CN105697703A - Three-stable state implementation method of fully-flexible five-rod mechanism - Google Patents
Three-stable state implementation method of fully-flexible five-rod mechanism Download PDFInfo
- Publication number
- CN105697703A CN105697703A CN201610145496.0A CN201610145496A CN105697703A CN 105697703 A CN105697703 A CN 105697703A CN 201610145496 A CN201610145496 A CN 201610145496A CN 105697703 A CN105697703 A CN 105697703A
- Authority
- CN
- China
- Prior art keywords
- flexible hinge
- connecting rod
- driving lever
- rod
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/32—Driving mechanisms, i.e. for transmitting driving force to the contacts
- H01H3/46—Driving mechanisms, i.e. for transmitting driving force to the contacts using rod or lever linkage, e.g. toggle
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/32—Driving mechanisms, i.e. for transmitting driving force to the contacts
- H01H3/46—Driving mechanisms, i.e. for transmitting driving force to the contacts using rod or lever linkage, e.g. toggle
- H01H2003/466—Driving mechanisms, i.e. for transmitting driving force to the contacts using rod or lever linkage, e.g. toggle using a living hinge to connect the levers
Abstract
The invention relates to a three-stable state implementation method of a fully-flexible five-rod mechanism. The three-stable state implementation method is characterized in that the fully-flexible five-rod mechanism at least comprises a rack, a drive rod, a left connecting rod, a right connecting rod, a connecting rod rack, a left lower flexible hinge, a left upper flexible hinge, an upper flexible hinge, a right upper flexible hinge and a right lower flexible hinge, wherein the rack and the drive rod are connected through the left lower flexible hinge; the drive rod and the left connecting rod are connected through the left upper flexible hinge; the left connecting rod and the right connecting rod are connected through the left upper flexible hinge; the right connecting rod and the connecting rod rack are connected through the right upper flexible hinge; and the connecting rod rack and the rack are connected through the right lower flexible hinge. The fully-flexible five-rod mechanism is simple in structure, is low in manufacturing cost, is free from friction, is free from abrasion, is capable of being processed in a single-piece manner, is precise to position, and can be used for equipment such as a precise positioning platform, a multiple-way optical switch and the like.
Description
Technical field
The invention belongs to compliant mechanism field, the three-stable state relating to a kind of complete submissive five-rod realizes method。Have simple in construction, easily manufactured, cost is low, uses the features such as reliable, it is possible to is applied to the fields such as switch, valve, relay。
Background technology
In a lot of application scenarios, it is necessary to realize control and the switching of three steady statues, for instance three-way valve, Multichannel photoswitch etc.。The cycle of operation only one of which of general mechanism, multistable mechanism can stably rest on multiple equilbrium position, these stabilities are maintained without extra energy input, thus be suitable to do the devices such as valve, switch, relay, also apply to some extent in deployable mechanism and reconstruction robot field in recent years。
The devices such as traditional switch use rigid structure and are rigidly connected, the elastic force and the stopping means that there is provided by spring realize stably resting on certain state, or realize keeping certain steady statue by outside energy input (if voltage continuous action is to produce electromagnetic force)。Being rigidly connected in the course of the work and can produce disadvantageous friction and wear, abrasion may result in stopping means and lost efficacy。By the deflection of fragment submissive in mechanism and deformation obtains effective exercise and elastic-restoring force makes mechanism stable rest on three equilbrium positions for submissive five bar tri-steady mechanisms entirely, its motor process is along with the storage of elastic potential energy and release, in its stability, the elastic potential energy of mechanism's storage is local minimum, after the external force of input exceedes switching threshold, the elastic potential energy of mechanism's storage discharges and makes mechanism turn to adjacent stable equilibrium position and can stably stop without additionally inputting energy。Without friction, abrasion in motor process, reliability is high。Existing complete submissive tri-steady mechanism is mostly two compliant bistable mechanisms of series connection or adds flexible member composition on the basis of a compliant bistable mechanism, and structure is complex。Complete submissive five-rod simple in construction, of many uses, kinematics analysis is easy, with complete submissive five-rod realize tri-steady mechanism there is easy manufacture, do not need assembling, without advantages such as fretting wears, can realizing one chip processing, energy consumption is little, cost is low and good stability。
