CN107584478B - It is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism - Google Patents
It is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism Download PDFInfo
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- CN107584478B CN107584478B CN201710978420.0A CN201710978420A CN107584478B CN 107584478 B CN107584478 B CN 107584478B CN 201710978420 A CN201710978420 A CN 201710978420A CN 107584478 B CN107584478 B CN 107584478B
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Abstract
The present invention relates to it is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism, including fixed platform, moving platform and three branches for connecting two platforms, first branch and the second branched structure are identical, one end of upper connecting rod in two branch is connect by spherical pair with moving platform, the other end by can one end of shaft axis revolute pair and lower link connect, the other end of lower link is connect by prismatic pair with fixed platform；One end of upper connecting rod in third branch is connect by spherical pair with moving platform, the other end is connect by prismatic pair with one end of middle connecting rod, the other end of middle connecting rod is connected by one end of revolute pair and lower link, and the other end of lower link is connect by prismatic pair with fixed platform；First branch and the second branch can shaft axis revolute pair, two axial lines holding is parallel to each other in variation；The prismatic pair that the upper connecting rod of third branch is connect with middle connecting rod can be locked with locking device as needed.The present invention is bigger than the working space of similar mechanism, has wide application prospect.
Description
Technical field
The invention belongs to mechanical mechanism technical fields, and in particular to it is a kind of may be implemented two turn of one shifting with can shaft axis
The 3-freedom parallel mechanism of revolute pair.
Background technique
From Steward mechanism since the successful application on Tire testing and flight simulator, parallel institution is with its movement
The advantages that precision height, fast response time and large carrying capacity, in robot, numerically-controlled machine tool, industrial vibration sieve, spray robot
And the fields such as satellite antenna are widely applied.There is freedom required by a considerable amount of operation tasks in practical applications
Degree be less than 6, at this time use suitable Limited-DOF Parallel Robot, can be effectively saved system design, manufacture, control and
Safeguard the cost of aspect.3-freedom parallel mechanism is simple with structure, kinematics solution is convenient, control is easy, manufacturing cost
The features such as low is very important one kind in Limited-DOF Parallel Robot.At present using it is more be to have around two, space
The parallel institution that direction rotates and moves in one direction, if the release of DS Technologie lathe company, Germany is with 3-PRS
What Sprint Z3 main tapping and Karl-Erik Neumann based on parallel institution proposed uses 2-UPR/SPR parallel institution
Exechon lathe etc..But due to the limitation of mechanism constraint, that there is working spaces is small for this kind of mechanism, adaptability is poor, mechanism
The big problem of comprehensive difficulty, limits its scope of application.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that it is new to provide a kind of design
It is clever, compact-sized rationally, use a kind of operation 3-freedom parallel mechanism convenient, practical, convenient for being widely used to promote.
This parallel institution use with can shaft axis revolute pair the first branch and the second branch and upper connecting rod can be produced with middle connecting rod
The third branch of raw axial movement, may be implemented the movement of Three models, and the working space than similar mechanism is bigger, have broadness
Application prospect.
The present invention is realized by following technical proposals.
It is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism, including fixed platform, moving platform and connection should
Three branches of two platforms, the first branch and the second branch in three branches are symmetrical docking structure, respectively
Connect by the spherical pair of one end on the first, second branch with moving platform, the other end pass through be located at allocate on sewing platform base can
Shaft axis revolute pair connects lower link a, and the other end of lower link a is connect by prismatic pair with fixed platform；
For third branch in three branches relative to the first branch and the second branch vertical distribution, one end of third branch is logical
The spherical pair of the upper connecting rod b crossed on third branch is connect with moving platform, upper connecting rod b by prismatic pair connect in connecting rod, connect in this
The other end of bar is connect by revolute pair with one end of lower link b, and the other end of lower link b is connected by prismatic pair and fixed platform
It connects；Fixed platform drives moving platform to realize two degrees of freedom rotation and single-degree-of-freedom translation by three branches.
Preferably, the fixed platform and moving platform are in isosceles triangle, identical first branch of structure and the second branch
It is located in the isosceles triangle a line of fixed platform and is mutually butted, third branch is located at the isosceles triangle apex angle of fixed platform simultaneously
With the first branch and the second branch vertical distribution.
Preferably, the revolute pair of first branch and the second branch be can shaft axis revolute pair, two in variation
Axis holding is parallel to each other, and the axis of the prismatic pair perpendicular to lower link a；Revolute pair axis in third branch is kept not
Become, always perpendicular to the mobile secondary axis of the lower link b connected, and begins with the revolute pair axis of the first branch and the second branch
It is vertical eventually；Locking device is equipped between upper connecting rod b and the prismatic pair of middle connecting rod connection.
Further, the locking device includes latch recess, and is located at the spring below latch recess, in the upper of spring
Side is equipped with a steel ball；
When locking device is in the lock state, steel ball is embedded under spring force in preset latch recess, on
Connecting rod b and the axial position of middle connecting rod are fixed；
When needing to unlock, apply certain axial force to upper connecting rod b, it is recessed that steel ball overcomes the pressure of spring to be extruded
Slot, upper connecting rod b and middle connecting rod, which are realized, to be moved axially.
Preferably, first branch and the second branch can shaft axis revolute pair include a semicircular arc pedestal, half
Arc-shaped groove is set at the top of arc-shaped pedestal, one end is connect with driving part, and one end is sealing structure；One end of lower link a and drive
Dynamic component output end connection, the other end with can shaft axis revolute pair connect；Can shaft axis revolute pair enable upper connecting rod a along semicircle
Arcuate base top curve fluting rotation, and can shaft axis revolute pair axis rotation be formed by plane always with fixed platform protect
It holds vertical.
Preferably, the middle connecting rod and lower link b of the third branch are located in semicircular arc pedestal, semicircular arc pedestal
One end is top-slitting, and one end is sealing structure；The one end lower link b is located in sealing structure, and the other end and middle connecting rod are by turning
Dynamic secondary connection；The revolute pair enables middle connecting rod to rotate along semicircular arc pedestal top-slitting.
Further, the driving part of three branches is located in the sealing structure of semicircular arc pedestal, and driving part is
Straight line cylinder or hydraulic cylinder or electric putter or electric cylinders, secondary driving is the prismatic pair connecting on each branch with fixed platform.
Further, the first branch and the stroke of the second branch driving pair can be divided into initial segment, interlude and end section；
When the first branch and the secondary stroke of the second branch driving are all in initial segment, upper connecting rod b in third branch with
The prismatic pair locking means locking of middle connecting rod connection, the first branch and the second branch can shaft axis revolute pair axis cannot turn
It is dynamic, the adjustment of the position of the flexible realization moving platform of prismatic pair and posture in the first branch of control, the second branch and third branch,
Parallel institution is in the first motor pattern at this time；
When the first branch and the stroke of the second branch driving pair are all in interlude, locking device unlock, the first branch
Can shaft axis revolute pair drive upper connecting rod a rotation, while the second branch can shaft axis revolute pair drive corresponding upper connecting rod
Rotation, and the prismatic pair that the upper connecting rod b in third branch is connect with middle connecting rod makes third branch chain lengthening simultaneously under the action of pulling force
Rotation, parallel institution is in second of motor pattern at this time；
When the first branch and the secondary stroke of the second branch driving are all in end section, the first branch and the second branch it is upper
Connecting rod a slides into upper limit along semicircular arc pedestal arc-shaped groove, can shaft axis revolute pair axis is limited no longer rotates, upper company
The prismatic pair locking means that bar b is connect with middle connecting rod relock, and move in the first branch of control, the second branch and third branch
The adjustment of position and posture of the secondary flexible realization moving platform in another space is moved, parallel institution is in the third fortune at this time
Dynamic model formula.
The present invention has the advantage that
1, the present invention using two with can shaft axis revolute pair movement branched chain and a telescopic movement branched chain, can
With realize during the work time the lower position of the conversion between the adjustment of position and posture under orientation 1, orientation 1 and orientation 2, orientation 2 and
Three kinds of motor patterns of adjustment of posture make moving platform have very big posture adjustment space, solve existing similar parallel institution work
The small problem in space, reduces the difficulty of synthesis of mechanism, has better adaptability.
2, the present invention can make moving platform reduce height when not working, and reduce whole occupancy volume.
3, the present invention can realize the flexible switching of motor pattern, simplify control in the case where drive mode is constant
Step.
4, the driving part of the parallel institution is completely fixed on fixed platform, and the movement for greatly reducing mechanism entirety is used
Property, the high-speed motion of mechanism may be implemented；Furthermore it is possible to which air-liquid mouth will be passed in and out, electric wire is arranged on fixed platform, eliminates air-liquid
The movement of pipeline or electric wire in mechanism kinematic avoids mutual winding problem.
In conclusion the present invention is novel in design, structure is simple, and working space is big, and compact layout is reasonable, processing and fabricating side
Just, using flexible is reliable, is able to ascend mechanism to the adaptability of environment, expands its application field, has wide application prospect.
Detailed description of the invention
Fig. 1 is parallel institution structural schematic diagram of the invention；
Fig. 2 is the first motor pattern structural schematic diagram of parallel institution of the invention；
Fig. 3 is second of motor pattern structural schematic diagram of parallel institution of the invention；
Fig. 4 is the third motor pattern structural schematic diagram of parallel institution of the invention.
Description of symbols:
1, fixed platform；2, moving platform；3, the first branch；4, the second branch；5, third branch；3-1, upper connecting rod a；3-2, can
Shaft axis revolute pair；3-3, lower link a；5-1, upper connecting rod b；5-2, middle connecting rod；5-3, lower link b；5-4, locking device.
Specific embodiment
The invention will be described in further detail with reference to the accompanying drawings and examples, but is not intended as doing invention any limit
The foundation of system.
As shown in Figure 1, it is of the invention it is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism, including fixed platform
1, moving platform 2 and three branches of two platforms are connected, fixed platform and moving platform are in isosceles triangular structure, in three branches
The first branch and the second branched structure it is identical, be located in the isosceles triangle a line of fixed platform 1 and be mutually butted, three branch
Third branch 5 in chain be located at the isosceles triangle apex angle of fixed platform 1 and with 4 vertical distribution of the first branch 3 and the second branch.
Wherein, one end of the first branch 3 and the upper connecting rod a3-1 in the second branch 4 are connect by spherical pair with moving platform 2,
The other end of upper connecting rod a3-1 by can shaft axis revolute pair 3-2 connect with one end of lower link a3-3, lower link a3-3's is another
One end is connect by prismatic pair with fixed platform 1；One end of upper connecting rod b5-1 in third branch 5 passes through spherical pair and moving platform 2
The other end of connection, upper connecting rod b5-1 is connect by prismatic pair with one end of middle connecting rod 5-2, the other end of connecting rod 5-2 in this
It is connect by revolute pair with one end of lower link b5-3, the other end of lower link b5-3 is connect by prismatic pair with fixed platform 1；
The revolute pair of above-mentioned first branch 3 and the second branch 4 be can shaft axis revolute pair, but two axial lines keep mutually flat in variation
Row, and perpendicular to the axis of prismatic pair；The revolute pair axis of third branch 5 perpendicular to two prismatic pairs connected axis, and
It is vertical always with the revolute pair axis of the first branch 3 and the second branch 4；The prismatic pair that upper connecting rod b5-1 is connect with middle connecting rod 5-2
Between be equipped with locking device 5-4, the prismatic pair that the upper connecting rod b5-1 of third branch is connect with middle connecting rod 5-2 can use as needed
Locking device 5-4 locking；Fixed platform 1 drives moving platform 2 to realize two degrees of freedom rotation and single-degree-of-freedom translation by three branches.
First branch 3 and the second branch 4 can shaft axis revolute pair 3-2 include a semicircular arc pedestal, semicircular arc base
Seat top sets arc-shaped groove, and one end is connect with driving part, and one end is sealing structure；One end of lower link a3-3 and driving part
Output end connection, the other end with can shaft axis revolute pair 3-2 connect；Can shaft axis revolute pair 3-2 enable the edge upper connecting rod a3-1
Semicircular arc pedestal top curve fluting rotation, and can shaft axis revolute pair 3-2 axis rotation be formed by plane always with
Fixed platform 1 keeps vertical.The middle connecting rod 5-2 and lower link b5-3 of third branch 5 are located in semicircular arc pedestal, semicircular arc base
Seat one end is top-slitting, and one end is sealing structure；The one end lower link b5-3 is located in sealing structure, the other end and middle connecting rod 5-
2 are connected by revolute pair；The revolute pair enables middle connecting rod 5-2 to rotate along semicircular arc pedestal top-slitting.
The driving part of three branches in mechanism is located in the sealing structure of semicircular arc pedestal, and driving part is straight
Line cylinder or hydraulic cylinder or electric putter or electric cylinders, secondary driving is the prismatic pair connecting on each branch with fixed platform.
The present invention with can shaft axis revolute pair 3-freedom parallel mechanism tool there are three types of motor pattern, these three movements
Mobile auxiliary drive of the mode all by being connect on each branch with fixed platform 1.First branch 3 and the second branch 4 drive secondary stroke can
To be divided into three sections, i.e. initial segment, interlude and end section.
First branch 3 and the second branch 4 drive secondary stroke to can be divided into three sections, i.e. initial segment, interlude and end
Section.
As shown in Fig. 2, when the first branch 3 and the second branch 4 drive secondary stroke all in initial segment, in third branch
The prismatic pair locking means locking that is connect with middle connecting rod of upper connecting rod b, the first branch 3 and the second branch 4 can shaft axis turn
Dynamic secondary 3-2 axis, which is restricted, not to be able to rotate, and upper connecting rod b 5-1 is integrally formed with middle connecting rod 5-2, controls the first branch 3, second
The adjustment of the flexible position that moving platform 2 may be implemented and posture of prismatic pair in branch 4 and third branch 5, at this time parallel institution
In the first motor pattern；
As shown in figure 3, when the first branch 3 and the second branch 4 drive secondary stroke all in interlude, locking device 5-
4 unlocks, the first branch 3 can shaft axis revolute pair 3-2 change axis direction, drive upper connecting rod a 3-1 rotation, while second
Chain 4 can shaft axis revolute pair change axis direction, drive corresponding upper connecting rod to rotate, and the upper connecting rod b in third branch 5
The prismatic pair that 5-1 is connect with middle connecting rod 5-2 extends third branch 5 under the action of pulling force and rotates, at this time at parallel institution
In second of motor pattern；
As shown in figure 4, when the first branch 3 and the second branch 4 drive secondary stroke all in end section, the first branch 3
Upper limit is slid into along semicircular arc pedestal arc-shaped groove with the upper connecting rod a3-1 of the second branch 4, it can shaft axis revolute pair 3-2
Axis, which is restricted, to be no longer able to turn, and the elongation of third branch 5 also reaches predetermined position, the upper connecting rod b 5-1 in third branch 5
The prismatic pair locking means 5-4 connecting with middle connecting rod 5-2 is relocked, and upper connecting rod b 5-1 is integrally formed with middle connecting rod 5-2,
Control the first branch 3, in the second branch 4 and third branch 5 prismatic pair the flexible moving platform 2 that may be implemented in another space
Position and posture adjustment, parallel institution is in the third motor pattern at this time.
Therefore, it is this with can shaft axis revolute pair 3-freedom parallel mechanism tool there are three types of motor pattern, Ke Yi
Under the premise of not changing driving method, the successively variation of three kinds of motor patterns is completed, realizes the large rotation angle of moving platform, is changed
The distribution of parallel institution moving platform end reference point working space.
Locking device 5-4 includes latch recess, and is located at the spring below latch recess, is equipped with one in the top of spring
Steel ball；When locking device 5-4 is in the lock state, steel ball is embedded under spring force in preset groove, third branch
The axial position of upper connecting rod b 5-1 and middle connecting rod 5-2 in chain 5 is fixed.When needing to unlock, to upper connecting rod b 5-
1 applies certain axial force, and steel ball overcomes the pressure of spring to be extruded groove, the upper connecting rod b 5-1 in third branch 5 and middle company
Bar 5-2 can realize axial movement.
The present invention is not limited to the above embodiments, on the basis of technical solution disclosed by the invention, the skill of this field
For art personnel according to disclosed technology contents, one can be made to some of which technical characteristic by not needing creative labor
A little replacements and deformation, these replacements and deformation are within the scope of the invention.
Claims (8)
1. it is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism, including fixed platform (1), moving platform (2) and even
Connect three branches of two platforms, it is characterised in that: the first branch (3) and the second branch (4) in three branches are
Symmetrical docking structure is connect by the spherical pair of one end on the first, second branch with moving platform (2), the other end respectively
By be located on fixed platform (1) pedestal can shaft axis revolute pair (3-2) connection lower link a (3-3), lower link a's (3-3)
The other end is connect by prismatic pair with fixed platform (1)；
Third branch (5) in three branches is relative to the first branch (3) and the second branch (4) vertical distribution, third branch (5)
One end connect by the spherical pair of the upper connecting rod b (5-1) on third branch with moving platform (2), upper connecting rod b (5-1) passes through shifting
Connecting rod (5-2) in dynamic secondary connection, other end of connecting rod (5-2) is connect by revolute pair with one end of lower link b (5-3) in this,
The other end of lower link b (5-3) is connect by prismatic pair with fixed platform (1)；Fixed platform (1) drives moving platform by three branches
(2) two degrees of freedom rotation and single-degree-of-freedom translation are realized.
2. it is according to claim 1 with can shaft axis revolute pair 3-freedom parallel mechanism, it is characterised in that: it is described
Fixed platform (1) and moving platform (2) are in isosceles triangle, and identical first branch (3) of structure and the second branch (4) are located at fixed platform
(1) it in isosceles triangle a line and is mutually butted, third branch (5) is located at the isosceles triangle apex angle of fixed platform (1) simultaneously
With the first branch (3) and the second branch (4) vertical distribution.
3. it is according to claim 1 with can shaft axis revolute pair 3-freedom parallel mechanism, it is characterised in that: it is described
The revolute pair of first branch (3) and the second branch (4) be can shaft axis revolute pair, two axial lines keep mutually flat in variation
Row, and the axis of the prismatic pair perpendicular to lower link a (3-3)；Revolute pair axis in third branch (5) remains unchanged, always
Perpendicular to the mobile secondary axis of the lower link b (5-3) connected, and the turns auxiliary shaft with the first branch (3) and the second branch (4)
Line is vertical always；Locking device (5-4) is equipped between the prismatic pair that upper connecting rod b (5-1) is connect with middle connecting rod (5-2).
4. it is according to claim 3 with can shaft axis revolute pair 3-freedom parallel mechanism, it is characterised in that: it is described
Locking device (5-4) includes latch recess, and is located at the spring below latch recess, is equipped with a steel ball in the top of spring；
When locking device (5-4) is in the lock state, steel ball is embedded under spring force in preset groove, upper connecting rod
B (5-1) and the axial position of middle connecting rod (5-2) are fixed；
When needing to unlock, apply certain axial force to upper connecting rod b (5-1), steel ball overcomes the pressure of spring to be extruded
Groove, upper connecting rod b (5-1) and middle connecting rod (5-2) are realized and are moved axially.
5. it is according to claim 1 with can shaft axis revolute pair 3-freedom parallel mechanism, it is characterised in that: it is described
First branch (3) and the second branch (4) can shaft axis revolute pair (3-2) include a semicircular arc pedestal, semicircular arc pedestal
Top sets arc-shaped groove, and one end is connect with driving part, and one end is sealing structure；One end of lower link a (3-3) and driving part
Output end connection, the other end with can shaft axis revolute pair (3-2) connect；Can shaft axis revolute pair (3-2) make upper connecting rod a (3-1)
Can along semicircular arc pedestal top curve slot rotate, and can shaft axis revolute pair (3-2) axis rotation be formed by it is flat
Face is vertical with fixed platform (1) holding always.
6. it is according to claim 1 with can shaft axis revolute pair 3-freedom parallel mechanism, it is characterised in that: it is described
The middle connecting rod (5-2) and lower link b (5-3) of third branch (5) are located in semicircular arc pedestal, and semicircular arc pedestal one end is top
Portion's fluting, one end is sealing structure；The one end lower link b (5-3) is located in sealing structure, and the other end passes through with middle connecting rod (5-2)
Revolute pair connection；The revolute pair rotate middle connecting rod (5-2) can along semicircular arc pedestal top-slitting.
7. it is according to claim 5 with can shaft axis revolute pair 3-freedom parallel mechanism, it is characterised in that: it is described
The driving part of three branches is located in the sealing structure of semicircular arc pedestal, driving part be straight line cylinder or hydraulic cylinder or
Person's electric putter or electric cylinders, secondary driving is the prismatic pair connecting on each branch with fixed platform (1).
8. it is according to claim 1-7 with can shaft axis revolute pair 3-freedom parallel mechanism, feature
Be: the first branch (3) and the stroke of the second branch (4) driving pair are divided into initial segment, interlude and end section；
Upper company when the first branch (3) and the stroke of the second branch (4) driving pair are all in initial segment, in third branch (5)
Prismatic pair locking means (5-4) locking that bar b (5-1) is connect with middle connecting rod (5-2), the first branch (3) and the second branch (4)
Can shaft axis revolute pair (3-2) axis be not able to rotate, in control the first branch (3), the second branch (4) and third branch (5)
The position of the flexible realization moving platform (2) of prismatic pair and the adjustment of posture, parallel institution is in the first motor pattern at this time；
When the first branch (3) and the stroke of the second branch (4) driving pair are all in interlude, locking device (5-4) unlock, the
One branch (3) can shaft axis revolute pair (3-2) drive upper connecting rod a (3-1) rotation, while the second branch (4) can shaft axis
Revolute pair drives corresponding upper connecting rod to rotate, and the shifting that the upper connecting rod b (5-1) in third branch (5) is connect with middle connecting rod (5-2)
Dynamic pair extends third branch (5) under the action of pulling force and rotates, and parallel institution is in second of motor pattern at this time；
When the first branch (3) and the secondary stroke of the second branch (4) driving are all in end section, the first branch (3) and second
The upper connecting rod a (3-1) of chain (4) slides into upper limit along semicircular arc pedestal arc-shaped groove, can shaft axis revolute pair (3-2) axis
Line is limited to be no longer rotated, and the prismatic pair locking means (5-4) that upper connecting rod b (5-1) is connect with middle connecting rod (5-2) relock,
Control the first branch (3), in the second branch (4) and third branch (5) prismatic pair flexible realization moving platform (2) in another sky
Between in position and posture adjustment, parallel institution is in the third motor pattern at this time.
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| CN201710978420.0A CN107584478B (en) | 2017-10-18 | 2017-10-18 | It is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism |
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| CN201710978420.0A CN107584478B (en) | 2017-10-18 | 2017-10-18 | It is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism |
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| CN107584478B true CN107584478B (en) | 2019-09-13 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108172997B (en) * | 2018-02-13 | 2023-08-15 | 河南科技大学 | Antenna attitude adjusting device based on uncoupled three-branch two-rotation parallel mechanism |
| CN108760397B (en) * | 2018-04-13 | 2021-01-12 | 上海大学 | Docking mechanism suitable for water sample collection |
| CN111388094B (en) * | 2020-03-31 | 2022-08-30 | 长沙理工大学 | Two-degree-of-freedom remote motion center mechanism |
| CN113001525B (en) * | 2021-04-25 | 2022-03-29 | 西安科技大学 | Parallel mechanism with rotatable axis mechanical arm and movement method |
| CN113715003A (en) * | 2021-09-16 | 2021-11-30 | 江南大学 | RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102008019966A1 (en) * | 2008-04-21 | 2009-10-22 | Elau Gmbh | Delta robot for packing lightweight foodstuff, has spring comprising hooks at both ends attached to pins in pivot connectors, and bracket formed at each pivot connector and connected with rods at both side pieces of bracket |
| CN101518898B (en) * | 2009-04-09 | 2010-10-13 | 浙江理工大学 | Parallel mechanism with three freedom degrees of twice rotation and once motion |
| CN201579789U (en) * | 2009-12-15 | 2010-09-15 | 汕头大学 | Three-rotational DOF parallel-connection robot |
| CN101875198A (en) * | 2010-07-14 | 2010-11-03 | 天津理工大学 | Overconstraint parallel robot mechanism with three degrees of freedom |
| CN103406897B (en) * | 2013-07-31 | 2015-08-12 | 浙江理工大学 | There is the 3-freedom parallel mechanism that two move a turn |
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