CN106426092A - Movement redundancy five-freedom-degree parallel serial robot - Google Patents
Movement redundancy five-freedom-degree parallel serial robot Download PDFInfo
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- CN106426092A CN106426092A CN201610882956.8A CN201610882956A CN106426092A CN 106426092 A CN106426092 A CN 106426092A CN 201610882956 A CN201610882956 A CN 201610882956A CN 106426092 A CN106426092 A CN 106426092A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
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Abstract
The invention relates to a movement redundancy five-freedom-degree parallel serial robot. The movement redundancy five-freedom-degree parallel serial robot mainly comprises a fixed platform, a movable platform, a rotation work table, stand columns, a connecting beam, four branch chains, a middle connecting rod, a moving platform and a main shaft head. The movable platform is arranged above the fixed platform. The rotation work table is arranged on the movable platform. The two stand columns are arranged above the fixed platform. The connecting beam is arranged above the two stand columns. The four branch chains the same in length are arranged between the two stand columns. One ends of the four branch chains are connected with sliding blocks through rotation pairs, and the other ends of the four branch chains are connected with one end of the moving platform and one end of the middle connecting rod through rotation pairs. The sliding blocks are connected with the stand columns through moving pairs. The other end of the middle connecting rod is connected with the other end of the moving platform through a rotation pair. The moving platform is provided with the main shaft head. The movement redundancy five-freedom-degree parallel serial robot has the moving redundancy character, influences on the mechanism due to the uncoordinated redundancy driving force are eliminated, the singular points of the mechanism are effectively reduced, and the work space of the mechanism is increased.
Description
Technical field
The present invention relates to a kind of robot, particularly a kind of series-parallel robot.
Background technology
In industrial robot application, robot with five degrees of freedom can be applicable to spraying, welding, carrying, assembling, engraving etc.
, especially in industries such as Aeronautics and Astronautics, military affairs, scientific research, precision instruments, high-precision Medical Devices, there is very important impact in field
Power.The development of Robotics become modern industry manufacture mark, wherein based on plane parallel mechanism construct five from
By degree series-parallel robot, the advantage combining plane parallel mechanism and serial manipulator, existing plane parallel mechanism bearing capacity
Greatly, structure and the simple feature of kinematics model, has serial mechanism working space big and flexible feature, it has also become robot again
One of with the focus of field of mechanisms research.
A kind of series-parallel robot based on space parallel mechanism proposition of the patent disclosure of Publication No. CN104057442B,
Space-filling model is relative complex, manufacturing cost is high；One kind new two of the patent disclosure of Publication No. CN103101050B is certainly
Authorized announce a kind of to have new redundant drive side chain by degree redundant drive parallel mobile platform, patent CN103101049B
3-freedom parallel mechanism, because number of degrees of freedom, is few, the shortcomings of there is singular point so as to complex-curved processing cannot be completed；Public
The number of opening is a kind of series-parallel robot based on plane parallel mechanism with redundant drive of the patent disclosure of CN204935636U, though
So have the characteristics that space structure is simple, the degree of modularity is high, but this hybrid mechanism part in series needs workbench larger
Pivot angle could meet the flexibility of robot, but this design of swingable workbench is not easy to carrying of the rigidity of structure
Rise, and this mechanism is actuation redundancy, the coordination sex chromosome mosaicism of redundant drive power is a big difficult point of redundant drive research field, need
Additionally to add force snesor and could preferably realize the control to such series-parallel robot so as to application in the industry is subject to
Limit.
A kind of patent disclosure of Publication No. CN104626103A multiple freedom parallel mechanism formula controlled mobile stacking machine
Device people, a kind of face shovel spadework device with movement redundancy of the patent disclosure of Publication No. CN102720226B, it all refers to
Motion redundancy；Motion redundancy is similar to actuation redundancy, all can improve the flexibility of robot, but above-mentioned containing motion redundancy machine
The forms of motion of device people is more single, and the free degree of end-effector and flexibility are all restricted, so design is a has fortune
The robot of the multiple degrees of freedom high flexibility of dynamic redundancy properties is favorably improved its range of application in industrial circle, but at present
The industrial series parallel robot in five degrees of freedom with motion redundancy characteristic fortune is there is not yet relevant report.
Content of the invention
It is an object of the invention to a kind of structure of proposition is simple, rigidity is big, fast response time, working space are big, dynamic
The good motion redundancy series parallel robot in five degrees of freedom of energy.
The invention mainly comprises having fixed platform, moveable platform seat, moveable platform, rotatable table rest, can returning
Revolving worktable, column, connecting cross beam, four side chains, intermediate connecting rod, moving platform and main tapping and side chain drive component, removable
Moving platform drive component and rotatable table assembly, wherein fixed platform are provided with moveable platform seat, and moveable platform leads to
Cross moving sets to be connected with this moveable platform seat, rotatable table rest, rotatable work are provided with described moveable platform
The rotation pair that platform is vertical by axis is connected with this rotatable table rest, is respectively provided on two sides with described fixed platform
Relative column, two column upper ends are provided with the connecting cross beam connecting this two columns, are provided with length identical four between two columns
Bar side chain, in described four side chains, one end of first and second side chains in left side is passed through rotation pair respectively and is justified up and down on the left of being located at
Slide block on post guide rail connects, and its other end is passed through the same pair that rotates and is connected with one end of moving platform, right in described four side chains
The slide block that one end of third and fourth side chain of side is passed through to rotate pair and be located on the upper and lower cylindrical guide in right side respectively is connected, and it is another
One end is passed through the same pair that rotates and is connected with one end of intermediate connecting rod, and the other end of this intermediate connecting rod is secondary and described dynamic flat by rotating
The other end of platform connects, and the length dimension of described intermediate connecting rod is the 1/3 of moving platform length dimension；Described moving platform sets
There is main tapping.
Described slide block is on cylindrical guide along the input motion pair of vertical, the turns auxiliary shaft in four described side chains
Line is parallel to each other, and the mobile secondary axis being formed perpendicular to slide block and column, in described left side first and second side chain with
The turns auxiliary shaft line that moving platform connects overlaps, and the first side chain was located at the top of this coincidence turns auxiliary shaft line horizontal plane, second
Chain was located at the lower section of this coincidence turns auxiliary shaft line horizontal plane, with intermediate connecting rod in described right side the 3rd side chain and the 4th side chain
The turns auxiliary shaft line connecting overlaps, and the 4th side chain was located at the top of this coincidence turns auxiliary shaft line horizontal plane, and the 3rd side chain is located at
Cross the lower section of this coincidence turns auxiliary shaft line horizontal plane.
Described side chain drive component includes straight line units base, servomotor, motor cabinet, shaft coupling, leading screw, leading screw spiral shell
Support base under mother, leading screw upper support seat, slide block, cylindrical guide and leading screw, two of which straight line units base is vertically fixed respectively
In relative stud wall, it is respectively equipped with support base under a pair of leading screw upper support seat and leading screw up and down in straight line units base,
It is equipped with motor cabinet under the leading screw upper support seat and bottom leading screw on top, servomotor is separately fixed at power-on and power-off on support base
On support, the output end of servomotor is all connected with one end of leading screw by shaft coupling, one end of upper lower leading screw and cylindrical guide
It is supported by leading screw upper support seat, its other end is supported by support base under leading screw, justify in upper lower leading screw and up and down
Slide block is respectively equipped with post guide rail, the effective travel part of described leading screw is connected with feed screw nut, and described feed screw nut is fixed on
On slide block.
Described moveable platform drive component include fixed platform, moveable platform seat, moveable platform servomotor, can
Mobile platform motor cabinet, moveable platform shaft coupling, moveable platform leading screw, moveable platform feed screw nut, moveable platform
Leading screw upper support seat, moveable platform slide block, moveable platform guide rail, moveable platform guide-track groove and moveable platform leading screw
Lower support base, the one end wherein setting moveable platform seat on the stationary platform is provided with moveable platform motor cabinet, may move flat
Platform servomotor is fixed on moveable platform motor cabinet, the output end of servomotor pass through moveable platform shaft coupling with removable
One end of moving platform leading screw connects, and fixing moveable platform leading screw upper support seat on the stationary platform is passed through in one end of this leading screw
It is supported, its other end is supported by support base under the moveable platform leading screw that is fixed in described fixed platform, can
Mobile platform leading screw is provided with moveable platform feed screw nut, and moveable platform feed screw nut is fixed on below moveable platform
On moveable platform feed screw nut seat, for controlling the effective travel of moveable platform, described moveable platform two bottom sides set
There is moveable platform slide block, this slide block and the moveable platform guide rail being fixed on moveable platform base both sides two-by-two for a group
Match to be combined into and be slidably connected.
Described rotatable table assembly includes rotatable table rest, rotatable workbench servomotor, 90 degree of corners
Decelerator and rotatable workbench, are wherein fixed on and are provided with groove below the rotatable table rest on moveable platform, can return
Revolving worktable servomotor is fixed in rotatable table rest groove, the output end and 90 of this rotatable workbench servomotor
The input of degree tortuous decelerating machine connects, and the output end of this 90 degree of tortuous decelerating machines is connected with rotatable workbench, and this 90 degree turn
The output end pivot center of angle decelerator is vertical.
The secondary lock of rotation when the intermediate connecting rod of plane parallel mechanism and moving platform are parallel or between moving platform and intermediate connecting rod
Extremely, this motion redundancy series parallel robot in five degrees of freedom is converted to actuation redundancy series parallel robot in five degrees of freedom, in only need to controlling
Between attitude between connecting rod and moving platform can eliminating machine inside unusual.
The course of work of the present invention approximately as：The servomotor being fixed on the motor cabinet on column drives leading screw
Move with nut screw connection, and then by four side chains transmission motions, control the attitude of intermediate connecting rod and moving platform, realize moving platform
The motion of two one turn of Three Degree Of Freedom of shifting：Move up and down, move left and right, the rotation in perpendicular；Moveable platform passes through it
Drive component can be realized platform and move forward and backward；90 degree of tortuous decelerating machines are driven by rotatable workbench servomotor, drives
Rotatable table revolving movement above moveable platform；In conjunction with the Three Degree Of Freedom of the moving platform of above-mentioned plane parallel mechanism,
The revolution free degree of the one-movement-freedom-degree of moveable platform and rotatable workbench, it is possible to achieve space five-freedom moves, from
And realize robot required spatial displacements completing in real work.
The present invention compared with prior art has the advantage that：
1st, there is motion redundancy, overcome the problem of singular point present in conventional parallel mechanism, increase effectively simultaneously
The working space of parallel robot, improves the integral rigidity of mechanism；
2nd, motor is fixed on column not with a chain movement, effectively reduces the rotary inertia of lathe；
3rd, sub-chain is short, fast response time, and structure is simple and compact, has good manufacture and assembly process process；
4th, rotatable workbench is connected with the moveable platform in described fixed platform, independent with parallel connection part, effectively
Avoid the accumulation of error causing due to parts machining error and rigging error；
5th, rotatable work table rotation direction of principal axis is vertical, is conducive to increasing workbench rigidity and bearing capacity；
6th, motion redundancy eliminates the inharmonious impact to mechanism of driving force, utilizes mechanism's self character simultaneously, not only may be used
The motion redundancy control strategy of study movement redundancy series parallel robot in five degrees of freedom, also can study its actuation redundancy control strategy.
Brief description
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is the side chain of Fig. 1 and the simplified schematic diagram of side chain drive component.
Fig. 3 is the simplified schematic diagram of moveable platform drive component of the present invention and rotatable table assembly.
In figure：1. fixed platform, 2. moveable platform seat, 3. moveable platform, 4. rotatable table rest, 5. rotatable
Workbench, 6. the second side chain, 7. intermediate connecting rod, 8. the first side chain, 9. column (left), 10. connecting cross beam, 11. columns (right),
12. the 4th side chains, 13. straight line units bases, 14. the 3rd side chains, 15. moving platforms, 16. main tappings, 17. top shoes, 18. leading screws
Upper support seat, 19. shaft couplings, 20. motor cabinets, 21. servomotors, 22. cylindrical guides, 23. feed screw nuts, 24. leading screws, 25.
Support base under leading screw, 26. sliding blocks, 27. moveable platform servomotors, 28. moveable platform motor cabinets, 29. removable flat
Platform shaft coupling 30. moveable platform leading screw upper support seat, 31. moveable platform leading screws, 32. moveable platform feed screw nuts,
Support base under 33. moveable platform feed screw nut seats, 34. moveable platform leading screws, 35. rotatable workbench servomotors,
36.90 degree of tortuous decelerating machines, 37. moveable platform slide blocks, 38. moveable platform guide rails.
Specific embodiment
In series parallel robot in five degrees of freedom schematic diagram shown in Fig. 1, fixed platform 1 is provided with moveable platform seat 2, can
Mobile platform 3 is connected with this moveable platform seat by moving sets, is provided with rotatable table rest on described moveable platform
4, the rotation pair that rotatable workbench 5 is vertical by axis is connected with this rotatable table rest, puts down in described fixation
Platform is respectively provided on two sides with relative column 9,11, and two column upper ends are provided with the connecting cross beam 10 connecting this two columns, two columns
Between be provided with four side chains, top two branched structure is identical, and lower section two branched structure is identical, the of left side in described four articles of side chains
One end of one side chain 8 and the second side chain 6 pass through respectively to rotate secondary be located at top shoe 17 up and down on cylindrical guide 22 for the left side and
Sliding block 26 connects, and its other end is passed through the same pair that rotates and is connected with one end of moving platform 15, right side in described four side chains
One end of 3rd side chain 14 and the 4th side chain 12 is respectively by rotating upper sliding block that is secondary and being located on the upper and lower cylindrical guide in right side
Connect, its other end is passed through the same pair that rotates and is connected with one end of intermediate connecting rod 7, and the other end of this intermediate connecting rod is secondary by rotating
It is connected with the other end of described moving platform, the length dimension of described intermediate connecting rod is the 1/3 of moving platform length dimension, described
Moving platform is provided with main tapping 16.
Described slide block is on cylindrical guide along the input motion pair of vertical, the turns auxiliary shaft in four described side chains
Line is parallel to each other, and the mobile secondary axis being formed perpendicular to slide block and column, in described left side first and second side chain with
The turns auxiliary shaft line that moving platform connects overlaps, and the first side chain was located at the top of this coincidence turns auxiliary shaft line horizontal plane, second
Chain was located at the lower section of this coincidence turns auxiliary shaft line horizontal plane, with intermediate connecting rod in described right side the 3rd side chain and the 4th side chain
The turns auxiliary shaft line connecting overlaps, and the 4th side chain was located at the top of this coincidence turns auxiliary shaft line horizontal plane, and the 3rd side chain is located at
Cross the lower section of this coincidence turns auxiliary shaft line horizontal plane.
As shown in Fig. 2 two straight line units bases 13 in side chain drive component are vertically fixed on relative column respectively
On wall, it is respectively equipped with support base 25 under a pair of leading screw upper support seat 18 and leading screw up and down, on top in straight line units base
Leading screw upper support seat is provided with motor cabinet 20, and servomotor 21 is fixed on motor cabinet, and the output end of servomotor passes through shaft coupling
Device 19 is connected with one end of leading screw 24, and one end of upper lower leading screw and upper and lower cylindrical guide is supported by leading screw upper support seat,
Its other end is supported by support base under leading screw, is respectively equipped with slide block in upper lower leading screw and upper and lower cylindrical guide, described
The effective travel part of leading screw is connected with feed screw nut 23, and described feed screw nut is fixed on slide block.
As shown in figure 3, be provided with can for the one end setting moveable platform seat on the stationary platform in moveable platform driving group
Mobile platform motor cabinet 28, moveable platform servomotor 27 is fixed on moveable platform motor cabinet, the output of servomotor
End is connected with one end of moveable platform leading screw 31 by moveable platform shaft coupling 29, and one end of this leading screw is by being fixed on
Moveable platform leading screw upper support seat 30 on fixed platform is supported, and its other end is by being fixed in described fixed platform
Under moveable platform leading screw, support base 34 is supported, and moveable platform leading screw is provided with moveable platform feed screw nut 32, can
Mobile platform feed screw nut 32 is fixed on the moveable platform feed screw nut seat 33 below moveable platform, removable for controlling
The effective travel of moving platform, described moveable platform two bottom sides are provided with the moveable platform slide block 37 for a group two-by-two, this cunning
Block matches to be combined into the moveable platform guide rail 38 being fixed on moveable platform base both sides and is slidably connected.Rotatable workbench
It is provided with groove, rotatable workbench servomotor 35 below the rotatable table rest being fixed on moveable platform in assembly
It is fixed in rotatable table rest groove, the output end of this rotatable workbench servomotor and 90 degree of tortuous decelerating machines 36
Input connects, and the output end of this 90 degree of tortuous decelerating machines is connected with rotatable workbench, the output of this 90 degree of tortuous decelerating machines
End pivot center is vertical.
Claims (2)
1. a kind of motion redundancy series parallel robot in five degrees of freedom, mainly includes fixed platform, moveable platform seat, may move and put down
Platform, rotatable table rest, rotatable workbench, column, connecting cross beam, four side chains, intermediate connecting rod, moving platform and main tapping
And side chain drive component, moveable platform drive component and rotatable table assembly it is characterised in that：Described fixed platform
It is provided with moveable platform seat, moveable platform is connected with this moveable platform seat, in described moveable platform by moving sets
It is provided with rotatable table rest, rotation pair and this rotatable table rest that rotatable workbench is vertical by axis
Connect, be respectively provided on two sides with relative column in described fixed platform, two column upper ends are provided with the connection connecting this two columns
Crossbeam, is provided with four side chains between two columns, in described four side chains, one end of first and second side chains in left side is passed through respectively
Rotate slide block that is secondary and being located on the upper and lower cylindrical guide in left side to be connected, its other end rotates secondary one end with moving platform by same
Connection, in described four side chains, one end of third and fourth side chain on right side is passed through respectively to rotate secondary and is located at right side cylinder up and down
On guide rail slide block connect, its other end pass through same rotate pair be connected with one end of intermediate connecting rod, this intermediate connecting rod another
The other end that secondary and described moving platform is passed through to rotate in one end is connected, and the length dimension of described intermediate connecting rod is moving platform length dimension
1/3, described moving platform is provided with main tapping；
Described slide block is on cylindrical guide along the input motion pair of vertical, the turns auxiliary shaft line phase in four described side chains
Mutually parallel, and the mobile secondary axis being formed perpendicular to slide block and column, flat with dynamic in described left side first and second side chain
The turns auxiliary shaft line that platform connects overlaps, and the first side chain was located at the top of this coincidence turns auxiliary shaft line horizontal plane, the second side chain position
In the lower section crossing this coincidence turns auxiliary shaft line horizontal plane, it is connected with intermediate connecting rod in described right side the 3rd side chain and the 4th side chain
Turns auxiliary shaft line overlap, the 4th side chain was located at the top of this coincidence turns auxiliary shaft line horizontal plane, and the 3rd side chain was located at this
The lower section of coincidence turns auxiliary shaft line horizontal plane；
Described side chain drive component includes straight line units base, servomotor, motor cabinet, shaft coupling, leading screw, feed screw nut, silk
Support base under thick stick upper support seat, slide block, cylindrical guide and leading screw, two of which straight line units base is vertically fixed on relatively respectively
Stud wall on, be respectively equipped with support base under a pair of leading screw upper support seat and leading screw up and down, on top in straight line units base
Leading screw upper support seat and bottom leading screw under be equipped with motor cabinet on support base, servomotor is separately fixed at upper and lower motor cabinet
On, the output end of servomotor is all connected with one end of leading screw by shaft coupling, and one end of upper lower leading screw and cylindrical guide is passed through
Leading screw upper support seat is supported, and its other end is supported by support base under leading screw, leads in upper lower leading screw and upper and lower cylinder
Slide block is respectively equipped with rail, the effective travel part of described leading screw is connected with feed screw nut, and described feed screw nut is fixed on slide block
On；
Described moveable platform drive component includes fixed platform, moveable platform seat, moveable platform servomotor, may move
Platform motor cabinet, moveable platform shaft coupling, moveable platform leading screw, moveable platform feed screw nut, moveable platform leading screw
Upper support seat, moveable platform slide block, moveable platform guide rail, moveable platform guide-track groove and lower of moveable platform leading screw
Support seat, the one end wherein setting moveable platform seat on the stationary platform is provided with moveable platform motor cabinet, and moveable platform is watched
Take motor to be fixed on moveable platform motor cabinet, the output end of servomotor is passed through moveable platform shaft coupling and put down with removable
One end of platform leading screw connects, and one end of this leading screw is carried out by fixing moveable platform leading screw upper support seat on the stationary platform
Support, its other end is supported by support base under the moveable platform leading screw that is fixed in described fixed platform, may move
Platform leading screw is provided with moveable platform feed screw nut, and moveable platform feed screw nut is fixed on removable below moveable platform
On moving platform feed screw nut seat, described moveable platform two bottom sides are provided with the moveable platform slide block for a group two-by-two, this cunning
Block matches to be combined into the moveable platform guide rail being fixed on moveable platform base both sides and is slidably connected；
Described rotatable table assembly includes rotatable table rest, rotatable workbench servomotor, 90 degree of corners decelerations
Device and rotatable workbench, are wherein fixed on and are provided with groove below the rotatable table rest on moveable platform, rotatable work
Station servomotor is fixed in rotatable table rest groove, and the output end of this rotatable workbench servomotor is turned with 90 degree
The input of angle decelerator connects, and the output end of this 90 degree of tortuous decelerating machines is connected with rotatable workbench, and this 90 degree of corners subtract
The output end pivot center of fast device is vertical.
2. a kind of motion redundancy series parallel robot in five degrees of freedom according to claim 1 it is characterised in that：Described four
The length dimension of chain is identical, and the length dimension of intermediate connecting rod is the 1/3 of moving platform length dimension.
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| CN201610882956.8A CN106426092B (en) | 2016-10-10 | 2016-10-10 | Motion redundancy series parallel robot in five degrees of freedom |
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| CN201610882956.8A CN106426092B (en) | 2016-10-10 | 2016-10-10 | Motion redundancy series parallel robot in five degrees of freedom |
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| CN106945013A (en) * | 2017-04-17 | 2017-07-14 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism of the side chain containing coupling |
| CN109877807A (en) * | 2019-03-05 | 2019-06-14 | 浙江理工大学 | One kind (2PRU-PUR)-PP five-axle linkage series-parallel robot |
| CN109894906A (en) * | 2019-03-26 | 2019-06-18 | 南京理工大学 | A kind of redundantly driven parallel bed dead point avoidance system and method |
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| CN115070737A (en) * | 2022-07-26 | 2022-09-20 | 珞石（北京）科技有限公司 | Series-parallel robot |
| CN116728384A (en) * | 2023-08-11 | 2023-09-12 | 北京市农林科学院智能装备技术研究中心 | Multi-degree-of-freedom series-parallel fruit and vegetable picking mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945013A (en) * | 2017-04-17 | 2017-07-14 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism of the side chain containing coupling |
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| CN109877807A (en) * | 2019-03-05 | 2019-06-14 | 浙江理工大学 | One kind (2PRU-PUR)-PP five-axle linkage series-parallel robot |
| CN109894906A (en) * | 2019-03-26 | 2019-06-18 | 南京理工大学 | A kind of redundantly driven parallel bed dead point avoidance system and method |
| CN110303476A (en) * | 2019-06-28 | 2019-10-08 | 中国航天空气动力技术研究院 | A kind of three branch's three freedom redundancy drive-type parallel connection processing heads |
| CN111844071A (en) * | 2020-07-20 | 2020-10-30 | 清华大学 | Mobile deep hole in-situ machining robot |
| CN111844071B (en) * | 2020-07-20 | 2021-11-09 | 清华大学 | Mobile deep hole in-situ machining robot |
| CN113843780A (en) * | 2021-10-25 | 2021-12-28 | 燕山大学 | Five-freedom-degree series-parallel robot based on plane parallel mechanism |
| CN113843780B (en) * | 2021-10-25 | 2023-01-10 | 燕山大学 | Five-freedom-degree series-parallel robot based on plane parallel mechanism |
| CN115070737A (en) * | 2022-07-26 | 2022-09-20 | 珞石（北京）科技有限公司 | Series-parallel robot |
| CN116728384A (en) * | 2023-08-11 | 2023-09-12 | 北京市农林科学院智能装备技术研究中心 | Multi-degree-of-freedom series-parallel fruit and vegetable picking mechanical arm |
| CN116728384B (en) * | 2023-08-11 | 2023-12-05 | 北京市农林科学院智能装备技术研究中心 | Multi-degree-of-freedom series-parallel fruit and vegetable picking mechanical arm |
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