Summary of the invention
It is an object of the invention to provide a kind of energy consumption little, without fretting wear, cost is low, good stability, does not need the entirely submissive five bar tri-steady mechanisms of assembling。
The technical solution adopted in the present invention is: the three-stable state of a kind of complete submissive five-rod realizes method, it is characterized in that: the three-stable state of a kind of complete submissive five-rod of the present invention realizes method, at least include: frame, driving lever, left connecting rod, right connecting rod, side link, and lower-left flexible hinge, upper left flexible hinge, upper flexible hinge, upper right flexible hinge and bottom right flexible hinge；Frame and driving lever connect with lower-left flexible hinge, and driving lever and left connecting rod connect with upper left flexible hinge, and left connecting rod and the above flexible hinge of right connecting rod connect, and right connecting rod is connected with upper right flexible hinge with side link, and side link is connected with bottom right flexible hinge with frame。
Described driving lever is equal with the length of side link, the initial angle sum between initial angle and side link and frame between driving lever and frame is 180 °, left connecting rod is equal with the length of right connecting rod, and the initial angle sum between initial angle and right connecting rod and frame between left connecting rod and frame is 180 °；The pole length of frame, driving lever and left connecting rod meets 137～147:146:81 or 127:110～126:81 or 127:140:81～147。
Initial angle between described driving lever and frame is 93 °, and the initial angle between left connecting rod and frame is 5.4 °, and the initial angle between right connecting rod and frame is 174.6 °, and the initial angle between side link and frame is 87 °。
The plane inner bending rigidity ratio respectively 1:20:40:20:1 of described lower-left flexible hinge, upper left flexible hinge, upper flexible hinge, upper right flexible hinge and bottom right flexible hinge。
Described driving lever angle has two elastic potential energy local minimums when being 5 ° and 258 °, namely there are two stable equilibrium positions in mechanism except initial position。
Described lower-left flexible hinge and the maximum bend angle of bottom right flexible hinge are 165 °。
Described lower-left flexible hinge and bottom right flexible hinge, when bending 165 °, make submissive five-rod in motor process, second and the 3rd stable equilibrium position place do not move interference, then can realize three stable equilibrium positions。
The length of described frame is the center of rotation distance to the center of rotation of lower-left flexible hinge of bottom right flexible hinge, the pole length of driving lever is the center of rotation distance to the center of rotation of upper left flexible hinge of lower-left flexible hinge, the pole length of left connecting rod is the center of rotation distance to the center of rotation of upper flexible hinge of upper left flexible hinge, the pole length of right connecting rod is the center of rotation distance to the center of rotation of upper right flexible hinge of upper flexible hinge, and the pole length of side link is the center of rotation distance to the center of rotation of bottom right flexible hinge of upper right flexible hinge。
Described side link also can be used as driving lever, and now driving lever becomes side link。
Described driving lever and lower-left flexible hinge or driving lever and upper left flexible hinge, left connecting rod and upper left flexible hinge or left connecting rod and upper flexible hinge, right connecting rod and upper flexible hinge or right connecting rod and upper right flexible hinge, side link and upper right flexible hinge or side link and bottom right flexible hinge can merge respectively and be designed as a flexible rods。
The invention has the beneficial effects as follows: submissive five bar tri-steady mechanisms can have three stable equilibrium positions；The stability maintaining mechanism need not input energy, and energy consumption is low；Submissive five-rod containing flexible hinge combines the advantage of planar linkage mechanism and compliant mechanism, and simple in construction is easy to process, it is not necessary to assembling；In use procedure simple to operate, without friction, abrasion, it is easy to safeguard and be not susceptible to fault, it is possible to for needing the various occasions of three stable states, such as switch, valve, relay etc.。
Accompanying drawing explanation
The accompanying drawing of the present invention is presented herein below。
Fig. 1 is the structural representation of complete submissive five-rod；
Fig. 2 is the schematic diagram of the complete astable equilbrium position of submissive five-rod first；
Fig. 3 is the schematic diagram of complete submissive five-rod the second stable equilibrium position；
Fig. 4 is the schematic diagram of the complete astable equilbrium position of submissive five-rod second；
Fig. 5 is the schematic diagram of complete submissive five-rod the 3rd stable equilibrium position；
Fig. 6 is that the potential energy of complete submissive five-rod is with driving lever corner variation diagram；
The potential variation schematic diagram of Tu7Shi mechanism。
In figure, 1, frame；2, driving lever；3, left connecting rod；4, right connecting rod；5, side link；12, lower-left flexible hinge；23, upper left flexible hinge；34, upper flexible hinge；45, upper right flexible hinge；51, bottom right flexible hinge。
Detailed description of the invention
Embodiment 1
As shown in Figure 1, the three-stable state of a kind of complete submissive five-rod of the present invention realizes method, at least include: frame 1, driving lever 2, left connecting rod 3, right connecting rod 4, side link 5, and lower-left flexible hinge 12, upper left flexible hinge 23, upper flexible hinge 34, upper right flexible hinge 45 and bottom right flexible hinge 51；Frame 1 and driving lever 2 connect with lower-left flexible hinge 12, driving lever 2 and left connecting rod 3 connect with upper left flexible hinge 23, left connecting rod 3 and right connecting rod more than 4 flexible hinge 34 connect, and right connecting rod 4 is connected with upper right flexible hinge 45 with side link 5, and side link 5 is connected with bottom right flexible hinge 51 with frame 1。
The length of frame 1 is 0.146m, the length of driving lever 2 is 0.146m, the length of left connecting rod 3 is 0.081m, the length of right connecting rod 4 is 0.081m, the length of side link 5 is 0.146m, initial angle between driving lever 2 and frame 1 is 93 °, initial angle between left connecting rod 3 and frame 1 is 5.4 °, initial angle between right connecting rod 4 and frame 1 is 174.6 °, initial angle between side link 5 and frame 1 is 87 °, lower-left flexible hinge 12, upper left flexible hinge 23, upper flexible hinge 34, the plane inner bending rigidity ratio respectively 1:20:40:20:1 of upper right flexible hinge 45 and bottom right flexible hinge 51。
Fixed frame 1, when applying anticlockwise moment on driving lever 2, driving lever 2 rotates counterclockwise, left connecting rod 3, right connecting rod 4 and side link 5 concomitant rotation, five flexible hinge deformation also storage elasticity potential energy。Forward to as shown in Figure 2 position time, in five flexible hinges store elastic potential energy reach maximum, submissive five-rod is in a unstable equilibrium position；Driving lever 2 continues to rotate counterclockwise, upper left flexible hinge 23 deflection that bending stiffness is bigger reduces and discharges elastic potential energy, turn to as shown in Figure 3 position time, although flexible hinge still has deformation, but in mechanism, the proof resilience potential energy of storage is local minimum, and complete submissive five-rod arrives the second stable equilibrium position。
To when applying clockwise torque on driving lever 2, driving lever 2 rotates clockwise, left connecting rod 3, right connecting rod 4 and side link 5 concomitant rotation, five flexible hinge deformation also storage elasticity potential energy。Forward to as shown in Figure 4 position time, in flexible hinge store elastic potential energy reach maximum, submissive five-rod is in a unstable equilibrium position；Driving lever 2 continues to rotate clockwise, the upper right flexible hinge 45 that bending stiffness is bigger discharges elastic potential energy, turn to as shown in Figure 5 position time, although flexible hinge still has deformation, but the proof resilience potential energy of storage is local minimum in mechanism, complete submissive five-rod arrives the 3rd stable equilibrium position。
By the complete submissive five-rod of embodiment 1 is set up oblique mining as shown in Figure 6 and emulation obtain complete submissive five-rod mechanism's proof resilience potential energy-driving lever 2 rotational angle curve as shown in Figure 7。This complete submissive five-rod has two elastic potential energy local minimums when driving lever angle is 5 ° and 258 ° as seen from Figure 7, and namely there are two stable equilibrium positions in mechanism except initial position。
The maximum bend angle of lower-left flexible hinge 12 and bottom right flexible hinge 51 is 165 °, if reasonably select material, lower-left flexible hinge 12 and bottom right flexible hinge 51 is made not to lose efficacy and the width of appropriate design rigid rod when bending 165 °, make submissive five-rod (particularly second and the 3rd stable equilibrium position place) in motor process not move interference, then can realize three stable equilibrium positions。
As shown in Figure 6, in described complete submissive five-rod, the length of frame 1 is the ideal rotation center distance to the ideal rotation center of lower-left flexible hinge 12 of bottom right flexible hinge 51, the pole length of driving lever 2 is the ideal rotation center distance to the ideal rotation center of upper left flexible hinge 23 of lower-left flexible hinge 12, the pole length of left connecting rod 3 is the ideal rotation center distance to the ideal rotation center of upper flexible hinge 34 of upper left flexible hinge 23, the pole length of right connecting rod 4 is the ideal rotation center distance to the ideal rotation center of upper right flexible hinge 45 of upper flexible hinge 34, the pole length of side link 5 is the ideal rotation center distance to the ideal rotation center of bottom right flexible hinge 51 of upper right flexible hinge 45。
In the complete submissive five-rod of the present invention, side link 5 also can be used as driving lever, and now driving lever 2 becomes side link。
Driving lever 2 and lower-left flexible hinge 12 or driving lever 2 and upper left flexible hinge 23 in complete submissive five-rod, left connecting rod 3 and upper left flexible hinge 23 or left connecting rod 3 and upper flexible hinge 34, right connecting rod 4 and upper flexible hinge 34 or right connecting rod 4 and upper right flexible hinge 45, side link 5 and upper right flexible hinge 45 or side link 5 and bottom right flexible hinge 51 can merge respectively and be designed as a flexible rods, this rods has the effect of rigid rod and flexible hinge concurrently, its oblique mining is that rigid rod adds torsion spring, pseudo rigid-body pole length is the distance between adjacent two torsion spring centers, initial pseudo rigid-body angle is the angle between pseudo rigid-body bar and frame；The oblique mining of the complete submissive five-rod that this employing rods replacement rigid rod designs with flexible hinge is identical with the oblique mining of the complete submissive five-rod shown in Fig. 6, also can realize three stable equilibrium positions。
Claims (6)
1. the three-stable state of a complete submissive five-rod realizes method, it is characterized in that: the three-stable state of a kind of complete submissive five-rod of the present invention realizes method, at least include: frame (1), driving lever (2), left connecting rod (3), right connecting rod (4), side link (5), and lower-left flexible hinge (12), upper left flexible hinge (23), upper flexible hinge (34), upper right flexible hinge (45) and bottom right flexible hinge (51)；Frame (1) and driving lever (2) connect with lower-left flexible hinge (12), driving lever (2) and left connecting rod (3) connect with upper left flexible hinge (23), left connecting rod (3) and right connecting rod (4) above flexible hinge (34) connect, right connecting rod (4) is connected with upper right flexible hinge (45) with side link (5), and side link (5) is connected with bottom right flexible hinge (51) with frame (1)；Driving lever (2) is equal with the pole length of side link (5), the initial angle sum between initial angle and side link (5) and frame (1) between driving lever (2) and frame (1) is 180 °, left connecting rod (3) is equal with the pole length of right connecting rod (4), and the initial angle sum between initial angle and right connecting rod (4) and frame (1) between left connecting rod (3) and frame (1) is 180 °；When frame (1), the pole length of driving lever (2) and left connecting rod (3) meets 137～147:146:81 or 127:110～126:81 or 127:140:81～147, lower-left flexible hinge (12), upper left flexible hinge (23), upper flexible hinge (34), the plane inner bending stiffness ratio of upper right flexible hinge (45) and bottom right flexible hinge (51) is 1:20:40:20:1, and the initial angle between driving lever (2) and frame (1) is 93 °, when initial angle between left connecting rod (3) and frame (1) is 5 °, complete submissive five-rod has three stable equilibrium positions。
2. the three-stable state of a kind of complete submissive five-rod according to claim 1 realizes method, it is characterized in that: the length of described frame (1) is the center of rotation distance to the center of rotation of lower-left flexible hinge (12) of bottom right flexible hinge (51), the pole length of driving lever (2) is the center of rotation distance to the center of rotation of upper left flexible hinge (23) of lower-left flexible hinge (12), the pole length of left connecting rod (3) is the center of rotation distance to the center of rotation of upper flexible hinge (34) of upper left flexible hinge (23), the pole length of right connecting rod (4) is the center of rotation distance to the center of rotation of upper right flexible hinge (45) of upper flexible hinge (34), the pole length of side link (5) is the center of rotation distance to the center of rotation of bottom right flexible hinge (51) of upper right flexible hinge (45)。
3. the three-stable state of a kind of complete submissive five-rod according to claim 1 realizes method, it is characterized in that: described hack lever (5) also can be used as driving lever, and now driving lever (2) becomes side link。
4. the three-stable state of a kind of complete submissive five-rod according to claim 1 realizes method, it is characterized in that: described driving lever (2) angle has two elastic potential energy local minimums when being 5 ° and 258 °, and namely there are two stable equilibrium positions in mechanism except initial position。
5. the three-stable state of a kind of complete submissive five-rod according to claim 1 realizes method, it is characterized in that: described lower-left flexible hinge (12) and bottom right flexible hinge (51) are when bending is less than 180 °, make submissive five-rod in motor process, second and the 3rd stable equilibrium position place do not move interference, then can realize three stable equilibrium positions。
6. the three-stable state of a kind of complete submissive five-rod according to claim 1 realizes method, it is characterized in that: described driving lever (2) and lower-left flexible hinge (12) or driving lever (2) and upper left flexible hinge (23), left connecting rod (3) and upper left flexible hinge (23) or left connecting rod (3) and upper flexible hinge (34), right connecting rod (4) and upper flexible hinge (34) or right connecting rod (4) and upper right flexible hinge (45), side link (5) and upper right flexible hinge (45) or side link (5) and bottom right flexible hinge (51) can merge respectively and be designed as a flexible rods。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610145496.0A CN105697703B (en) | 2016-03-15 | 2016-03-15 | A kind of three-stable state implementation method of complete submissive five-rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610145496.0A CN105697703B (en) | 2016-03-15 | 2016-03-15 | A kind of three-stable state implementation method of complete submissive five-rod |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105697703A true CN105697703A (en) | 2016-06-22 |
| CN105697703B CN105697703B (en) | 2018-04-10 |
Family
ID=56220716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610145496.0A Active CN105697703B (en) | 2016-03-15 | 2016-03-15 | A kind of three-stable state implementation method of complete submissive five-rod |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105697703B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106744643A (en) * | 2017-01-17 | 2017-05-31 | 西安电子科技大学 | A kind of full compliant bistable mechanism of tension and compression combined type |
| CN107140237A (en) * | 2017-06-12 | 2017-09-08 | 华南理工大学 | A kind of submissive folding and unfolding mechanism of multistable |
| CN108515511A (en) * | 2018-03-19 | 2018-09-11 | 华南理工大学 | A kind of submissive Bricard mechanisms of multistable and its steady-state analysis method |
| CN114212524A (en) * | 2021-12-24 | 2022-03-22 | 上海精测半导体技术有限公司 | Flexible hinge assembly and substrate lifting mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101049698A (en) * | 2007-05-14 | 2007-10-10 | 江苏工业学院 | Spatial mechanism in three degrees of freedom in use for parallel-connected moving devices |
| JP2008528307A (en) * | 2005-01-27 | 2008-07-31 | ビー セミコンダクター インダストリーズ エヌ．ヴイ． | 5-bar mechanism with dynamic balancing means and method for dynamically balancing a 5-bar mechanism |
| CN201281657Y (en) * | 2008-08-28 | 2009-07-29 | 武汉科技大学 | Controlled plane five-rod mechanism test stand capable of implementing random movement path |
| CN104641771A (en) * | 2015-02-02 | 2015-05-27 | 浙江理工大学 | Design method for forming transplanting track by using five-rod driving mechanism with two degrees of freedom |
| CN105026113A (en) * | 2013-03-01 | 2015-11-04 | 小松Ntc株式会社 | Two-dimensional movement closed-link structure |
-
2016
- 2016-03-15 CN CN201610145496.0A patent/CN105697703B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008528307A (en) * | 2005-01-27 | 2008-07-31 | ビー セミコンダクター インダストリーズ エヌ．ヴイ． | 5-bar mechanism with dynamic balancing means and method for dynamically balancing a 5-bar mechanism |
| CN101049698A (en) * | 2007-05-14 | 2007-10-10 | 江苏工业学院 | Spatial mechanism in three degrees of freedom in use for parallel-connected moving devices |
| CN201281657Y (en) * | 2008-08-28 | 2009-07-29 | 武汉科技大学 | Controlled plane five-rod mechanism test stand capable of implementing random movement path |
| CN105026113A (en) * | 2013-03-01 | 2015-11-04 | 小松Ntc株式会社 | Two-dimensional movement closed-link structure |
| CN104641771A (en) * | 2015-02-02 | 2015-05-27 | 浙江理工大学 | Design method for forming transplanting track by using five-rod driving mechanism with two degrees of freedom |
Non-Patent Citations (2)
| Title |
|---|
| 勾燕洁 等: "柔顺五杆三稳态机构的设计方法", 《西安电子科技大学学报（自然科学版）》 * |
| 康利君: "基于两种柔顺单元柔顺机构的动力学研究与仿真", 《中国优秀硕士学位论文全文数据库》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106744643A (en) * | 2017-01-17 | 2017-05-31 | 西安电子科技大学 | A kind of full compliant bistable mechanism of tension and compression combined type |
| CN107140237A (en) * | 2017-06-12 | 2017-09-08 | 华南理工大学 | A kind of submissive folding and unfolding mechanism of multistable |
| CN108515511A (en) * | 2018-03-19 | 2018-09-11 | 华南理工大学 | A kind of submissive Bricard mechanisms of multistable and its steady-state analysis method |
| WO2019179092A1 (en) * | 2018-03-19 | 2019-09-26 | 华南理工大学 | Multistable compliant mechanism and stability state analysis method thereof |
| US11649925B2 (en) | 2018-03-19 | 2023-05-16 | South China University Of Technology | Multistable compliant mechanism and a steady-state analysis method thereof |
| CN114212524A (en) * | 2021-12-24 | 2022-03-22 | 上海精测半导体技术有限公司 | Flexible hinge assembly and substrate lifting mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105697703B (en) | 2018-04-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105697703A (en) | Three-stable state implementation method of fully-flexible five-rod mechanism | |
| CN103737578B (en) | A kind of space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot | |
| CN103737581B (en) | The many bars six degree of freedom welding robot containing parallel closed loop subchain that space is controlled | |
| CN104985590B (en) | Six degree of freedom partly decoupled parallel institution | |
| CN103737209A (en) | Welding robot with symmetrical mechanisms | |
| CN103707289A (en) | Controllable multi-degree of freedom welding robot | |
| CN103737208A (en) | Multi-degree-of-freedom welding robot | |
| CN102699908B (en) | Two-freedom-degree mobile decoupling parallel robot mechanism | |
| CN102909569B (en) | 1T2R three-degree of freedom spatial parallel mechanism | |
| CN103722552A (en) | Controllable multi-degree-of-freedom manipulator | |
| CN105965477A (en) | Symmetrical and asymmetrical reconfigurable four-configuration parallel platform | |
| CN104044134A (en) | Multi-freedom-degree controlled parallel robot | |
| CN103318404A (en) | Guided missile aileron control mechanism | |
| CN103707290A (en) | Welding robot with a plurality of closed-ring subchains | |
| CN103722553A (en) | Multi-degree-of-freedom parallel-mechanism type controllable welding robot | |
| CN102490179A (en) | Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom | |
| CN205588293U (en) | Symmetrical and asymmetric restructural no. 4 constructs parallelly connected platform of attitude | |
| CN203473238U (en) | Missile aileron control mechanism | |
| CN104325456B (en) | A kind of novel two one-rotation parallel mechanisms | |
| CN103286777A (en) | Novel spatial three-freedom-degree parallel connection mechanism | |
| CN102350698A (en) | Six-DOF (degree of freedom) parallel mechanism containing 5R closed-loop branch chain | |
| JP6180618B2 (en) | Manipulator mechanism | |
| CN102357881A (en) | Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains | |
| CN204209685U (en) | A kind of novel two one-rotation parallel mechanisms | |
| CN104477372A (en) | Nonlinear flaperon linkage mechanism for plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |