CN107351068B - Two-degree-of-freedom plane motion parallel mechanism - Google Patents
Two-degree-of-freedom plane motion parallel mechanism Download PDFInfo
- Publication number
- CN107351068B CN107351068B CN201710747564.5A CN201710747564A CN107351068B CN 107351068 B CN107351068 B CN 107351068B CN 201710747564 A CN201710747564 A CN 201710747564A CN 107351068 B CN107351068 B CN 107351068B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- gear
- pair
- revolute
- pairs
- 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.)
- Active
Links
Images
Classifications
-
- 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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
A two-degree-of-freedom plane motion parallel mechanism is characterized in that a first connecting rod, a first gear connecting rod, a second connecting rod, a third gear connecting rod and a fourth gear connecting rod are sequentially connected through a kinematic pair, one end of a third connecting rod is connected with a first component through the kinematic pair, the other end of the third connecting rod is connected with one end of a fourth connecting rod through the kinematic pair, and the other end of the fourth connecting rod is connected with a second component through the kinematic pair; the first gear connecting rod and the second gear connecting rod form a first branched chain, the third gear connecting rod and the fourth gear connecting rod form a second branched chain, and the third connecting rod, the fourth connecting rod and the three kinematic pairs in the middle form a first three-degree-of-freedom planar subchain. The invention has simple driving mode, can realize completely symmetrical movement, and can obtain a structure with larger movement range by connecting each unit in series.
Description
Technical Field
The invention relates to the field of robots, in particular to a parallel mechanism.
Background
The two-degree-of-freedom planar robot can realize any track in a plane, and can be applied to high-speed operation tasks in the plane such as sorting, packaging and the like, so that the two-degree-of-freedom planar robot is important to be applied to automatic production lines in the industries such as light industry, electronics, food, medicine and the like.
In the existing two-degree-of-freedom planar robot mechanism, the output motion is the movement of a point on the mechanism on a plane, and in the application of the minimally invasive surgery auxiliary robot and the like, the tail end connecting rod of the mechanism is required to have one-rotation one-translation two-degree-of-freedom motion in the plane.
Disclosure of Invention
The invention aims to provide a two-degree-of-freedom plane motion parallel mechanism which is characterized in that a fixed connecting rod and a tail end connecting rod are always symmetrical in the motion process, and the tail end connecting rod has one rotation and one shift with two degrees of freedom.
The invention comprises eight connecting rods, two components and kinematic pairs for connecting the eight connecting rods, wherein two or four of the eight connecting rods are gear connecting rods, one end of each gear connecting rod is a gear, the first connecting rod is a fixed connecting rod, one end of the first connecting rod is connected with one end of the first gear connecting rod through a first revolute pair, the gear end of the first gear connecting rod is meshed with the gear end of the second gear connecting rod to form a first gear pair, the transmission ratio is 1, and the upper part and the lower part of the second component are respectively connected with the gear ends of the first gear connecting rod and the second gear connecting rod through a second revolute pair and a third revolute pair; the other end of the second gear connecting rod is connected with one end of the second connecting rod through a fourth rotating pair, the other end of the second connecting rod is connected with one end of a third gear connecting rod through a fifth rotating pair, the gear end of the third gear connecting rod is meshed with the gear end of the fourth gear connecting rod to form a second gear pair, the transmission ratio is 1, the upper part and the lower part of the first member are respectively connected with the gear ends of the third gear connecting rod and the fourth gear connecting rod through a sixth rotating pair and a seventh rotating pair, and one end of the fourth gear connecting rod is connected with the other end of the first connecting rod through an eighth rotating pair; one end of the third connecting rod is connected with the middle part of the first member through a revolute pair nine, the other end of the third connecting rod is connected with one end of the fourth connecting rod through a revolute pair ten, and the other end of the fourth connecting rod is connected with the middle part of the second member through a revolute pair eleven; the axes of the first rotating pair, the second rotating pair, the third rotating pair, the fourth rotating pair, the fifth rotating pair, the sixth rotating pair, the seventh rotating pair and the eighth rotating pair are parallel to each other, the distance between the upper rotating pair and the lower rotating pair of the first component is equal to the length of a connecting line of the two wheels of the second gear pair, the distance between the upper rotating pair and the lower rotating pair of the second component is equal to the length of a connecting line of the two wheels of the first gear pair, and the first component is connected with.
