the first drive rod (3) passes through one end of revolute pair chain connection first connecting rod (4), and the other end of first connecting rod (4) is connected with the side of the first moving platform (8) by revolute pair hinge;
Described second kinematic chain comprises the second motor (5), second drive rod (6) and second connecting rod (7), one end of affixed second drive rod (6) of turning cylinder of the second motor (5), the other end of the second drive rod (6) by one end of revolute pair chain connection second connecting rod (7), the other end of second connecting rod (7) and the end face of the first moving platform (8) affixed;
Described first motor (2) is set up mutually vertical with the second motor (5) at space cloth and is all fixed on top pedestal (1); First motor (2) and the second motor (5) drive the first kinematic chain and the second kinematic chain to realize two frees degree of the first moving platform (8) respectively;
Described 3rd kinematic chain comprises the 3rd motor (10), crank (11) and third connecting rod (12), 3rd motor (10) is fixed on the side of large arm pedestal (9), one end of the affixed crank of turning cylinder (11) of motor, the other end of crank (11) passes through one end of revolute pair chain connection third connecting rod (12), and the other end of third connecting rod (12) is by revolute pair chain connection forearm pedestal (13); 3rd motor (10) drives the 3rd kinematic chain to realize relatively rotating of large arm pedestal (9) and forearm pedestal (13);
Described 4th kinematic chain comprises the first electric drive hydraulic thruster (16), first composite hinge (17), second composite hinge and the first connecting-rods with constant lengh (18), the pedestal upper surface of the first electric drive hydraulic thruster (16) and the lower surface of bottom pedestal (14) affixed and be positioned at the left end of bottom pedestal (14) lower surface, the piston rod of the first electric drive hydraulic thruster (16) connects the upper surface of the first composite hinge (17), the lower surface of the first composite hinge (17) connects the upper end of the first connecting-rods with constant lengh (18), the lower end of the first connecting-rods with constant lengh (18) connects the upper surface of the second composite hinge, the upper surface of affixed second moving platform (19) in lower surface of the second composite hinge,
Described 5th kinematic chain comprises the second electric drive hydraulic thruster, the 3rd composite hinge, the 4th composite hinge and the second connecting-rods with constant lengh, the pedestal upper surface of the second electric drive hydraulic thruster and the lower surface of bottom pedestal (14) affixed and be positioned at the right-hand member of bottom pedestal (14) lower surface, the piston rod of the second electric drive hydraulic thruster connects the upper surface of the 3rd composite hinge, the lower surface of the 3rd composite hinge connects the upper end of the second connecting-rods with constant lengh, the lower end of the second connecting-rods with constant lengh connects the upper surface of the 4th composite hinge, the upper surface of affixed second moving platform (19) in lower surface of the 4th composite hinge;
Affixed first fagging (15) vertical with bottom pedestal (14) in pedestal (14) lower surface, described bottom, affixed second fagging (21) vertical with the second moving platform (19) in described second moving platform (19) upper surface, described first fagging (15) and the second fagging (21) parallel installation;
Described 6th kinematic chain comprises the 3rd electric drive hydraulic thruster, the 5th composite hinge, the 6th composite hinge and the 3rd connecting-rods with constant lengh, 6th kinematic chain is mutually vertical with the 4th kinematic chain, the inner side end of the affixed fagging of base end face of the 3rd electric drive hydraulic thruster, the piston rod of the 3rd electric drive hydraulic thruster connects one end of the 5th composite hinge, the other end of the 5th composite hinge connects one end of the 3rd connecting-rods with constant lengh, the other end of the 3rd connecting-rods with constant lengh connects one end of the 6th composite hinge, and the other end of the 6th composite hinge connects the inner side end of the second fagging (21).
2. a kind of connection in series-parallel anthropomorphous machine arm according to claim 1, it is characterized in that: described top pedestal (1) is provided with orthogonal two vertical end faces, the first motor (2) and the second motor (5) are separately fixed on two vertical end faces.
3. a kind of connection in series-parallel anthropomorphous machine arm according to claim 1, it is characterized in that: described first fagging (15) is bolted on the left side of bottom pedestal (14) lower surface, described second fagging (21) is bolted on the right side of the second moving platform (19) upper surface.
4. a kind of connection in series-parallel anthropomorphous machine arm according to claim 1, is characterized in that: described first electric drive hydraulic thruster (16), the second electric drive hydraulic thruster and the 3rd electric drive hydraulic thruster are same parts.
5. a kind of connection in series-parallel anthropomorphous machine arm according to claim 1, is characterized in that: described first composite hinge (17), the second composite hinge, the 3rd composite hinge, the 4th composite hinge, the 5th composite hinge and the 6th composite hinge are same parts.
6. a kind of connection in series-parallel anthropomorphous machine arm according to claim 1, is characterized in that: described first connecting-rods with constant lengh (18), the second connecting-rods with constant lengh and the 3rd connecting-rods with constant lengh are same parts.
CN201510061760.8A 2015-02-06 2015-02-06 A kind of connection in series-parallel anthropomorphous machine's arm Active CN104842367B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107097599A (en) * 2017-03-01 2017-08-29 中北大学 A kind of air-ground amphibious robot
CN109664277A (en) * 2019-01-27 2019-04-23 浙江大学 A kind of full direct acting Driven by Hydraulic Cylinder mechanical arm
CN110653807A (en) * 2019-09-19 2020-01-07 浙江工业大学 High-precision explosive-handling robot device

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AU1493992A (en) * 1990-07-24 1992-07-23 Matrik Pty Ltd Refuse loader grabbing means
CN201998169U (en) * 2010-04-23 2011-10-05 北京航空航天大学 Mechanical arm system for nuclear detecting and emergency processing robot
CN103264382A (en) * 2013-05-02 2013-08-28 浙江理工大学 Wheel-arm-hybrid obstacle surmounting robot with radial telescopic wheels
CN204525515U (en) * 2015-02-06 2015-08-05 浙江工业大学 A kind of connection in series-parallel anthropomorphous machine arm

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107097599A (en) * 2017-03-01 2017-08-29 中北大学 A kind of air-ground amphibious robot
CN107097599B (en) * 2017-03-01 2019-08-30 中北大学 A kind of air-ground amphibious robot
CN109664277A (en) * 2019-01-27 2019-04-23 浙江大学 A kind of full direct acting Driven by Hydraulic Cylinder mechanical arm
CN109664277B (en) * 2019-01-27 2024-01-09 浙江大学 Full-direct-acting hydraulic cylinder driving mechanical arm
CN110653807A (en) * 2019-09-19 2020-01-07 浙江工业大学 High-precision explosive-handling robot device
CN110653807B (en) * 2019-09-19 2024-05-28 浙江工业大学 High-precision explosive-handling robot device

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Denomination of invention: A series parallel humanoid robotic arm

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Assignee: Taizhou Rongfeng Auto Products Co.,Ltd.

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Assignee: Ningbo Fenghua Shangrui Automation Machinery Co.,Ltd.

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Assignee: FOSHAN YIQING TECHNOLOGY Co.,Ltd.

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Assignee: HUZHOU SHENGLI HYDRAULIC Co.,Ltd.

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Denomination of invention: A series parallel humanoid robotic arm

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Assignee: Zhejiang Shanmei Machinery Manufacturing Co.,Ltd.

Assignor: JIANG University OF TECHNOLOGY

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Denomination of invention: A series parallel humanoid robotic arm

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Assignee: ZHEJIANG BAIBO MACHINERY TECHNOLOGY Co.,Ltd.

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Assignee: Changxing Xigu Intelligent Equipment Co.,Ltd.

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