CN107175650A - Take turns leg composite sphere parallel institution and the underwater robot with the mechanism - Google Patents
Take turns leg composite sphere parallel institution and the underwater robot with the mechanism Download PDFInfo
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- CN107175650A CN107175650A CN201710291008.1A CN201710291008A CN107175650A CN 107175650 A CN107175650 A CN 107175650A CN 201710291008 A CN201710291008 A CN 201710291008A CN 107175650 A CN107175650 A CN 107175650A
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- side chain
- moving platform
- revolute pair
- wheel
- driving
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Classifications
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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
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
Abstract
Leg composite sphere parallel institution and underwater robot with the mechanism are taken turns the invention discloses a kind of, belongs to robot field.The wheel leg composite sphere parallel institution includes silent flatform and moving platform, and the first driving side chain, the second driving side chain and RUR intermediary movementses transmission side chain are provided between the silent flatform and moving platform.In the present invention, the first driving side chain, the second driving side chain and RUR intermediary movementses transmission side chain together constitute a kind of Lun Tui combined shunts mechanism of new spherical surface two-freedom.The present invention changes the spatial movement posture of wheel using new spherical parallel institution, it is achieved thereby that the pose adjustment action of the steering and obstacle detouring during underwater robot walking.The present invention has simple in construction, installs facility, easy to control, turns to, the features such as obstacle performance is good.
Description
The application is division, the applying date of original application：2016.03.07, application number：201610128319.1, innovation and creation
Title：Two degrees of freedom wheel-leg composite sphere mechanism and underwater robot.
Technical field
The present invention relates to robotic technology field, a kind of wheel-leg composite sphere parallel institution is particularly related to and with the machine
The underwater robot of structure.
Background technology
Landform ravines and guillies criss-cross, is uneven, and there is barrier, therefore the mobile robot with simple function is (for example
The sufficient formula of wheeled, leg and shoe formula) it cannot also meet the marine environment with multiple characteristics.Wheel-leg is combined move mode and had concurrently
The good obstacle performance of high efficiency and leg the formula movement of wheel type mobile, is more one kind of research among combined type.But sorry
It is that existing wheel-leg, which is combined move mode, only realizes the simple combination between wheel and leg foot functionally, and both have been in structure
It is complete independent, do not combine together, therefore they realize the conversion between different move modes, one under different terrain conditions
As must also increase special auxiliary body, so that leg mechanism is more complicated and underaction.
More seriously, most of wheels-leg combined leg mechanism uses serial mechanism, so not only makes joint drive electricity
Machine enclosed package is difficult, and there is the weak points such as radius of turn is small, deadweight duty ratio is big and posture is dull.With general wheel-
Leg is combined move mode difference, and wheel-leg of the sufficient pose adjustments of many legs in parallel is combined move mode and rotates drive except that can provide wheel
It is dynamic outer, moreover it is possible to which that the wheel spatial attitude produced according to robot mobile operating mission requirements on other multi-dimensional directions adjusts motion,
So that ocean mobile robot can be to come in every shape the adaptive marine environment of wheel spatial attitude, which greatly improves machine
The landform of device people is adapted to and avoidance ability.Minority carrier generation lifetime has that the free degree is few, stiffness/weight ratio is big, athletic posture is rich
The advantages of rich, dynamic property and strong bearing capacity, propose to set based on lower-mobility wheel-leg combined parallel leg mechanics innovation for this
Meter theory.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of wheel-leg composite sphere parallel institution and the water with the mechanism
Lower robot, it can realize the sphere working space of wheel leg multi-pose, improve underwater robot and turn to and obstacle climbing ability.
In order to solve the above technical problems, present invention offer technical scheme is as follows：
On the one hand there is provided a kind of wheel-leg composite sphere parallel institution, including silent flatform and moving platform, wherein：
The first driving side chain and the second driving side chain are provided only between the side of the silent flatform and the side of moving platform,
The first driving side chain is active drive side chain, and the second driving side chain is active drive side chain or passive matrix side chain；
The middle part of the silent flatform is provided with the first power transmission shaft in the form of revolute pair, and the middle part of the moving platform is to rotate
Secondary form is provided with second driving shaft, and the first universal joint is provided between first power transmission shaft and second driving shaft, so that
RUR intermediary movementses transmission side chain is formed, the end of the second driving shaft is provided with wheel.
On the other hand there is provided a kind of underwater robot, including robot shells, the bottom of the robot shells is provided with
Above-mentioned wheel-leg composite sphere parallel institution.
The invention has the advantages that：
In the present invention, the first driving side chain, the second driving side chain and RUR intermediary movementses transmission side chain together constitute one kind
The wheel of new spherical surface two-freedom-leg combined shunt mechanism.The present invention changes the sky of wheel using new spherical parallel institution
Between athletic posture, it is achieved thereby that underwater robot walking when steering and obstacle detouring pose adjustment action；The parallel institution is only
There are two frees degree, it is simple in construction, it is easy to control；Intermediary movements transmission side chain realizes the rotation between spindle motor and wheel
Motion transmission.The sphere parallel mechanism is organically combined with wheel, is realized the motor function of the mechanism multi-pose, is connected with traditional
Mechanism is compared, and eliminates many joints and driving, makes wheel-leg composite construction of underwater robot compacter, while the mechanism
It can singly cover and install and use, there are modular applications, be easy to batch production；The sphere parallel mechanism of the present invention in motor and
Accurate control can be realized under the control of hydraulic pressure, fast response time makes wheel quickly realize the adjustment of various postures.
Brief description of the drawings
Fig. 1 is wheel-a kind of structural representation of embodiment of leg composite sphere parallel institution of the invention；
Fig. 2 is the structural representation of wheel-another embodiment of leg composite sphere parallel institution of the present invention；
Fig. 3 is the structural representation of wheel-another embodiment of leg composite sphere parallel institution of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
On the one hand, the present invention provides a kind of wheel-leg composite sphere parallel institution, as Figure 1-3, including silent flatform 10,
10 ', 10 " and moving platform 14,14 ', 14 ", wherein：
The first driving branch is provided only between the side of silent flatform 10,10 ', 10 " and the side of moving platform 14,14 ', 14 "
Chain and the second driving side chain, the first driving side chain are active drive side chain, and the second driving side chain is active drive side chain or passive
Drive side chain；
The middle part of silent flatform 10,10 ', 10 " is provided with the first power transmission shaft 19,19 ', 19 ", moving platform in the form of revolute pair
14th, 14 ', 14 " middle part is provided with second driving shaft 15,15 ', 15 " in the form of revolute pair, the first power transmission shaft 19,19 ',
19 " ' the first universal joint 18,18 ', 18 " is provided between second driving shaft 15,15 ', 15 ", so as to form RUR intermediary movementses
Side chain is transmitted, the end of second driving shaft 15,15 ', 15 " is provided with wheel.
In the present invention, the first driving side chain, the second driving side chain and RUR intermediary movementses transmission side chain together constitute one kind
The wheel of new spherical surface two-freedom-leg combined shunt mechanism.The present invention changes the sky of wheel using new spherical parallel institution
Between athletic posture, it is achieved thereby that underwater robot walking when steering and obstacle detouring pose adjustment action；The parallel institution is only
There are two frees degree, it is simple in construction, it is easy to control；Intermediary movements transmission side chain realizes the rotation between spindle motor and wheel
Motion transmission.The sphere parallel mechanism is organically combined with wheel, is realized the motor function of the mechanism multi-pose, is connected with traditional
Mechanism is compared, and eliminates many joints and driving, makes wheel-leg composite construction of underwater robot compacter, while the mechanism
It can singly cover and install and use, there are modular applications, be easy to batch production；The sphere parallel mechanism of the present invention in motor and
Accurate control can be realized under the control of hydraulic pressure, fast response time makes wheel quickly realize the adjustment of various postures.
Technical scheme is described in detail with three specific embodiments below.
Embodiment one：
As shown in figure 1, in the present embodiment, silent flatform 10 is strip, moving platform 14 is box-shaped；
First driving side chain be RUHR movement branched chains, second driving side chain be RUPU movement branched chains, first driving side chain and
Second driving side chain is active drive side chain, and RUHR movement branched chains and RUPU movement branched chains are arranged symmetrically；
The first revolute pair 12, the second universal joint are disposed between one end of silent flatform 10 and one end of moving platform 14
110th, the first screw pair 113 and the 3rd revolute pair 13, so that RUHR movement branched chains are formed, wherein the first revolute pair 12 is by being arranged on
The first motor 11 on silent flatform 10 drives；
The second revolute pair the 17, the 3rd is disposed between the other end of silent flatform 10 and the other end of moving platform 14 universal
The 111, first prismatic pair 16 and the 4th universal joint 112 are saved, so that RUPU movement branched chains are formed, wherein the second revolute pair 17 is by setting
The second motor 114 on the silent flatform 10 drives.
In the present embodiment, positioned at the RUHR movement branched chains and RUPU movement branched chains of both sides and in the middle of middle RUR
Motion transmission side chain together constitutes a kind of wheel of new spherical surface two-freedom-leg combined shunt mechanism.RUHR movement branched chains
The parallel institution connected drives the first motor 11 to drive the first revolute pair 12, and moment of torsion is delivered to by the second universal joint 110
First screw pair 113, is converted into moment of torsion the linear motion of the first screw pair 113, promotes moving platform 14, realizes to moving platform 14
Twisted with the first universal joint 18 for the single-degree-of-freedom in the center of circle, the 3rd revolute pair 13 limits the rotation of the Z-direction of moving platform 14 certainly
By spending, moving platform 14 is set to be rotated around X, Y-axis；The parallel institution that RUPU movement branched chains are connected drives the second motor 114 to drive
Moment of torsion, is delivered to moving platform by dynamic second revolute pair 17 by the 3rd universal joint 111, the first prismatic pair 16, the 4th universal joint 112
14, realize and another free degree of moving platform 14 is twisted, it is preferred that the end of the 4th universal joint 112 is fixed on moving platform 14, axle
Line is parallel with moving platform 14, and the first prismatic pair 16 plays passive bound, it is ensured that the overall stabilization of mechanism.Driven by parallel institution
The rotating speed and course changing control of dynamic first motor 11 and the second motor 114 realize many attitude required when wheel advances.This implementation
Example adds RUR intermediary movements transmission side chain between silent flatform 10 and moving platform 14, for by the torque of spindle motor
It is delivered to motion on wheel.The new spherical parallel institution has spherical mechanism feature, and two driving side chains are all actively drive
Move side chain and be arranged symmetrically in same level, two drivings are all motor, control is simple, be that wheel steering and obstacle detouring are provided
Greatly facilitate.
Embodiment two：
As shown in Fig. 2 in the present embodiment, silent flatform 10 ' is 1/4 circular, and moving platform 14 ' is box-shaped；
First driving side chain is RUPU movement branched chains, and the second driving side chain is RUPR movement branched chains, and the first driving side chain is
Active drive side chain, the second driving side chain is passive matrix side chain；RUPU movement branched chains and RUPR movement branched chains are arranged vertically；
The first revolute pair 12 ', are disposed between one end of the arc of silent flatform 10 ' and the side of moving platform 14 '
Two universal joints 110 ', the first prismatic pair 16 ' and the 4th universal joint 112 ', so that RUPU movement branched chains are formed, wherein first rotates
Pair 12 ' is driven by the first motor 11 ' being arranged on silent flatform 10 '；
The second revolute pair is disposed between the other end of the arc of silent flatform 10 ' and the corresponding side of moving platform 14 '
17 ', the 3rd universal joint 111 ', the second prismatic pair 210 ' and the 3rd revolute pair 13 ', so as to form RUPR movement branched chains.
In the present embodiment, positioned at the RUPU movement branched chains and RUPR movement branched chains of both sides and in the middle of middle RUR
Motion transmission side chain together constitutes a kind of wheel of new spherical surface two-freedom-leg combined shunt mechanism.RUPU movement branched chains
The parallel institution that is connected drives the first motor 11 ' to drive the first revolute pair 12 ', and moment of torsion is passed through the second universal joint 110 ', the
One prismatic pair 16 ', the 4th universal joint 112 ' are delivered to moving platform 14 ', realize the 4th universal joint being attached thereto to moving platform 14 '
The single-degree-of-freedom twisting of 112 ' ends, it is preferred that the end of the 4th universal joint 112 ' is fixed on moving platform 14 ', and axis is with moving
Platform 14 ' is parallel, and the first prismatic pair 16 ' is realized by hydraulic-driven and moved along a straight line, and promotes moving platform 14 ' to realize and above-mentioned torsion
Direction is vertical to be twisted with the first universal joint 18 ' for the single-degree-of-freedom in the center of circle；RUPR movement branched chains are passive bound side chain, the 3rd
Revolute pair 13 ' limits the rotational freedom of the Z-direction of moving platform 14 ', moving platform 14 ' is rotated around X, Y-axis, second moves
The 210 ', the 3rd universal joint 111 ' of dynamic pair, the second revolute pair 17 ' transmit the passive of side chain as RUPU movement branched chains and intermediary movements
Constraint, it is ensured that the overall stabilization of mechanism.The rotating speed of the first motor 11 ' and the first of hydraulic-driven is driven to move by parallel institution
The Bit andits control of dynamic pair 16 ' realizes many attitude required when wheel advances.The present embodiment is in silent flatform 10 ' and moving platform 14 '
Between add RUR intermediary movements transmission side chain, for the torque and motion of spindle motor are delivered on wheel.This is new
Type sphere parallel mechanism has spherical mechanism feature, and two driving side chains are arranged vertically, and driving is arranged on a side chain, is controlled
Simply, turned to for wheel and obstacle detouring is provided and greatly facilitated.
Embodiment three：
As shown in figure 3, in the present embodiment, silent flatform 10 " is strip, moving platform 14 " is box-shaped；
First driving side chain and the second driving side chain are RRPR movement branched chains, and the first driving side chain is active drive branch
Chain, the second driving side chain is passive matrix side chain, the first driving side chain and the second driving unbranched symmetric arrangement；
The first revolute pair 12 ", the 4th rotation are disposed between one end of silent flatform 10 " and one end of moving platform 14 "
Secondary 310 ", first prismatic pair 16 " and the 5th revolute pair 311 ", so as to form the first driving side chain, wherein the first revolute pair 12 " by
It is arranged on the first motor 11 " driving on silent flatform 10 "；
The second revolute pair 17 ", the 6th are disposed between the other end of silent flatform 10 " and the other end of moving platform 14 "
Revolute pair 312 ", the second prismatic pair 210 " and the 3rd revolute pair 13 ", so as to form the second driving side chain.
In the present embodiment, side chain and the second driving side chain are driven and in the middle of middle RUR positioned at the first of both sides
Motion transmission side chain together constitutes a kind of wheel of new spherical surface two-freedom-leg combined shunt mechanism.First driving side chain
The parallel institution connected drives the first motor 11 " to drive the first revolute pair 12 " (specifically can be by a pair of meshing bevel gear
313 ") moment of torsion, is delivered to moving platform 14 " by the 4th revolute pair 310 " connected firmly vertical with the axis of the first revolute pair 12 ", it is real
Now the single-degree-of-freedom to moving platform 14 " is twisted, and the first prismatic pair 16 " is realized by hydraulic-driven and moved along a straight line, and promotes moving platform
14 " realizations are vertical with above-mentioned torsional direction to be twisted with the first universal joint 18 " for the single-degree-of-freedom in the center of circle, it is preferred that the 10000th
To the axis and the axis of the first revolute pair 12 " and the second revolute pair 17 " for saving 18 " at grade；Second driving side chain be
Passive bound side chain, the 3rd revolute pair 13 " and the 5th revolute pair 311 " limit the rotational freedom of the Z-direction of moving platform, make
Moving platform 14 " can only be rotated around X, Y-axis, and the second prismatic pair 210 ", the 6th revolute pair 312 ", the second revolute pair 17 " are used as first
Drive side chain ' and intermediary movements transmit side chain passive bound, it is ensured that mechanism entirety stabilization.First is driven by parallel institution
The Bit andits control of the rotating speed of motor 11 " and the first prismatic pair 16 " of hydraulic-driven realizes a variety of appearances required when wheel advances
State.The present invention adds a RUR intermediary movementses transmission side chain between silent flatform 10 " and moving platform 14 ", for main shaft is electric
The torque and motion of machine are delivered on wheel.The new spherical parallel institution has two driving side chains of spherical mechanism feature vertical
Arrangement, driving is arranged on a side chain, and control is simple, is turned to for wheel and obstacle detouring is provided and greatly facilitated.
In the present invention, in order to preferably realize the binding function of the second driving side chain, the length of moving platform 14,14 ', 14 "
The preferably smaller than length of silent flatform 10,10 ', 10 ", the length of moving platform 14,14 ', 14 " is generally less than the diameter of wheel, certainly,
Those skilled in the art can also be needed according to actual conditions it is comprehensive flexibly set moving platform 14,14 ', 14 " and silent flatform 10,
10 ', 10 " length.In addition, controlling for convenience, two orthogonal living hinges are may each comprise during each universal joint specific implementation.
On the other hand, the present invention provides a kind of underwater robot, including robot shells, and the bottom of robot shells is set
There is above-mentioned wheel-leg composite sphere parallel institution.
It is preferred that, the quantity of wheel-leg composite sphere parallel institution is 4, symmetrically front and rear to be distributed in the two of robot shells
Side, forms quadruped robot.4 wheel-leg composite sphere parallel institutions can be linked by differential mechanism between any two, to realize
Turn to and realize different rotating speeds with two wheels during obstacle detouring, to prevent from skidding and stuck situation.
Further, the top of robot shells can be provided with elevating screw, to realize that state of being moved about in water makes
Driving and steering (rotating speed of two propellers of control to realize), the rear portion of robot shells can be provided with propulsion spiral
Oar, is specifically as follows two, is responsible for lifting of the robot in water.
To sum up, underwater robot of the invention is promoted using wheel-leg combined shunt mechanism with propeller, elevating mechanism is combined
Scheme, make the robot both to have leaned on propeller to be moved about in water, can also the obstacle detouring walking on complicated seabed road surface；This
Inventive structure is simple, and the side chain of both sides two is asymmetric side chain, and the parallel institution free degree is few, only two, and control is simple；This
Invention has simple in construction, installs facility, easy to control, turns to, the features such as obstacle performance is good.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of wheel-leg composite sphere parallel institution, it is characterised in that including silent flatform and moving platform, wherein：
The first driving side chain and the second driving side chain are provided only between the side of the silent flatform and the side of moving platform, it is described
First driving side chain is active drive side chain, and the second driving side chain is passive matrix side chain；
The middle part of the silent flatform is provided with the first power transmission shaft in the form of revolute pair, and the middle part of the moving platform is with revolute pair
Form is provided with second driving shaft, the first universal joint is provided between first power transmission shaft and second driving shaft, so as to be formed
RUR intermediary movementses transmit side chain, and the end of the second driving shaft is provided with wheel.
2. wheel according to claim 1-leg composite sphere parallel institution, it is characterised in that the silent flatform is 1/4 circle
Shape, the moving platform is box-shaped；
The first driving side chain is RUPU movement branched chains, and the second driving side chain is RUPR movement branched chains, and described first drives
Dynamic side chain is active drive side chain, and the second driving side chain is passive matrix side chain；The RUPU movement branched chains and RUPR fortune
Dynamic side chain is arranged vertically；
The first revolute pair is disposed between one end of the arc of the silent flatform and the side of the moving platform, it is second universal
Section, the first prismatic pair and the 4th universal joint, so that the RUPU movement branched chains are formed, wherein first revolute pair is by being arranged on
The first motor driving on the silent flatform；
The second revolute pair, the 3rd are disposed between the corresponding side of the other end of the arc of the silent flatform and the moving platform
Universal joint, the second prismatic pair and the 3rd revolute pair, so as to form the RUPR movement branched chains.
3. wheel according to claim 2-leg composite sphere parallel institution, it is characterised in that the end of the 4th universal joint
End is fixed on the moving platform, and axis is parallel with the moving platform.
4. wheel-leg composite sphere parallel institution according to Claims 2 or 3, it is characterised in that the length of the moving platform
Less than half path length of the silent flatform, each universal joint includes two orthogonal living hinges.
5. wheel according to claim 1-leg composite sphere parallel institution, it is characterised in that the silent flatform is strip,
The moving platform is box-shaped；
The first driving side chain and second drives side chain to be RRPR movement branched chains, and the first driving side chain is active drive
Side chain, the second driving side chain is passive matrix side chain, the first driving side chain and the second driving unbranched symmetric arrangement；
The first revolute pair, the 4th revolute pair, are disposed between one end of the silent flatform and one end of the moving platform
One prismatic pair and the 5th revolute pair, so that the first driving side chain is formed, wherein first revolute pair is described by being arranged on
The first motor driving on silent flatform；
The second revolute pair, the 6th rotation are disposed between the other end of the other end of the silent flatform and the moving platform
Secondary, the second prismatic pair and the 3rd revolute pair, so as to form the second driving side chain.
6. wheel according to claim 5-leg composite sphere parallel institution, it is characterised in that the axle of first universal joint
Line and the axis of first revolute pair and the second revolute pair are at grade；
First motor connects first revolute pair by the bevel gear driving of a pair of meshing.
7. wheel-leg composite sphere parallel institution according to claim 5 or 6, it is characterised in that the length of the moving platform
Less than the length of the silent flatform, each universal joint includes two orthogonal living hinges.
8. a kind of underwater robot, it is characterised in that including robot shells, the bottom of the robot shells, which is set, has the right
It is required that any described wheel-leg composite sphere parallel institution in 1-7.
9. underwater robot according to claim 8, it is characterised in that the number of the wheel-leg composite sphere parallel institution
Measure as 4, the symmetrical front and rear both sides for being distributed in the robot shells form quadruped robot；
The top of the robot shells is provided with elevating screw, and the rear portion of the robot shells is provided with propulsion spiral
Oar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710291008.1A CN107175650B (en) | 2016-03-07 | 2016-03-07 | Wheel-leg composite spherical parallel mechanism and underwater robot with same |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710291008.1A CN107175650B (en) | 2016-03-07 | 2016-03-07 | Wheel-leg composite spherical parallel mechanism and underwater robot with same |
| CN201610128319.1A CN105563472B (en) | 2016-03-07 | 2016-03-07 | Two degrees of freedom Lun Tui composite spheres mechanism and underwater robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610128319.1A Division CN105563472B (en) | 2016-03-07 | 2016-03-07 | Two degrees of freedom Lun Tui composite spheres mechanism and underwater robot |
Publications (2)
| Publication Number | Publication Date |
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| CN107175650A true CN107175650A (en) | 2017-09-19 |
| CN107175650B CN107175650B (en) | 2020-09-11 |
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| CN201610128319.1A Expired - Fee Related CN105563472B (en) | 2016-03-07 | 2016-03-07 | Two degrees of freedom Lun Tui composite spheres mechanism and underwater robot |
| CN201710291008.1A Expired - Fee Related CN107175650B (en) | 2016-03-07 | 2016-03-07 | Wheel-leg composite spherical parallel mechanism and underwater robot with same |
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| CN201610128319.1A Expired - Fee Related CN105563472B (en) | 2016-03-07 | 2016-03-07 | Two degrees of freedom Lun Tui composite spheres mechanism and underwater robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108340986A (en) * | 2018-04-18 | 2018-07-31 | 辽宁工业大学 | A kind of wheel leg bio-robot with parallel-connection structure |
| CN110076444A (en) * | 2019-04-30 | 2019-08-02 | 天津大学 | A kind of two-freedom parallel connection head for Friction Stir Welding |
| KR20200081203A (en) * | 2018-12-27 | 2020-07-07 | 한양대학교 에리카산학협력단 | Rotating Type Mechanism |
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| CN106051041A (en) * | 2016-05-24 | 2016-10-26 | 蚌埠学院 | Vibration damping device |
| CN107363814B (en) * | 2017-08-21 | 2023-08-25 | 安徽工程大学 | Single-input multi-degree-of-freedom parallel metamorphic platform |
| CN108340353A (en) * | 2018-03-12 | 2018-07-31 | 武汉理工大学 | A kind of imitative wrist joint submissive milling robot in parallel |
| CN112606975A (en) * | 2020-12-17 | 2021-04-06 | 哈尔滨工业大学 | Parallel vector propeller |
| CN112873266B (en) * | 2021-01-22 | 2022-05-17 | 北京理工大学 | Humanoid robot and two-degree-of-freedom modularized humanoid robot joint thereof |
| CN113843780B (en) * | 2021-10-25 | 2023-01-10 | 燕山大学 | Five-freedom-degree series-parallel robot based on plane parallel mechanism |
| CN117309905A (en) * | 2023-11-30 | 2023-12-29 | 常州市三洋精密制版有限公司 | Adjustable photovoltaic printing half tone check out test set |
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| CN1954975A (en) * | 2006-10-11 | 2007-05-02 | 哈尔滨工业大学深圳研究生院 | A kind RUPU running chain and parellel robot mechanism composed or derived |
| CN103286772A (en) * | 2013-05-31 | 2013-09-11 | 扬州大学 | Series-parallel combined mechanism for guiding object to rotate around virtual center |
| CN103302660A (en) * | 2013-07-03 | 2013-09-18 | 上海交通大学 | Two-degree-of-freedom metamorphic mechanism |
| CN105366021A (en) * | 2015-12-02 | 2016-03-02 | 山东大学（威海） | Vector propulsion plant capable of adjusting pitch and underwater vehicle having same |
| CN105539786A (en) * | 2016-02-01 | 2016-05-04 | 山东大学（威海） | Wheel-leg composite parallel leg mechanism and underwater robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108340986A (en) * | 2018-04-18 | 2018-07-31 | 辽宁工业大学 | A kind of wheel leg bio-robot with parallel-connection structure |
| KR20200081203A (en) * | 2018-12-27 | 2020-07-07 | 한양대학교 에리카산학협력단 | Rotating Type Mechanism |
| KR102207613B1 (en) * | 2018-12-27 | 2021-01-26 | 한양대학교 에리카산학협력단 | Rotating Type Mechanism |
| CN110076444A (en) * | 2019-04-30 | 2019-08-02 | 天津大学 | A kind of two-freedom parallel connection head for Friction Stir Welding |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105563472B (en) | 2017-07-14 |
| CN107175650B (en) | 2020-09-11 |
| CN105563472A (en) | 2016-05-11 |
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