CN107498541A - A kind of two translations one rotate 3-freedom parallel mechanism - Google Patents
A kind of two translations one rotate 3-freedom parallel mechanism Download PDFInfo
- Publication number
- CN107498541A CN107498541A CN201710853907.6A CN201710853907A CN107498541A CN 107498541 A CN107498541 A CN 107498541A CN 201710853907 A CN201710853907 A CN 201710853907A CN 107498541 A CN107498541 A CN 107498541A
- Authority
- CN
- China
- Prior art keywords
- side chain
- axis
- moving platform
- along
- freedom
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 59
- 238000013519 translation Methods 0.000 title claims abstract description 16
- 230000014616 translation Effects 0.000 title claims abstract description 16
- 239000000203 mixture Substances 0.000 claims abstract description 6
- 239000011159 matrix material Substances 0.000 description 8
- 238000004458 analytical method Methods 0.000 description 5
- 230000003068 static effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- SEQDDYPDSLOBDC-UHFFFAOYSA-N Temazepam Chemical compound N=1C(O)C(=O)N(C)C2=CC=C(Cl)C=C2C=1C1=CC=CC=C1 SEQDDYPDSLOBDC-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
Abstract
The invention discloses a kind of two translations one to rotate 3-freedom parallel mechanism, belongs to theory of mechanisms field.The parallel institution is 2 PSS＆1 PPR parallel institutions, is had along x, y-axis translation and the three degree of freedom rotated along x-axis.The parallel institution is by moving platform A1A2A3, silent flatform b1b2b3With 3 side chain A1B1、A2B2、A3B3Composition.Side chain A1B1Upper end is connected by revolute pair with moving platform, and revolute pair axis is along the x-axis direction；Lower end is connected by two orthogonal and in horizontal plane prismatic pairs with silent flatform.Side chain A2B2、A3B3Structure is identical, and its upper end is connected by ball pair with moving platform, and lower end passes through ball pair and slide block B2、B3It is connected, slide block B2、B3It is located at guide rail b respectively2、b3On, guide rail b2、b3Along the x-axis direction.Driving sliding block on first side chain is along the y-axis direction.The parallel institution of the present invention can be widely used in the fields such as industrial robot, jiggle robot, lower-mobility flight simulator and parallel machine.
Description
Technical field
The invention belongs to theory of mechanisms field, and in particular to a kind of two new translations one rotate 3-freedom parallel mechanism.
Background technology
Parallel institution has the characteristics that and advantage：(1) load of parallel institution moving platform is by multiple side chain shareds,
And side chain component is solely subjected to pressure rather than bending active force under mechanism static state, parallel institution has higher under identical weight
Bearing capacity；(2) each side chain error of parallel institution does not have a cumulative effect, and each joint error can cancel out each other a part,
Parallel institution has higher precision under same volume.Based on above-mentioned advantage, they can be widely used in flight simulator, power with
The fields such as torque sensor, jiggle robot and parallel machine.
Minority carrier generation lifetime refers generally to the parallel institution that the free degree is 3~5.Studying and applying upper, lower-mobility
Parallel institution has following advantage compared to six-degree-of-freedom parallel connection mechanism：Actuator and component are all less, therefore manufacturing cost is lower；
Forward direction solves simple；Working space is bigger；Motion coupling is weaker, easily decoupling；Control is simpler.Based on above-mentioned advantage, not
The occasion of six-freedom motion is needed, undoubtedly minority carrier generation lifetime is preferably to select.Even to this day, lower-mobility is in parallel
Mechanism obtained it is widely studied, its application it is also very universal.
The content of the invention
The present invention provides the parallel institution that a kind of new two translation one rotates, i.e. 2-PSS＆1-PPR parallel institutions, has edge
X, y-axis translation and the three degree of freedom rotated along x-axis.Mechanism is by moving platform, silent flatform and 3 side chain A1B1、A2B2、A3B3Group
Into.Side chain A1B1Upper end is connected by revolute pair with moving platform, and revolute pair axis is along the x-axis direction；Lower end is orthogonal by two
And the prismatic pair in horizontal plane is connected with silent flatform.Side chain A2B2、A3B3Structure is identical, and upper end passes through ball pair and moving platform
It is connected, lower end passes through ball pair and slide block B2、B3It is connected, slide block B2、B3It is located at guide rail b respectively2、b3On, guide rail b2、b3Along x-axis side
To.Side chain A1B1On driving sliding block along the y-axis direction.
Side chain A1B1There are three constraints to moving platform, power and the torque around y, z direction respectively in the z-direction.Work as side chain
A2B2And A3B3During with x-axis out of plumb, side chain A2B2Or A3B3In seven kinematic pair spinors including public reciprocity spinor is not present,
Now side chain A2B2And A3B3To moving platform without constraint, i.e., moving platform now have along x, y-axis translation and along three of x-axis rotation from
By spending.
The advantage of the invention is that：
(1) parallel institution of the invention is relatively simple, and used kinematic pair is easily achieved in actual use；
(2) parallel institution volume of the invention is more compact, can reduce space-consuming in actual applications；
(3) parallel institution of the invention can be widely used in industrial robot, jiggle robot, lower-mobility flight
The field such as simulator and parallel machine.
Brief description of the drawings
Fig. 1 is the structure diagram of the 3-freedom parallel mechanism of the present invention.
Fig. 2 is four anti-solutions of the 3-freedom parallel mechanism described in Fig. 1.
Fig. 3 is the virtual prototype of the 3-freedom parallel mechanism described in Fig. 1.
Fig. 4 is the speed-time curve of sliding block 1,2,3 obtained according to virtual prototype simulation.
Fig. 5 is the speed-time curve of sliding block 1,2,3 obtained according to theoretical formula.
Fig. 6 is the unusual distribution map of the 3-freedom parallel mechanism first kind described in Fig. 1.
Fig. 7 is the unusual distribution map of the class of 3-freedom parallel mechanism second described in Fig. 1.
Embodiment
Below in conjunction with accompanying drawing and example, the present invention is described in further detail.
The present invention provides the parallel institution that a kind of new two translation one rotates, i.e. 2-PSS＆1-PPR parallel institutions, such as Fig. 1
Shown, described parallel institution has along x, y-axis translation and the three degree of freedom rotated along x-axis.Described parallel institution is by moving
Platform, silent flatform and 3 side chain compositions.The moving platform is by A1、A2、A3The triangle projective planum of three point compositions, and A1A2
Length is equal to A1A3Length；Described silent flatform is by b1、b2、b3The U-shaped right angle frame plane of three line slideway compositions, its
In, guide rail b2With guide rail b3Along x-axis, guide rail b1Perpendicular to x-axis；Three side chains are respectively A1B1、A2B2、A3B3。
Side chain A1B1It is divided into two sections, is connected between epimere and moving platform by revolute pair, revolute pair axis is along x-axis side
To；Connected between epimere and hypomere by prismatic pair, prismatic pair is along the x-axis direction；Pass through mobile parafacies between hypomere and silent flatform
Even, prismatic pair is along the y-axis direction.Side chain A2B2、A3B3Structure is identical, and upper end is connected by ball pair with moving platform, and lower end passes through ball pair
With slide block B2, slide block B3It is connected, slide block B2, slide block B3It is located at guide rail b respectively2, guide rail b3On, guide rail b2, guide rail b3Along x-axis side
To.Positioned at three guide rail b1、b2、b3On three slide block Bs1、B2、B3For the driving link of mechanism.
The free degree and its property of the mechanism can be easily analyzed using spinor method.Now analyze pact of each side chain to moving platform
Beam, it is clear that side chain A1B1There are three constraints to moving platform, power and the torque around y, z direction respectively in the z-direction.Focus on branch
Chain A2B2And A3B3To constraint caused by moving platform.As side chain A2B2And A3B3During with x-axis out of plumb, side chain A2B2Or A3B3In include
Seven kinematic pair spinors public reciprocity spinor is not present, now side chain A2B2And A3B3To moving platform without constraint, i.e., moving platform this
When have along x, y-axis translation and along x-axis rotate three degree of freedom.
The position forecast of parallel institution refers to solve the carry-out bit of moving platform according to the input parameter of each drive pair of mechanism
Appearance parameter, and Kinematics analysis refers to according to the pose parameter of moving platform come the input parameter of each drive pair of reverse.For described three
Freedom degree parallel connection mechanism, input parameter are position of 3 sliding blocks in respective guide rail in driving link.
1.1 position equation
Establish the coordinate system shown in Fig. 1, wherein OAxAyAzATo be fixed on the moving coordinate system on moving platform, OBxByBzBIt is solid
The quiet coordinate system being scheduled on silent flatform, moving platform A1A2A3For isosceles triangle, whereinTriangle base width is
2b, a height of a, guide rail b2With guide rail b3The distance between be 2c, revolute pair A1Axis and slide block B2、B3The vertical range of upper sphere pair is
H, side chain A2B2And A3B3Bar length be l.
The input parameter of mechanism is：P=(y1,x2,x3)T, wherein y1、x2、x3Respectively slide block B1、B2、B3In quiet coordinate system
In y, x coordinate.The output parameter of mechanism is q=(x, y, α)T, wherein x, y is moving coordinate system origin OAIn quiet coordinate system
X, y-coordinate, α are the anglec of rotation of the relatively quiet coordinate system of moving coordinate system around x-axis.
A1、A2、A3Coordinate in moving coordinate system is：(0,0,0)T、(a,-b,0)T、(a,b,0)T, i.e.,：
B1、B2、B3Coordinate in quiet coordinate system is：(x1,0,0)T、(x2,-c,0)T、(x3,c,0)T, i.e.,：
Moving coordinate system origin OAIt is expressed as under quiet coordinate system：
P=(x, y, h)T (3)
Then A1、A2、A3It is represented by under quiet coordinate system：
Wherein R is spin matrix, it is known that moving platform is α around x-axis corner, then：
Formula (1), formula (3), formula (5) are substituted into formula (4) and can obtain：
Mechanism has following constraints：
Formula (2) and formula (6) are substituted into formula (7) position equation of mechanism can be obtained and be：
1.2 Kinematics analysis
For the position equation of mechanism, solved equation using mechanism input parameter as unknown number can obtain mechanism position it is anti-
Solution.It might as well set：
It is apparent from r2、r3Side chain A in as Fig. 12B2、A3B3In yBOBzBThe projection of plane.
Work as l2-ri 2＞ 0 is riDuring ＜ l (i=2,3), it can be obtained by mechanism position equation：
The formula of the above three is the Kinematics analysis of mechanism.Wherein x2And x3Expression formula in contain sign, positive sign represents to slide
Block is in the right side (x-axis is positive) of moving platform ball pivot, and negative sign represents that sliding block is in the left side (x-axis negative sense) of moving platform ball pivot.Machine
Four groups of Kinematics analysis of structure are as shown in Figure 2.
1.3 position forecast
Arranged by parallel institution position equation (8)：
Wherein：
Arrange,
Wherein：
Further abbreviation obtains：
I.e.：
Wherein：
Again by sin2x+cos2X=1 obtains the unary biquadratic equation on x：
E4x4+E3x3+E2x2+E1x+E0=0 (15)
Wherein：
Thus Positive Solutions are converted for the Solve problems of unary biquadratic equation.Because unary biquadratic equation is up to
Four real solutions, therefore at most four groups of analytic solutions be present in the 3-freedom parallel mechanism.
2.1 rate equation
The first derivative of position equation (8) both sides seeking time is obtained：
Wherein：For moving platform output speed,For mechanism input speed,
When | Jp| when ≠ 0,Now haveWherein：
2.2 statics equations
The static problems of 2-PSS＆1-PPR parallel institutions are solved using the principle of virtual displacement.The principle of virtual displacement is also known as virtual work
Principle, can be stated as by preferable, two-sided, scleronomic constraint, steady constraint system of material points keep balance NSC be：All effects
The virtual work sum that active force on system of material points is made to the virtual displacement of its application point is zero.If the driving force of three driving sliding blocks
For f=(f1 f2 f3)T, moving platform power output and torque are F=(Fx Fy Mx)TIfFor mechanism force Jacobian matrix, then
Have：
Obtained according to the principle of virtual work：
Equation (21) both sides divided by δ t can be obtained：
Obtained by above formula：Wherein J is mechanism Jacobian matrix, i.e. J=Jq -1Jp, therefore：
3 kinematics of mechanism emulate
Utilize virtual prototype software analysis institution motion process, model as shown in Figure 3, in three freedom of mechanism moving platform
Apply following motion on degree respectively：X=0.75t2, y=0.75t2, α=0.01t2.Run duration is arranged to 6s.Counted by emulation
The speed-time curve that calculation obtains three sliding blocks is as shown in Figure 4.
Fig. 5 is according to mechanism Jacobian matrix, with the speed-time curve of Matlab three sliding blocks being calculated.It is logical
Cross the contrast with Fig. 4 and can be seen that the two is nearly identical, this is just demonstrating Jacobian matrix that theory deduction obtains just
True property.
Singularity is the build-in attribute of parallel institution, and its performance to parallel institution has a major impact.At parallel institution
When Singularity, mechanism will appear from uncontrollable extra dof, or lose some frees degree, the power transmission performance of mechanism
Also what can be become is very poor, and now parallel institution can not use.Therefore mechanism should be avoided to be in Singularity in design and application.Machine
The unusual rule of mechanism is mainly disclosed in structure theory by the Jacobian matrix of research institution.
When speed, which transmits Jacobian matrix, meets following condition：
|Jp|=0 (24)
Mechanism is in first kind Singularity.Now the anti-solution of the speed of mechanism is not present, and no matter ram speed is much, moves
Platform speed is always zero, and mechanism output campaign function is lost；No matter by more heavy loads, sliding block is also not required to appoint moving platform simultaneously
What driving force goes to balance, mechanism rigidifying.Above formula is deployed：
|Jp|=(x2-x-a)(x3- x-a)=0 (25)
If above formula is set up, x2- x-a=0 or x3- x-a=0, according to the anti-solution formula of mechanism, now there is l2-r2 2=0 or l2-
r3 2=0, the anti-solution of mechanism is unique.Now mechanism side chain A2B2Or side chain A3B3Respectively with guide rail b2And b3Vertically, mechanism moving platform
Reach the border of its working space.
Fig. 6 is b=45mm, c=90mm, h=40mm, l during l=100mm2-r2 2And l2-r3 2The distribution map of value.Scheming
Middle l2-r2 2=0 and l2-r3 2At=0 isopleth, mechanism reaches first kind Singularity.
When speed, which transmits Jacobian matrix, meets following condition：
|Jp| ≠ 0, | Jq|=0 (26)
Mechanism is in the second class Singularity.Now the speed normal solution of mechanism is not present, and mechanism moving platform appearance can not
The extra dof of control, while mechanism can not realize the balance of power when sliding block bears load.
Formula (26) is deployed：
|Jq|=b (x+a-x3)(ysinα+csinα-hcosα)-b(x+a-x2)(-ysinα+csinα+hcosα)
Arrange the unusual occurrence condition of the second class is：
|Jq|=b (x2+x3-2x-2a)(hcosα-ysinα)+bc(x2-x3) sin α=0 (27)
According to the anti-solution formula of mechanism position, solved when mechanism is counter in the presence of i.e. l2-ri 2Have when >=0 (i=2,3)：
Wherein,
It above formula substituted into formula (27) can obtain pose parameter and only include mechanism output variable y, the unusual generation of α the second class
Condition：
Fig. 7 is b=45mm, when c=90mm, h=40mm | Jq| the distribution map of value.Four small figures correspond to l=respectively
100mm, l=150mm, l=200mm, l=300mm.In figure | Jq|=0 mechanism of isopleth (black dotted lines) place reaches second
Class Singularity.It was found from above-mentioned analysis, the unusual working space of the more big non-first kind of l is bigger, but l increase is for expanding
The effect of non-second class singular space is little.
Claims (3)
1. a kind of two translations one rotate 3-freedom parallel mechanism, it is characterised in that：With being rotated along x, y-axis translation and along x-axis
Three degree of freedom；Described parallel institution is by moving platform, silent flatform and 3 side chain A1B1、A2B2、A3B3Composition, side chain A1B1On
End is connected by revolute pair with moving platform, and revolute pair axis is along the x-axis direction；Lower end is orthogonal and be located at horizontal plane by two
Interior prismatic pair is connected with silent flatform；Side chain A2B2、A3B3Structure is identical, and upper end is connected by ball pair with moving platform, and lower end passes through
Ball pair and slide block B2、B3It is connected, slide block B2、B3It is located at guide rail b respectively2、b3On, guide rail b2、b3Along the x-axis direction；Side chain A1B1On
Driving sliding block along the y-axis direction.
2. a kind of two translation one according to claim 1 rotates 3-freedom parallel mechanism, it is characterised in that：Described branch
Chain A1B1There are three constraints to moving platform, power and the torque around y, z direction respectively in the z-direction；As side chain A2B2And A3B3With x
During axle out of plumb, side chain A2B2Or A3B3In seven kinematic pair spinors including public reciprocity spinor is not present, now side chain A2B2
And A3B3Now have along x, y-axis translation and the three degree of freedom rotated along x-axis without constraint, i.e. moving platform to moving platform.
3. a kind of two translation one according to claim 1 rotates 3-freedom parallel mechanism, it is characterised in that：Described is dynamic
In platform, A1、A2、A3The isosceles triangle plane of three point compositions, and A1A2Length is equal to A1A3Length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710853907.6A CN107498541B (en) | 2017-09-20 | 2017-09-20 | Two-translation-one-rotation three-freedom-degree parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710853907.6A CN107498541B (en) | 2017-09-20 | 2017-09-20 | Two-translation-one-rotation three-freedom-degree parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107498541A true CN107498541A (en) | 2017-12-22 |
| CN107498541B CN107498541B (en) | 2020-06-05 |
Family
ID=60698061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710853907.6A Active CN107498541B (en) | 2017-09-20 | 2017-09-20 | Two-translation-one-rotation three-freedom-degree parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107498541B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858159A (en) * | 2018-09-17 | 2018-11-23 | 湖南水利水电职业技术学院 | A kind of two-degree of freedom translational parallel manipulator of partly decoupled |
| CN109015604A (en) * | 2018-09-13 | 2018-12-18 | 西安工程大学 | A kind of 3-freedom parallel mechanism of a two mobile rotations |
| CN110480604A (en) * | 2019-08-08 | 2019-11-22 | 中国民航大学 | A kind of 3-freedom parallel mechanism with three direction guiding rails |
| CN111243374A (en) * | 2020-01-17 | 2020-06-05 | 杜建男 | Six-degree-of-freedom motion simulator with large translation stroke and high response speed |
| CN112540534A (en) * | 2019-09-20 | 2021-03-23 | 九江精密测试技术研究所 | Control method of ship-borne large-load parallel stable platform |
| WO2021179209A1 (en) * | 2020-03-11 | 2021-09-16 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly |
| CN113708662A (en) * | 2021-08-26 | 2021-11-26 | 哈尔滨工业大学 | Two-degree-of-freedom piezoelectric driving platform and design method thereof |
| CN116166052A (en) * | 2022-12-20 | 2023-05-26 | 奥莱特汽车科技有限公司 | Control method of two-translation and one-rotation three-degree-of-freedom platform |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201979513U (en) * | 2011-03-16 | 2011-09-21 | 安徽理工大学 | 2-PRR (Planning Release Record) and PPRR (Persistent Programming Research Report) three-degree-of-freedom spatial parallel robot mechanism |
| JP4942046B2 (en) * | 2008-03-31 | 2012-05-30 | 学校法人法政大学 | Free motion flight simulator device |
| CN103663330A (en) * | 2012-09-26 | 2014-03-26 | 佳木斯大学 | Parallel-type offshore refueling docking mechanism |
| CN104942829A (en) * | 2015-07-02 | 2015-09-30 | 上海交通大学 | 2T3R five-degree-of-freedom rotation and movement complete decoupling parallel mechanism |
| CN106041799A (en) * | 2016-07-08 | 2016-10-26 | 上海交通大学 | Six-degree-of-freedom location posture adjusting device for automatic assembly of large parts |
-
2017
- 2017-09-20 CN CN201710853907.6A patent/CN107498541B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4942046B2 (en) * | 2008-03-31 | 2012-05-30 | 学校法人法政大学 | Free motion flight simulator device |
| CN201979513U (en) * | 2011-03-16 | 2011-09-21 | 安徽理工大学 | 2-PRR (Planning Release Record) and PPRR (Persistent Programming Research Report) three-degree-of-freedom spatial parallel robot mechanism |
| CN103663330A (en) * | 2012-09-26 | 2014-03-26 | 佳木斯大学 | Parallel-type offshore refueling docking mechanism |
| CN104942829A (en) * | 2015-07-02 | 2015-09-30 | 上海交通大学 | 2T3R five-degree-of-freedom rotation and movement complete decoupling parallel mechanism |
| CN106041799A (en) * | 2016-07-08 | 2016-10-26 | 上海交通大学 | Six-degree-of-freedom location posture adjusting device for automatic assembly of large parts |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015604A (en) * | 2018-09-13 | 2018-12-18 | 西安工程大学 | A kind of 3-freedom parallel mechanism of a two mobile rotations |
| CN108858159A (en) * | 2018-09-17 | 2018-11-23 | 湖南水利水电职业技术学院 | A kind of two-degree of freedom translational parallel manipulator of partly decoupled |
| CN110480604A (en) * | 2019-08-08 | 2019-11-22 | 中国民航大学 | A kind of 3-freedom parallel mechanism with three direction guiding rails |
| CN112540534A (en) * | 2019-09-20 | 2021-03-23 | 九江精密测试技术研究所 | Control method of ship-borne large-load parallel stable platform |
| CN111243374A (en) * | 2020-01-17 | 2020-06-05 | 杜建男 | Six-degree-of-freedom motion simulator with large translation stroke and high response speed |
| CN111243374B (en) * | 2020-01-17 | 2021-12-17 | 杜建男 | Motion simulator with large translation stroke and high response speed |
| WO2021179209A1 (en) * | 2020-03-11 | 2021-09-16 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly |
| CN113708662A (en) * | 2021-08-26 | 2021-11-26 | 哈尔滨工业大学 | Two-degree-of-freedom piezoelectric driving platform and design method thereof |
| CN116166052A (en) * | 2022-12-20 | 2023-05-26 | 奥莱特汽车科技有限公司 | Control method of two-translation and one-rotation three-degree-of-freedom platform |
| CN116166052B (en) * | 2022-12-20 | 2023-10-31 | 奥莱特汽车科技有限公司 | Control method of two-translation and one-rotation three-degree-of-freedom platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107498541B (en) | 2020-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107498541A (en) | A kind of two translations one rotate 3-freedom parallel mechanism | |
| Arakelian et al. | Design of planar 3-DOF 3-RRR reactionless parallel manipulators | |
| CN202448136U (en) | 6 degree-of-freedom (6 DOF) parallel robot with few branched chains | |
| CN110175409B (en) | Gravity feedback compensation method | |
| CN109657282B (en) | H-shaped motion platform modeling method based on Lagrangian dynamics | |
| CN104723341A (en) | Positioning control method for flexibility joint mechanical arm based on connection and damping configuration | |
| CN108818502A (en) | The parallel institution of a two mobile rotations with spherical rotation freedom degree | |
| CN103302659A (en) | Single-degree-of-freedom metamorphic mechanism | |
| Wang et al. | Dynamic formulation of a planar 3-DOF parallel manipulator with actuation redundancy | |
| Xiulong et al. | Dynamics behavior analysis of parallel mechanism with joint clearance and flexible links | |
| Hu et al. | Solving stiffness and deformation of a 3-UPU parallel manipulator with one translation and two rotations | |
| Liu et al. | Control-faced dynamics with deformation compatibility for a 5-DOF active over-constrained spatial parallel manipulator 6PUS–UPU | |
| Yu et al. | Dynamic modeling and performance of compliant mechanisms with inflection beams | |
| CN103968207B (en) | A kind of non-singular completely isotropic space three-dimensional one-rotation parallel mechanism | |
| CN106272344A (en) | There is the Hex Delta robot of three two turns of five degree of freedom of shifting | |
| CN110909438A (en) | Light-load articulated parallel robot control method based on dynamic model | |
| CN103217924B (en) | Dynamics modeling method of over-constrained heavy parallel machine tool applied to real-time control | |
| Chen et al. | A passively safe cable driven upper limb rehabilitation exoskeleton | |
| CN103009381B (en) | Method for rapidly constructing Jacobi of less-degree-of-freedom parallel mechanism containing special branched chain structure | |
| CN105522559A (en) | Four-degree-of-freedom parallel mechanism | |
| CN106335048A (en) | Novel six-degree-of-freedom hybrid mechanism applied to force feedback equipment | |
| Li et al. | On generating expected kinetostatic nonlinear stiffness characteristics by the kinematic limb-singularity of a crank-slider linkage with springs | |
| CN104875196A (en) | Space posture alignment parallel mechanism with three-dimensional rotation characteristic moving platform | |
| Wang et al. | On the design of a 3-PRRR spatial parallel compliant mechanism | |
| CN108789375A (en) | Two translation of one kind, one rotation 2URR-CPR parallel institutions |
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 | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210428 Address after: 100085 room 1001, 1 / F, No.18 Shangdi Information, Haidian District, Beijing Patentee after: BEIJING BOCHUANG LIANDONG TECHNOLOGY Co.,Ltd. Address before: 100191 Haidian District, Xueyuan Road, No. 37, Patentee before: BEIHANG University |
|
| CP03 | Change of name, title or address |
Address after: 100192 Zhongguancun Dongsheng Science and Technology Park, No. 66 Xixiaokou Road, Haidian District, Beijing. A801, 8th Floor, Building A, Building B-6, Northern Territory Patentee after: Bochuang Linkage Technology Co.,Ltd. Country or region after: China Address before: Room 1001, 1st Floor, No. 18 Shangdi Information, Haidian District, Beijing, 100085 Patentee before: BEIJING BOCHUANG LIANDONG TECHNOLOGY Co.,Ltd. Country or region before: China |