CN105150199B - Structure-adjustable three-freedom-degree parallel mechanism - Google Patents
Structure-adjustable three-freedom-degree parallel mechanism Download PDFInfo
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- CN105150199B CN105150199B CN201510703733.6A CN201510703733A CN105150199B CN 105150199 B CN105150199 B CN 105150199B CN 201510703733 A CN201510703733 A CN 201510703733A CN 105150199 B CN105150199 B CN 105150199B
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Abstract
The invention discloses a structure-adjustable three-freedom-degree parallel mechanism which comprises a fixed platform, a movable platform and three branches. Each branch comprises an adjusting part, a column, a moving pair, a rotating pair, a connecting rod and a spherical pair, wherein the adjusting part consists of a sliding rail, a slide block, an inlaid strip and a screw. The sliding rail of the adjusting part is horizontally installed on the fixed platform and is matched with a sliding groove formed in the lower portion of the slide block, the column is vertically installed on the slide block, the moving pair is connected with the column, the axis of the moving pair is perpendicular to the sliding groove formed in the lower portion of the slide block and is connected with the rotating pair, the axis of the rotating pair is parallel to the upper plane of the fixed platform, one end of the connecting rod is connected with the rotating pair, the other end of the connecting rod is connected with the spherical pair, and the spherical pair is installed on the movable platform. The angles of the three columns are adjusted through the sliding rails and the sliding grooves, the arrangement form of the connecting rods can be conveniently and quickly adjusted, installation is facilitated through quick fixing of the inlaid strips and the screws, the adjusting time is saved, and the efficiency is improved.
Description
Technical field
The present invention relates to a kind of adjustable 3-freedom parallel mechanism of structure, especially by one kind by moving sets, rotate secondary
The 3-freedom parallel mechanism constituting with spherical pair, belongs to robot application technology field.
Background technology
Parallel institution is also referred to as parallel robot, is one of Liang great branch of robot.Compared with serial manipulator, parallel machine
Device people has the advantages that rigidity is big, bearing capacity is strong, high precision.In a lot of occasions, do not need with six-freedom degree, machinery
Structure and control system simple lower-mobility mechanism just can meet requirement well.Wherein, there is the 3-prs of three degree of freedom
(p is moving sets, and r is to rotate secondary, and s is spherical pair) parallel institution be most typical one of represent, obtained International Industry circle and
The extensive concern of academia, and put into substantial amounts of research.Some particular configuration of 3-prs parallel institution are in the industrial production
Obtain successful Application.
3-prs parallel institution represents a class mechanism, comprises three identical branches, and each branch has one
Moving sets, rotation pair and spherical pair.The characteristic of 3-prs parallel institution, performance equal difference under different types of structure, different structure size
Different very big.In order to fully studied so as to obtain more be widely applied it is often necessary to for different structure types, no
Same physical dimension builds MECHANISMS -- HARDWARE platform.Patent " the adjustable 3-freedom parallel mechanism of work space and its method of adjustment "
A kind of a kind of (application number: 201410618331.1) be directed to specific class of establishment (linkage arrangement form), there is provided work is empty
Between adjustable 3-prs parallel institution, under this specific configuration can with adjustment structure size, be very easy to study.Specially
Sharp " the adjustable motion platform of 3-freedom parallel mechanism and control method " (application number: 201510041594.5) provide is adjustable
(fortune) moving platform goes for different 3-prs parallel institution types (linkage arrangement form), is building 3-prs parallel institution
When (transport) moving platform and need not re-design.But, when studying different 3-prs parallel institution types, new fixed platform,
The part such as column also needs to rebuild, thus increased Experimental Hardware cost and time cost.
Content of the invention
The present invention is directed to a class 3-prs parallel institution during research different types of structure, needs again to build newly
Fixed platform, the technical problem of column etc., there is provided a kind of adjustable 3-prs parallel institution of structure, by adjusting three columns
The angle turning over, thus adjusting the arrangement form of connecting rod, forming different structure types, efficiently solves above-mentioned technology and asks
Topic.
The present invention adopts the technical scheme that:
A kind of adjustable 3-freedom parallel mechanism of structure, including fixed platform 1, moving platform 2, the first side chain 3, the second side chain
4 and the 3rd side chain 5,
Each of described first side chain 3, the second side chain 4 and the 3rd side chain 5 side chain is all included with lower component:
Adjustment part 31,41,51, column 32,42,52, moving sets 33,43,53, rotate secondary 34,44,54, connecting rod 35,
45,55 and spherical pair 36,46,56,
Adjustment part 31,41,51 by slide rail 311,411,511, slide block 312,412,512, panel 313,413,513 and spiral shell
Nail 314,414,514 composition,
In each side chain above-mentioned, the attachment structure of included part is: slide rail 311,411,511 and panel 313,413,
Within 513 chutes being arranged on slide block 312,412,512 bottom, screw 314,414,514 are arranged on slide block 312,412,512 side
The screw thread in the hole in face,
Adjustment part 31,41, the slide rail 311,411,511 on 51 is horizontally arranged on fixed platform 1, slide rail 311,411,
511 with the cooperation of the chute of slide block 312,412,512 bottom, column 32,42,52 are vertically mounted on slide block 312, on 412,512, sliding
Block 312,412, on 512 connect column 32,42,52, moving sets 33,43,53 with column 32,42,52 connect, moving sets 33,43,
53 axis is vertical with plane on fixed platform 1, moving sets 33,43, and 53 connect with rotating secondary 34,44,54, rotate secondary 34,44,54
Axis parallel with the upper plane of fixed platform 1, connecting rod 35,45,55 one end with rotate secondary 34,44,54 connections, connecting rod 35,45,
55 other end is connected with spherical pair 36,46,56, spherical pair 36,46, and 56 are arranged on moving platform 2,
Projection on fixed platform 1 for the respective axis of symmetry of three slide rails 311,411,511 intersects at a point o, and it
Between 120 ° of angles each other,
The section of three slide rails 311,411,511 is trapezoidal, and the inner side of trapezoid cross section is hypotenuse, outside is right-angle side；
The section of the chute of three slide block (312,412,512) bottoms is trapezoidal, and the inner side of trapezoid cross section is hypotenuse, outside is right angle
Side,
Three slide rails 311,411,511 are circular arc, and the inner side of circular arc slide rail 311,411,511 is taper seat, outer
Side is the face of cylinder, the axis of taper seat and the dead in line on the outside face of cylinder, three slide rails inside each slide rail 311,411,511
311,411,511 medial surface are respectively p1, p2, p3, three projections with the subpoint on fixed platform 1 for the axis that overlaps of lateral surface
Point p1, p2, p3 are in equilateral triangle, the axis of symmetry projection of the center of circle of circle that p1, p2, p3 determine and three slide rails 41,51,61
Intersection point o overlaps,
It is circular arc with the chute of three slide blocks 312,412,512 bottom of three slide rails 311,411,511 cooperation, circle
The inner side of arc chute is taper seat, outside is the face of cylinder, the axle on the axis of taper seat and the outside face of cylinder inside each chute
Line overlaps.
Further, in each side chain, the upper plane of chute of slide block 312,412,512 bottom and inner side taper seat are and determine
Plane；Slide rail 311,411,511 upper plane and inner side taper seat are locating surface, and circular arc panel is passed through on the opposite side face of cylinder
313,413,513 are held out against with screw 314,414,514, will be fixing to slide block 311,411,511 and column 32,42,52.
Further, slide block 312, in the parallel both sides in the trapezoid cross section of the chute of 412,512 bottoms, the length of minor face is big
Length in the parallel both sides Zhong Chang side in the trapezoid cross section of slide rail 311,411,511.
Further, three slide block 312,412,512 tops are respectively provided with round rectangle through hole, three slide blocks 312,412,
512 side is provided with screwed hole, and screw thread axially bored line is vertical with the external cylindrical surface of chute.
What the present invention had has the advantages that: adjusts three columns each around p1, p2, p2 point institute by slide rail and chute
Through the angle that turns over of vertical line, can quickly and easily adjust the arrangement form of connecting rod, quickly solid with screw by panel
Fixed, it is easily installed, saves adjustment time, improve efficiency；Round rectangle through hole is provided with slide block, makes three columns in fixed platform
Radially adjustable, various sizes of column, slide block can be met, rotate secondary needs；Can be adjusted out greatly according to the needs of research
The different configuration of amount, greatlys save the cost of mechanical hardware structure.
Brief description
Fig. 1 is mechanism's scheme of erection that the present invention provides；
Fig. 2 is the top view after the fixed platform that the present invention provides is assembled with slide rail；
Fig. 3 is the adjustment part and the location diagram such as fixed platform, column that the present invention provides；
Fig. 4 is the axonometric drawing of the adjustment part that the present invention provides；
Fig. 5 is the upward view of the slide block that the present invention provides；
Fig. 6 is the cross sectional shape figure with slide rail for the chute of slide block bottom of present invention offer；
Fig. 7 is a kind of node configuration sketch that the present invention may be adjusted to；
Fig. 8 is that the present invention may be adjusted to a kind of node configuration top view corresponding with Fig. 7；
Fig. 9 is a kind of node configuration sketch that the present invention may be adjusted to；
Figure 10 is that the present invention may be adjusted to a kind of node configuration top view corresponding with Fig. 9；
Figure 11 is a kind of node configuration sketch that the present invention may be adjusted to；
Figure 12 is that the present invention may be adjusted to a kind of node configuration top view corresponding with Figure 11.
In figure: 1, fixed platform 2, moving platform
3rd, the first side chain 4, the second side chain 5, the 3rd side chain
31st, the first adjustment part 41, the second adjustment part 51, the 3rd adjustment part
32nd, the first column 42, the second column 52, the 3rd column
33rd, the first moving sets 43, the second moving sets 53, three moving sets
34th, the first rotation secondary 44, second rotates the secondary 54, the 3rd and rotates pair
35th, first connecting rod 45, second connecting rod 55, third connecting rod
36th, the first spherical pair 46, the second spherical pair 56, the 3rd spherical pair
311st, the first slide rail 411, the second slide rail 511, the 3rd slide rail
312nd, the first slide block 412, the second slide block 512, the 3rd slide block
313rd, the first panel 413, the second panel 513, the 3rd panel
314th, screw 414, screw 514, screw.
Specific embodiment
Below in conjunction with accompanying drawing and preferred embodiment, to the specific embodiment providing according to the present invention, structure, feature and its
Effect, after describing in detail such as.
As shown in Fig. 1～5, the adjustable 3-freedom parallel mechanism of structure that the present invention provides includes fixed platform 1, moving platform
2nd, the first side chain 3, the second side chain 4 and the 3rd side chain 5, wherein:
1) the first side chain 3: include the first adjustment part 31, the first column 32, the first moving sets 33, first rotate secondary 34,
First connecting rod 35 and the first spherical pair 36；First adjustment part 31 is by the first slide rail 311, the first slide block 312, the first panel 313
Form with screw 314；First slide rail 311 and the first panel 313 are arranged within the chute of the first slide block 312 bottom, screw 314
It is arranged on the screw thread in the hole of the first slide block 312 side；The first slide rail 311 in first adjustment part 31 is horizontally arranged at fixed platform
On 1, the chute cooperation of the first slide rail 311 and the first slide block 312 bottom, the first column 32 is vertically mounted on the first slide block 312,
First column 32 is connected on the first slide block 312, the first moving sets 33 are connected with the first column 32, the axis of the first moving sets 33 with
On fixed platform 1, plane is vertical, and the first moving sets 33 rotate secondary 34 with first and are connected, and first rotates secondary 34 axis and fixed platform 1
Upper plane parallel, one end of first connecting rod 35 rotates secondary 34 with first and is connected, the other end of first connecting rod 35 and the first sphere
Secondary 36 connections, the first spherical pair 36 is arranged on moving platform 2.
2) the second side chain 4: include two adjustment parts 41, the second column 42, the second moving sets 43, second rotate secondary 44, the
Two connecting rods 45 and the second spherical pair 46；Second adjustment part 41 is by the second slide rail 411, the second slide block 412, the second panel 413 and
Screw 414 forms；Second slide rail 411 and the second panel 413 are arranged within the chute of the second slide block 412 bottom, and screw 414 is pacified
It is contained in the screw thread in the hole of the second slide block 412 side；The second slide rail 411 in second adjustment part 41 is horizontally arranged at fixed platform 1
On, the chute cooperation of the second slide rail 411 and the second slide block 412 bottom, the second column 42 is vertically mounted on the second slide block 412,
Second column 42 is connected on the second slide block 412, the second moving sets 43 are connected with the second column 42, the axis of the second moving sets 43 with
On fixed platform 1, plane is vertical, and the second moving sets 43 rotate secondary 44 with second and are connected, and second rotates secondary 44 axis and fixed platform 1
Upper plane parallel, one end of second connecting rod 45 rotates secondary 44 with second and is connected, the other end of second connecting rod 45 and the second sphere
Secondary 46 connections, the second spherical pair 46 is arranged on moving platform 2.
3) the 3rd side chain 5: include three adjustment parts 51, the 3rd column 52, three moving sets 53, the 3rd rotate secondary 54, the
Three connecting rods 55 and the 3rd spherical pair 56；3rd slide rail 511 and the 3rd panel 513 be arranged on the 3rd slide block 512 bottom chute it
Interior, screw 514 is arranged on the screw thread in the hole of the 3rd slide block 512 side；3rd adjustment part 51 is sliding by the 3rd slide rail the 511, the 3rd
Block 512, the 3rd panel 513 and screw 514 form；The 3rd slide rail 511 in 3rd adjustment part 51 is horizontally arranged at fixed platform 1
On, the chute cooperation of the 3rd slide rail 511 and the 3rd slide block 512 bottom, the 3rd column 52 is vertically mounted on the 3rd slide block 512,
Connect the 3rd column 52 on 3rd slide block 512, three moving sets 53 are connected with the 3rd column 52, the axis of three moving sets 53 and
On fixed platform 1, plane is vertical, and three moving sets 53 rotate secondary 54 with the 3rd and are connected, and the 3rd rotates secondary 54 axis and fixed platform 1
Upper plane parallel, one end of third connecting rod 55 rotates secondary 54 with the 3rd and is connected, the other end of third connecting rod 55 and the 3rd sphere
Secondary 56 connections, the 3rd spherical pair 56 is arranged on moving platform 2.
Three slide rails 41, projection on fixed platform 1 for 51, the 61 respective axis of symmetry intersects at a point o, and between mutually
For 120 ° of angles, as three projections of straight line op1, op2, op3 in such as Fig. 2.
As shown in fig. 6, the section of slide rail 311,411,511 is trapezoidal, the inner side of trapezoid cross section is hypotenuse, outside is straight
The arm of angle；The section of the chute of three slide block (312,412,512) bottoms is trapezoidal, and the inner side of trapezoid cross section is hypotenuse, outside
For right-angle side.
As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5, slide rail 311,411,511 is circular arc, circular arc slide rail (311,411,
511) inner side is taper seat, outside is the face of cylinder, the axis of taper seat and outside cylinder inside each slide rail 311,411,511
The dead in line in face, three slide rail 311,411,511 medial surface are divided with the subpoint on fixed platform 1 for the axis that overlaps of lateral surface
Not Wei p1, p2, p3, three subpoints p1, p2, p3 are in equilateral triangle, the center of circle of circle that p1, p2, p3 determine and three slide rails 41,
51st, the intersection point o of 61 axis of symmetry projection overlaps.Pi in Fig. 3 represents p1, p2, p3, i.e. i=1,2,3.
As shown in figure 5, it is equal with the chute of three slide blocks 312,412,512 bottom of three slide rails 311,411,511 cooperation
For circular arc, the inner side of arc chute is taper seat, outside is the face of cylinder, the axis of taper seat and outside inside each chute
The dead in line on the face of cylinder.
As shown in figure 3, the upper plane of chute of slide block 312,412,512 bottom and inner side taper seat are in each side chain
Locating surface；The upper plane of slide rail 311,411,511 and inner side taper seat are locating surface, and the opposite side face of cylinder is inlayed by circular arc
Bar 313,413,513 is held out against with screw 314,414,514, will be fixing to slide block 311,411,511 and column 32,42,52.
As shown in fig. 6, the length of minor face is big in the parallel both sides in the trapezoid cross section of the chute of slide block 312,412,512 bottom
Length in the parallel both sides Zhong Chang side in the trapezoid cross section of slide rail 311,411,511.In Fig. 6, by the ladder of slide rail 311,411,511
The shape of the trapezoid cross section of chute of tee section and slide block 312,412,512 bottom is represented with same schematic diagram, does not represent
They are equivalently-sized.
As shown in figure 4, a side of slide block 312,412,512 is provided with screwed hole, screw thread axially bored line and chute
External cylindrical surface is vertical.After mounting, the inner circle of the chute of the internal conical surface of slide rail 311,411,511 and slide block 312,412,512
Cone match as a locating surface, the chute of the upper plane of slide rail 311,411,511 and slide block 312,412,512 bottom upper
Plane coordinates as another locating surface, and the external cylindrical surface of panel 313,413,513 and the face of cylinder of chute are affixed, panel 313,
413rd, the face of cylinder of 513 inner cylinder face and slide block 312,412,512 is affixed, and the axis of screw 314,414,514 is perpendicular to edge
The face of cylinder of bar 313,413,513.In fact, the above-mentioned face of cylinder and taper seat are not the complete face of cylinder and taper seat, only
It is a part.
The circular arc of slide rail 311,411,511 can be complete full circle, may also be a part of circular arc；Slide rail 311,411,
511 can be an entirety, may also be multiple slide rails and be spliced；Slide rail 311,411,511 can be solid by modes such as screws
It is scheduled on fixed platform 1.Simply schematically, fixed platform 1 can be any to the shape of the fixed platform 1 being given in Fig. 1, Fig. 2 and Fig. 3
Shape, the not necessarily explicit slab construction existing, as long as the structure of associated components can reliably be installed, carry.On
On the fixed platform 1 stated, plane can be virtual presence, i.e. the actual equivalent plane working.
As shown in figure 4, three slide block 312,412,512 tops are respectively provided with round rectangle through hole, by these round rectangles
Column 32,42,52 is fixed together with slide block 312,412,512 by through hole with bolt.In adjusting post 32,42,52 and slide block
312nd, during 412,512 relative position, each is made to rotate the central point qi (i=1,2,3) of secondary 34,44,54 gyroaxis fixed
Projection on platform 1 is respectively superposed with the center of circle pi (i=1,2,3) of the circle that arc is located of three slide blocks 312,412,512, i.e. q1
Overlap with p1, q2 is overlapped with p2, q3 is overlapped with p3, as shown in Figure 3.
In Fig. 2 and Fig. 3, the line at p1, p2, p3 and corresponding slide block 312,412,512 center with rotate pair 34,44,
54 centre of gyration is vertical, adjusts slide block 312,412,512 position on slide rail 311,411,511 according to this feature, that is, adjusts
The angle that whole slide block 312,412,512 turns over when rotating along p1, p2, p3, is inserted into panel 313,413,513, uses screw
314th, 414,514 hold out against.
The mechanism that the present invention provides may be adjusted to the 3-prs parallel institution of a lot of structure types, and Fig. 8,10,12 give this
3 kinds of typical configurations that the mechanism that invention provides is adjusted to, the structure diagram of corresponding 3-prs parallel institution is respectively as Fig. 7,9,11
Shown.The position of slide block 312,412,512 is as shown in the black rectangle square in Fig. 8,10,12.In fact, the corresponding configuration of Fig. 1
It is Fig. 7 and Fig. 8.
The above, be only presently preferred embodiments of the present invention, and not the present invention is made with any pro forma restriction, this
Simple modification, equivalent variations or modification that skilled person is made using the technology contents of above-mentioned prompting, all fall within the present invention
Protection domain in.
Claims (4)
1. the adjustable 3-freedom parallel mechanism of a kind of structure, described parallel institution include fixed platform (1), moving platform (2), first
Side chain (3), the second side chain (4) and the 3rd side chain (5),
Each of first side chain (3), the second side chain (4) and the 3rd side chain (5) side chain is all included with lower component:
Adjustment part (31,41,51), column (32,42,52), moving sets (33,43,53), rotation secondary (34,44,54), connecting rod
(35,45,55) and spherical pair (36,46,56),
Adjustment part (31,41,51) is by slide rail (311,411,511), slide block (312,412,512), panel (313,413,513)
Form with screw (314,414,514),
In each side chain above-mentioned, the attachment structure of included part is: slide rail (311,411,511) and panel (313,413,
513) be arranged within the chute of slide block (312,412,512) bottom, screw (314,414,514) be arranged on slide block (312,
412,512) the screw thread in the hole of side, the slide rail (311,411,511) in adjustment part (31,41,51) is horizontally arranged at and allocates
On platform (1), slide rail (311,411,511) is coordinated with the chute of slide block (312,412,512) bottom, and column (32,42,52) is vertical
It is arranged on slide block (312,412,512), slide block (312,412,512) upper connection column (32,42,52), moving sets (33,43,
53) connect with column (32,42,52), the axis of moving sets (33,43,53) is vertical with the upper plane of fixed platform (1), moving sets
(33,43,53) connect with rotating secondary (34,44,54), and the upper plane of the axis and fixed platform (1) that rotate secondary (34,44,54) is put down
OK, one end of connecting rod (35,45,55) and rotation secondary (34,44,54) connection, the other end of connecting rod (35,45,55) and spherical pair
(36,46,56) connect, spherical pair (36,46,56) is arranged on moving platform (2),
Projection on fixed platform (1) for the respective axis of symmetry of three slide rails (311,411,511) intersects at a point o, and it
Between 120 ° of angles each other,
It is characterized in that: the section of three slide rails (311,411,511) is trapezoidal, and the inner side of trapezoid cross section is hypotenuse, outside
For right-angle side；The section of the chute of three slide block (312,412,512) bottoms is trapezoidal, the inner side of trapezoid cross section is hypotenuse,
Outside is right-angle side,
Three slide rails (311,411,511) are circular arc, and the inner side of circular arc slide rail (311,411,511) is taper seat, outer
Side is the face of cylinder, the axis of taper seat and the dead in line on the outside face of cylinder, three cunnings inside each slide rail (311,411,511)
The subpoint on fixed platform (1) for the axis that overlaps of rail (311,411,511) medial surface and lateral surface is respectively p1, p2, p3, and three
Individual subpoint p1, p2, p3 are in equilateral triangle, the center of circle of circle and the axis of symmetry of three slide rails (41,51,61) that p1, p2, p3 determine
The intersection point o of line projection overlaps,
The chute of three slide blocks (312, the 412,512) bottom coordinating with three slide rails (311,411,511) is circular arc, circle
The inner side of arc chute is taper seat, outside is the face of cylinder, the axle on the axis of taper seat and the outside face of cylinder inside each chute
Line overlaps.
2. the adjustable 3-freedom parallel mechanism of structure according to claim 1 it is characterised in that: slide block in each side chain
The upper plane of chute of (312,412,512) bottom and inner side taper seat are locating surface；The upper of slide rail (311,411,511) is put down
Face and inner side taper seat are locating surface, the opposite side face of cylinder by circular arc panel (313,413,513) use screw (314,
414th, 514) hold out against, will be fixing to slide block (311,411,511) and column (32,42,52).
3. the adjustable 3-freedom parallel mechanism of structure according to claim 2 it is characterised in that: slide block (312,412,
512) in the parallel both sides in the trapezoid cross section of the chute of bottom, the length of minor face is more than the trapezoid cross section of slide rail (311,411,511)
The length on parallel both sides Zhong Chang side.
4. the adjustable 3-freedom parallel mechanism of structure according to claim 3 it is characterised in that: three slide blocks (312,
412,512) top is respectively provided with round rectangle through hole, and a side of three slide blocks (312,412,512) is provided with screwed hole,
Screw thread axially bored line is vertical with the external cylindrical surface of chute.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510703733.6A CN105150199B (en) | 2015-10-27 | 2015-10-27 | Structure-adjustable three-freedom-degree parallel mechanism |
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| CN201510703733.6A CN105150199B (en) | 2015-10-27 | 2015-10-27 | Structure-adjustable three-freedom-degree parallel mechanism |
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| CN105150199B true CN105150199B (en) | 2017-02-01 |
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| CN105499796A (en) * | 2016-01-27 | 2016-04-20 | 湖北工业大学 | Novel parallel robot laser processing equipment |
| CN106426088A (en) * | 2016-09-13 | 2017-02-22 | 浙江理工大学 | Large-stroke and high-accuracy type spacial two-rotation and one-moving flexible parallel-connecting mechanism |
| CN106363605B (en) * | 2016-09-21 | 2018-06-05 | 河南理工大学 | 3-freedom parallel mechanism with rod deformation error-detecting |
| CN106346450B (en) | 2016-10-17 | 2018-11-09 | 中国科学院深圳先进技术研究院 | Three branch 3-freedom parallel mechanisms |
| TWI757959B (en) | 2020-03-27 | 2022-03-11 | 國立成功大學 | 3-axis parallel linear robot |
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| CN1288434C (en) * | 1999-09-22 | 2006-12-06 | 奥林巴斯光学工业株式会社 | Parallel machanism and test apparatus |
| EP1414626A4 (en) * | 2001-07-05 | 2008-08-13 | Microdexterity Systems Inc | Parallel manipulator |
| CN101745820A (en) * | 2009-12-14 | 2010-06-23 | 北京航空航天大学 | Three-degree-of-freedom parallel mechanism type dual head for five-axis machine tools and control method |
| CN104440875B (en) * | 2014-11-06 | 2016-04-06 | 河南理工大学 | The 3-freedom parallel mechanism that working space is adjustable and method of adjustment thereof |
| CN104669248B (en) * | 2015-01-28 | 2017-02-22 | 河南理工大学 | Adjustable motion platform for three-freedom parallel mechanisms and adjusting method of adjustable motion platform |
| CN104772755B (en) * | 2015-04-20 | 2016-03-16 | 河南理工大学 | 3-PRS parallel institution velocity optimization method |
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