The three-degree-of-freedom planar subchain is formed by connecting two connecting rods and three kinematic pairs, one of the three kinematic pairs is a revolute pair, the other two kinematic pairs are revolute pairs or moving pairs respectively, the axes of the revolute pairs in the three-degree-of-freedom planar subchain are parallel to each other, and the moving center line of the moving pair is perpendicular to the axes of the revolute pairs. The three-degree-of-freedom planar subchain has the following 7 composition forms: RRR, RPR, RRP, PRR, RPP, PRP, PPR, R stands for revolute pair, and P stands for revolute pair.
The first rotating pair is not parallel to the rotating pair in the three-degree-of-freedom planar subchain, the lengths of the first connecting rod, the second connecting rod, the first gear connecting rod, the second gear connecting rod, the third gear connecting rod and the fourth gear connecting rod are respectively equal, the mechanism is symmetrical about a middle plane, and the middle plane is a symmetrical plane of the first connecting rod and the second connecting rod.
The mechanism takes a first gear connecting rod and a fourth gear connecting rod which are connected with the first connecting rod as mechanism input; the second link serves as a terminal link.
When two gear connecting rods are replaced by two connecting rods, two rotating pairs for connecting the two gear connecting rods are replaced by one rotating pair.
And replacing the three-degree-of-freedom planar subchain in the middle part with a moving pair.
A plurality of the above mechanisms may be connected, and the movement of the mechanisms may be amplified after the connection.
Compared with the prior art, the invention has the following advantages:
1. the fixed connecting rod and the tail end connecting rod of the mechanism are symmetrical with respect to the middle plane all the time in the movement process, so that completely symmetrical movement can be realized;
2. the tail end connecting rod can rotate continuously around any axis on the middle plane of the mechanism, which is parallel to the first revolute pair, and can also move along the normal direction of the middle plane, so that great convenience is brought to the application and control of the mechanism;
3. after the units are connected, the motion form of the connecting rod at the tail end of the last unit is the same as that of the connecting rod at the tail end of the first unit, a structure with a larger motion range can be obtained, the structure is simple in driving mode, the control of a remote motion center can be realized, and the structure has high application value in the aspects of medical treatment, paint spraying, pipeline inspection and the like.
Drawings
FIG. 1 is a schematic diagram of embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of embodiment 2 of the present invention;
FIG. 3 is a schematic diagram of embodiment 3 of the present invention;
FIG. 4 is a schematic diagram of embodiment 4 of the present invention;
FIG. 5 is a schematic diagram of embodiment 5 of the present invention;
FIG. 6 is a schematic diagram of example 6 of the present invention;
FIG. 7 is a schematic diagram of example 7 of the present invention.
In the figure: 1-a first connecting rod, 2-a first gear connecting rod, 3-a second gear connecting rod, 4-a second connecting rod, 5-a third gear connecting rod, 6-a fourth gear connecting rod, 7-a third connecting rod, 8-a fourth connecting rod, 9-a first member, 10-a second member, 11-a third member, 12-a seventh connecting rod, 13-an eighth connecting rod, 14-a ninth connecting rod, 15-a tenth connecting rod, 16-a fifth connecting rod, 17-a sixth connecting rod, 18-a fifth gear connecting rod, 19-a sixth gear connecting rod, 20-a unit connecting piece, 21-a seventh gear connecting rod and 22-an eighth gear connecting rod.
The specific implementation mode is as follows:
example 1
In the schematic diagram of the two-degree-of-freedom planar mechanism shown in fig. 1, the first link 1 is a fixed link, one end of the fixed link is connected with one end of the first gear link 2 through a first revolute pair R1, the gear end of the first gear link is meshed with the gear end of the second gear link 3 to form a first gear pair G1, the transmission ratio is 1, and the upper part and the lower part of the second member 10 are respectively connected with the gear ends of the first gear link and the second gear link through a second revolute pair R2 and a third revolute pair R3; the other end of the second gear connecting rod is connected with one end of a second connecting rod 4 through a fourth revolute pair R4, the other end of the second connecting rod is connected with one end of a third gear connecting rod 5 through a fifth revolute pair R5, the gear end of the third gear connecting rod is meshed with the gear end of a fourth gear connecting rod 6 to form a second gear pair G2, the transmission ratio is 1, the upper part and the lower part of a first component 9 are respectively connected with the gear ends of the third gear connecting rod and the fourth gear connecting rod through a sixth revolute pair R6 and a seventh revolute pair R7, and one end of the fourth gear connecting rod is connected with the other end of the first connecting rod through an eighth revolute pair R8; one end of the third connecting rod 7 is connected with the middle part of the first member through a revolute pair nine R9, the other end of the third connecting rod is connected with one end of the fourth connecting rod 8 through a revolute pair ten R10, and the other end of the fourth connecting rod is connected with the middle part of the second member 10 through a revolute pair eleven R11; the axes of the revolute pairs I, II, III, IV, V, VI, VII and VIII are parallel to each other, the third connecting rod and the fourth connecting rod in the middle part and the revolute pairs nine, ten and eleven form a three-degree-of-freedom planar subchain, the axes of the revolute pairs in the three-degree-of-freedom planar subchain are parallel to each other, and the axis of the revolute pair I is not parallel to the axis of the revolute pair nine; the distance between the two rotating pairs on the first member is equal to the length of the connecting line of the two wheels of the second gear pair, the distance between the two rotating pairs on the second member is equal to the length of the connecting line of the two wheels of the first gear pair, and the lengths of the first connecting rod, the second connecting rod, the first gear connecting rod, the second gear connecting rod, the third gear connecting rod and the fourth gear connecting rod are respectively equal.
Example 2
As shown in fig. 2, the first link 1 is a fixed link, one end of which is connected with one end of the first gear link 2 through a first revolute pair R1, the gear end of the first gear link is meshed with the gear end of the second gear link 3 to form a first gear pair G1, the transmission ratio is 1, and the upper part and the lower part of the second member 10 are respectively connected with the gear ends of the first gear link and the second gear link through a second revolute pair R2 and a third revolute pair R3; the other end of the second gear connecting rod is connected with one end of a second connecting rod 4 through a fourth revolute pair R4, the other end of the second connecting rod is connected with one end of a third gear connecting rod 5 through a fifth revolute pair R5, the gear end of the third gear connecting rod is meshed with the gear end of a fourth gear connecting rod 6 to form a second gear pair G2, the transmission ratio is 1, and the upper part and the lower part of the first component 9 are respectively connected with the gear ends of the third gear connecting rod and the fourth gear connecting rod through a sixth revolute pair R6 and a seventh revolute pair R7; one end of the gear connecting rod IV is connected with the other end of the first connecting rod through a revolute pair eight R8; one end of the third connecting rod 7 is connected with the middle part of the first member through a first sliding pair P1, the other end of the third connecting rod is connected with one end of the fourth connecting rod 8 through a tenth rotating pair R10, and the other end of the fourth connecting rod is connected with the second member through an eleventh rotating pair R11; the axes of the revolute pairs I, II, III, IV, V, VI, VII and VIII are parallel to each other, the third connecting rod, the fourth connecting rod, the revolute pair VI, the revolute pair eleven and the revolute pair I in the middle part form a three-degree-of-freedom planar subchain, the axes of the revolute pairs in the three-degree-of-freedom planar subchain are parallel to each other, the moving center line of the revolute pairs is vertical to the axis of the revolute pairs, and the axis of the revolute pair I is not parallel to the axis of the revolute; the distance between the two rotating pairs on the first member is equal to the length of the connecting line of the two wheels of the second gear pair, the distance between the two rotating pairs on the second member is equal to the length of the connecting line of the two wheels of the first gear pair, and the lengths of the first connecting rod, the second connecting rod, the first gear connecting rod, the second gear connecting rod, the third gear connecting rod and the fourth gear connecting rod are respectively equal.
Example 3
As shown in fig. 3, the first link 1 is a fixed link, one end of which is connected with one end of the first gear link 2 through a first revolute pair R1, the gear end of the first gear link is meshed with the gear end of the second gear link 3 to form a first gear pair G1, the transmission ratio is 1, and the upper part and the lower part of the second member 10 are respectively connected with the gear ends of the first gear link and the second gear link through a second revolute pair R2 and a third revolute pair R3; one end of the second gear connecting rod is connected with one end of the second connecting rod 4 through a revolute pair four R4; the other end of the second connecting rod is connected with one end of a fifth connecting rod 16 through a revolute pair five R5, the other end of the fifth connecting rod is connected with the upper part of a first member 9 through a revolute pair six R6, the lower part of the first member is connected with one end of a sixth connecting rod 17 through a revolute pair seven R7, and the other end of the sixth connecting rod is connected with the other end of the first connecting rod through a revolute pair eight R8; one end of a third connecting rod 7 is connected with the middle of a first member through a revolute pair nine R9, the other end of the third connecting rod is connected with one end of a fourth connecting rod 8 through a revolute pair ten R10, the other end of the fourth connecting rod is connected with the middle of a second member through a revolute pair eleven R11, axes of the revolute pairs I, II, III, IV, V, VI, VII and VIII are parallel to each other, the third and fourth connecting rods and the revolute pairs nine, ten and eleven in the middle part form a three-degree-of-freedom planar subchain, axes of the revolute pairs in the three-degree-of-freedom planar subchain are parallel to each other, and the axis of the revolute pair I; the distance between the two rotating pairs on the second member is equal to the length of the connecting line of the two wheels of the first gear pair, and the lengths of the first connecting rod, the second connecting rod, the first gear connecting rod, the second gear connecting rod, the fifth connecting rod and the sixth connecting rod are respectively equal.
Example 4
As shown in fig. 4, the first link 1 is a fixed link, one end of which is connected with one end of the first gear link 2 through a first revolute pair R1, the gear end of the first gear link is meshed with the gear end of the second gear link 3 to form a first gear pair G1, the transmission ratio is 1, and the upper part and the lower part of the second member 10 are respectively connected with the gear ends of the first gear link and the second gear link through a second revolute pair R2 and a third revolute pair R3; the other end of the second gear connecting rod is connected with one end of a second connecting rod 4 through a revolute pair four R4, the other end of the second connecting rod is connected with one end of a fifth connecting rod 16 through a revolute pair five R5, the other end of the fifth connecting rod is connected with a sixth connecting rod 17 and one end of a member three 11 through a revolute pair twelve R12, and the other end of the sixth connecting rod is connected with the other end of the first connecting rod through a revolute pair eight R8; one end of a third connecting rod 7 is connected with the other end of a third component through a revolute pair nine R9, the other end of the third connecting rod is connected with one end of a fourth connecting rod 8 through a revolute pair ten R10, the other end of the fourth connecting rod is connected with a second component through a revolute pair eleven R11, axes of the revolute pairs I, II, III, IV, V, twelve and eight are parallel to each other, the third and fourth connecting rods and the revolute pairs nine, ten and eleven in the middle part form a three-degree-of-freedom planar subchain, axes of the revolute pairs in the three-degree-of-freedom planar subchain are parallel to each other, and the axis of the revolute pair I is not; the distance between the two rotating pairs on the second member is equal to the length of the connecting line of the two wheels of the first gear pair, and the lengths of the first connecting rod, the second connecting rod, the first gear connecting rod, the second gear connecting rod, the fifth connecting rod and the sixth connecting rod are respectively equal.
Example 5
As shown in fig. 5, the first link 1 is a fixed link, one end of which is connected to one end of the first gear link 2 through the first revolute pair R1, the gear end of the first gear link is meshed with the gear end of the second gear link 3 to form a first gear pair G1, and the transmission ratio is 1, and the upper and lower parts of the tenth link 15 are connected to the gear ends of the first gear link and the second gear link through the second revolute pair R2 and the third revolute pair R3, respectively; the other end of the second gear connecting rod is connected with one end of a second connecting rod 4 through a fourth revolute pair R4, the other end of the second connecting rod is connected with one end of a third gear connecting rod 5 through a fifth revolute pair R5, the gear end of the third gear connecting rod is meshed with the gear end of a fourth gear connecting rod 6 to form a second gear pair G2, the transmission ratio is 1, and the upper part and the lower part of the ninth connecting rod 14 are respectively connected with the gear ends of the third gear connecting rod and the fourth gear connecting rod through a sixth revolute pair R6 and a seventh revolute pair R7; one end of the gear connecting rod IV is connected with the other end of the first connecting rod through a revolute pair eight R8; one end of a seventh connecting rod 12 is fixed on a ninth connecting rod, the other end of the seventh connecting rod is connected with one end of an eighth connecting rod 13 through a first sliding pair P2, the other end of the eighth connecting rod is fixed on a tenth connecting rod, the axes of the first sliding pair P2 and the eighth sliding pair P2 are parallel, the moving center line of the second sliding pair is vertical to the axis of the first sliding pair, the moving center line of the second sliding pair is positioned on the perpendicular bisector of the connecting line of the second rotating center of the sliding pair and the third rotating center of the sliding pair, the moving center line of the second sliding pair is positioned on the perpendicular bisector of the connecting line of the sixth rotating center of the sliding pair and the seventh rotating center of the sliding pair, the distance between the two sliding pairs on the tenth connecting rod is equal to the length of the connecting line of the two wheels of the first gear pair, the distance between the two sliding pairs on the ninth connecting rod is equal to the length of the connecting line of the two wheels of the second gear pair, The third gear connecting rod and the fourth gear connecting rod are respectively equal in length.
Example 6
As shown in fig. 6, the first link 1 is a fixed link, one end of which is connected to one end of the first gear link 2 through the first revolute pair R1, the gear end of the first gear link is meshed with the gear end of the second gear link 3 to form a first gear pair G1, the transmission ratio is 1, and the upper and lower parts of the tenth link 15 are connected to the gear ends of the first gear link and the second gear link through the second revolute pair R2 and the third revolute pair R3, respectively; one end of the second gear connecting rod is connected with one end of the second connecting rod 4 through a revolute pair four R4, the other end of the second connecting rod is connected with one end of the fifth connecting rod 16 through a revolute pair five R5, the other end of the fifth connecting rod is connected with one end of the sixth connecting rod 17 and one end of the seventh connecting rod 12 through a revolute pair twelve R12, and the other end of the sixth connecting rod is connected with the other end of the first connecting rod through a revolute pair eight R8; the other end of the seventh connecting rod is connected with one end of an eighth connecting rod 13 through a first sliding pair P2, the other end of the eighth connecting rod is fixed on a tenth connecting rod, the axes of the first sliding pair, the second sliding pair, the third sliding pair, the fourth sliding pair, the fifth sliding pair, the twelfth sliding pair and the eighth sliding pair are parallel, the moving center line of the second sliding pair is perpendicular to the axis of the first sliding pair, the moving center line of the second sliding pair is positioned on the perpendicular bisector of the connecting line of the second sliding pair rotating center and the third sliding pair rotating center, the distance between the two sliding pairs on the tenth connecting rod is equal to the length of the connecting line of the two wheels of the first gear pair, and the lengths of the first connecting rod, the second connecting rod, the first gear connecting rod, the.
Example 7
As shown in fig. 7, the first link 1 is a fixed link, the two-degree-of-freedom planar mechanism can be regarded as a unit, the second link of the first unit i is fixedly connected with the first link of the second unit ii to obtain a unit connecting member 20, wherein both ends of the gear link five 18 and the gear link six 19 are gear ends, one gear end of the gear link five 18 is engaged with one gear end of the gear link six 19, and the transmission ratio is 1, the gear ends of the gear link five 18 and the gear link six 19 are respectively connected with one end of the first link of the first unit i and one end of the first link of the second unit ii through a rotation pair twelve R12 and a rotation pair thirteen R13, one gear end of the gear link seven 21 is engaged with one gear end of the gear link eight 22, and the transmission ratio is 1, the gear ends of the gear link seven 21 and the gear link eight 22 are respectively connected with the second link of the first unit i and the first link of the second unit ii through a rotation pair fourteen R14 and a rotation pair fifteen R15 The other ends of the connecting rods are connected, the second unit and the third unit III of the mechanism are connected in the same way as the first unit and the second unit, and then each unit is connected in the same way as the first unit and the second unit.
Claims (4)
1. A two-degree-of-freedom plane motion parallel mechanism comprises eight connecting rods, two components and kinematic pairs for connecting the eight connecting rods and the two components, and is characterized in that: the first connecting rod is a fixed connecting rod, one end of the first connecting rod is connected with one end of the first gear connecting rod through a first rotating pair, the gear end of the first gear connecting rod is meshed with the gear end of the second gear connecting rod to form a first gear pair, the transmission ratio is 1, and the upper part and the lower part of the second member are respectively connected with the gear ends of the first gear connecting rod and the second gear connecting rod through a second rotating pair and a third rotating pair; the other end of the second gear connecting rod is connected with one end of the second connecting rod through a fourth rotating pair, the other end of the second connecting rod is connected with one end of a third gear connecting rod through a fifth rotating pair, the gear end of the third gear connecting rod is meshed with the gear end of the fourth gear connecting rod to form a second gear pair, the transmission ratio is 1, the upper part and the lower part of the first member are respectively connected with the gear ends of the third gear connecting rod and the fourth gear connecting rod through a sixth rotating pair and a seventh rotating pair, and one end of the fourth gear connecting rod is connected with the other end of the first connecting rod through an eighth rotating pair; one end of the third connecting rod is connected with the middle part of the first member through a revolute pair nine, the other end of the third connecting rod is connected with one end of the fourth connecting rod through a revolute pair ten, and the other end of the fourth connecting rod is connected with the middle part of the second member through a revolute pair eleven; the first component is connected with the second component through a three-degree-of-freedom planar subchain, the three-degree-of-freedom planar subchain is formed by connecting two connecting rods and three kinematic pairs, one of the three kinematic pairs is a revolute pair, the other two kinematic pairs are revolute pairs or kinematic pairs respectively, the axes of the revolute pairs are parallel to each other, the moving center line of the kinematic pair is perpendicular to the axes of the revolute pairs, the axes of the revolute pairs I, II, III, IV, V, VI, VII and VIII are parallel to each other, and the revolute pair I is not parallel to the revolute pairs in the three-degree-of-freedom planar subchain; the distance between the two rotating pairs on the first member is equal to the length of the connecting line of the two wheels of the second gear pair, the distance between the two rotating pairs on the second member is equal to the length of the connecting line of the two wheels of the first gear pair, and the lengths of the first connecting rod and the second connecting rod, the first gear connecting rod and the second gear connecting rod, the third gear connecting rod and the fourth gear connecting rod are respectively equal.
2. The two-degree-of-freedom planar motion parallel mechanism of claim 1, wherein: one of the two gear pairs is removed, and the distance between the sixth rotating pair and the seventh rotating pair is zero.
3. The two-degree-of-freedom planar motion parallel mechanism of claim 1, wherein: the three-degree-of-freedom planar subchain in the middle part is replaced by a moving pair.
4. The two-degree-of-freedom planar motion parallel mechanism of claim 1, wherein: the plurality of mechanisms are connected, and the movement of the mechanisms can be amplified after the connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710747564.5A CN107351068B (en) | 2017-08-28 | 2017-08-28 | Two-degree-of-freedom plane motion parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710747564.5A CN107351068B (en) | 2017-08-28 | 2017-08-28 | Two-degree-of-freedom plane motion parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107351068A CN107351068A (en) | 2017-11-17 |
| CN107351068B true CN107351068B (en) | 2020-03-31 |
Family
ID=60289142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710747564.5A Active CN107351068B (en) | 2017-08-28 | 2017-08-28 | Two-degree-of-freedom plane motion parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107351068B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108644333B (en) * | 2018-06-08 | 2023-10-27 | 燕山大学 | Spherical connecting rod movement device |
| CN108608418A (en) * | 2018-06-08 | 2018-10-02 | 燕山大学 | A kind of spheric motion parallel institution |
| CN110202552B (en) * | 2019-07-04 | 2020-09-18 | 燕山大学 | Two-degree-of-freedom planar connecting rod motion device |
| CN112192551B (en) * | 2020-10-30 | 2021-07-30 | 燕山大学 | Two-degree-of-freedom spherical motion parallel mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6339969B1 (en) * | 1999-06-04 | 2002-01-22 | Septimiu E. Salcudean | Three-degree-of-freedom parallel planar manipulator |
| CN1586828A (en) * | 2004-07-15 | 2005-03-02 | 清华大学 | Plane movement mechanism and its device for micro robot |
| CN105397800A (en) * | 2015-12-23 | 2016-03-16 | 北京工业大学 | Asymmetric two-freedom-degree mobile multi-ting coupling mechanism |
| CN105945917A (en) * | 2016-06-02 | 2016-09-21 | 燕山大学 | Multi-rotating-center type two-rotation and one-movement parallel mechanism |
| CN206393621U (en) * | 2016-12-12 | 2017-08-11 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism |
-
2017
- 2017-08-28 CN CN201710747564.5A patent/CN107351068B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6339969B1 (en) * | 1999-06-04 | 2002-01-22 | Septimiu E. Salcudean | Three-degree-of-freedom parallel planar manipulator |
| CN1586828A (en) * | 2004-07-15 | 2005-03-02 | 清华大学 | Plane movement mechanism and its device for micro robot |
| CN105397800A (en) * | 2015-12-23 | 2016-03-16 | 北京工业大学 | Asymmetric two-freedom-degree mobile multi-ting coupling mechanism |
| CN105945917A (en) * | 2016-06-02 | 2016-09-21 | 燕山大学 | Multi-rotating-center type two-rotation and one-movement parallel mechanism |
| CN206393621U (en) * | 2016-12-12 | 2017-08-11 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107351068A (en) | 2017-11-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107351068B (en) | Two-degree-of-freedom plane motion parallel mechanism | |
| US8814241B2 (en) | Robot hand | |
| CN108621130B (en) | Parallel mechanism with two motion modes of 2R1T and 2T1R | |
| CN103072132A (en) | Three-degree-of-freedom movable decoupling parallel robot mechanism with fully-symmetrical structure | |
| CN107336219B (en) | Parallel mechanism with two-movement three-rotation five-degree-of-freedom | |
| CN105234933B (en) | Dual-translation dual-rotation parallel-connection robot device | |
| CN108638031B (en) | Parallel mechanism with two motion modes of 2T1R and 3T | |
| CN206393621U (en) | A kind of plane two-degree-of-freedom parallel mechanism | |
| CN102699908A (en) | Two-freedom-degree mobile decoupling parallel robot mechanism | |
| CN105619385B (en) | A kind of three one rotating parallel robot mechanisms of translation of the kinematic pair moving platform of weak coupling two | |
| CN102672710A (en) | Four-rod type robot | |
| CN108644333B (en) | Spherical connecting rod movement device | |
| CN111012504A (en) | Rope-driven joint decoupling mechanism | |
| CN105619386A (en) | Three-translation and one-rotation parallel robot device with low-coupling-degree three-movement-pair movable platform | |
| CN207747038U (en) | A kind of plane grasping mechanism | |
| CN107398925A (en) | A kind of planar linkage telecontrol equipment | |
| CN107471209B (en) | Industrial robot with telescopic arm length | |
| CN105619383B (en) | A kind of three one rotating parallel device people's platforms of translation of the kinematic pair moving platform of weak coupling two | |
| CN105643601B (en) | A kind of three one rotating parallel device people's platforms of translation of the kinematic pair moving platform of weak coupling three | |
| CN107243888A (en) | A kind of asymmetric three translation spaces parallel manipulator | |
| CN105598953A (en) | Two-rotation and one-movement three-degree-of-freedom parallel mechanism | |
| CN105619447A (en) | Two-degree-of-freedom in-parallel spraying robot joint | |
| CN104589330B (en) | Band drives electric cylinder two translation manipulators at a high speed | |
| CN104690716A (en) | (2T1R)& 1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism | |
| CN205075056U (en) | It rotates a removal three freedoms motion decoupling zero parallel mechanism to have two |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |