CN107617890B - It is a kind of with the redundantly driven parallel bed executing agency for evading Strange properties - Google Patents
It is a kind of with the redundantly driven parallel bed executing agency for evading Strange properties Download PDFInfo
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- CN107617890B CN107617890B CN201710969872.2A CN201710969872A CN107617890B CN 107617890 B CN107617890 B CN 107617890B CN 201710969872 A CN201710969872 A CN 201710969872A CN 107617890 B CN107617890 B CN 107617890B
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- branch
- driving branch
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- support plate
- redundant drive
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Abstract
The present invention relates to a kind of parallel institutions, and in particular to a kind of with can evade unusual redundantly driven parallel bed executing agency.Including fixed platform, the first driving branch, the second driving branch, redundant drive branch, motion platform and main shaft cutter head assembly.The mechanism has the shift motion of Z-direction, X, the rotational motion of Y-direction, wherein connect two driving branches of output rod as redundant drive input, tool bit part rotation posture is adjusted to evade singular position by redundant drive branch, so that tool bit part rotation has the biggish range of work.The structure of first driving branch and the second driving branch is identical, and the first driving branch, the second driving branch and redundant drive branch are arranged symmetrically at circumferentially 120 degree.Executing agency proposed by the present invention with the redundantly driven parallel bed for evading Strange properties has the high-precision manufacture field that flexibility is high, the range of work is big, rigidity is high, can be suitable for lathe complex space curved surfaces.
Description
Technical field
The present invention relates to a kind of parallel machine mechanisms, and in particular to a kind of with can evade unusual redundant drive parallel
Lathe executing agency.The mechanism can be used for high precision machine tool processing, abnormally-structured complex-curved freely to process.
Background technique
For the high-precision processing problems of machine tooling field complex space curved surfaces, part is also using post-processing by hand at present
Mode, can bring processing cost high in this way, production cycle long problem, and processing quality is limited to the skilled journey of worker's technology
Degree, high-precision difficult processing is to be guaranteed；Though traditional tandem lathe has the advantages that working space is big, and in the industry
It is applied, but since its structure is connected for tandem, the tool sharpening part as lathe output end is by error accumulation
Influence and accuracy decline, overall stiffness are lower.In addition, motors at different levels carry out tandem connection, so that tool sharpening part
Dynamic responding speed is lower, it is difficult to meet the needs of manufacturing equipment field；In this context, using parallel institution as main body mechanism
Parallel machine start to be applied in extra bed processing, with precision height, rigidity is big, and cumulative errors are small, and it is excellent that dynamic response is fast etc.
Point makes it easier to realize high speed and high-accuracy processing, compensates for the deficiency of traditional machine tool.In modern industry machine tool applications,
It asks lathe mechanism that there is higher performance, the i.e. requirement of high speed, high load, high-precision and high security, and meets high-performance
It is required that realization be problem that parallel institution configuration designs and manufactures.Traditional parallel machine mechanism adds in the cutter of output end
Branch, the Ministry of worker is limited by parallel institution self structure, keeps its angle range smaller, and the part size range of processing is small, so that plus
Work efficiency rate is very low.Simultaneously as there are unusual bit-type, enabling agency security, there are hidden danger, are unable to satisfy high security
It is required that.
In view of the demand of machine tooling field high speed, high load, high-precision and high security, rigidity height, posture are selected
The strong parallel institution of ability as the executing agency in machine tooling, for improve efficiency with precision and complete it is complex-curved plus
Work obtains the methodology of novel parallel mechanism that rigidity is high, working space is big, flexible performance is good and has very important significance.And redundancy is driven
Dynamic addition can be improved the movement and dynamic (dynamical) performance of parallel machine mechanism, wherein rigidity property and evade it is unusual after
The raising of dexterous performance is particularly evident.Therefore, invent it is a kind of with evade Strange properties redundantly driven parallel bed be lathe
The high-precision processing problems of manufacture field complex space curved surfaces provide good solution.
Summary of the invention
For machine tooling field high efficiency and high-precision mission requirements, it is unusual with evading that the invention proposes one kind
The redundantly driven parallel bed executing agency of characteristic, the mechanism have the shift motion of Z-direction, the rotational motion of X, Y-direction, by redundancy
Driving branch adjusts tool bit part rotation posture to evade singular position, so that tool bit part rotation has biggish processing
Range, and the parallel institution makes the mechanism be provided with good movement and dynamic performance due to the introducing of redundant drive characteristic,
It can satisfy the demand of the high-precision processing of machine tooling field complex space curved surfaces.
It is proposed by the present invention a kind of with the redundantly driven parallel bed executing agency for evading Strange properties comprising fixed
Platform, the first driving branch, the second driving branch, redundant drive branch, motion platform and main shaft cutter head assembly, feature exist
In: the fixed platform includes that a fixed bracket, four identical driving branch support plates and two identical redundancies are driven
Dynamic branch support plate.Wherein one end of the first driving branch support plate and the second driving branch support plate drives branch with first respectively
Motor housing on chain is attached.The other end and fixed branch of first driving branch support plate and the second driving branch support plate
Frame connection.Third drives one end of branch support plate and the 4th driving branch support plate to drive the motor on branch with second respectively
Shell is attached.The other end of third driving branch support plate and the 4th driving branch support plate is connect with fixed bracket.The
One end of one redundant drive branch support plate and the second redundant drive branch support plate respectively with first on redundant drive branch
Motor housing and the second motor housing are attached.First redundant drive branch support plate and the second redundant drive branch support plate
The other end connect with fixed bracket.
The first driving branch includes first servo motor, first motor mounting assembly, first shaft coupling, the first shaft coupling
Device shell, first sleeve, the first lead screw, the first drive connection part, the first push rod, the first U-shaped connector and the first crossed joint.
Wherein, the first driving branch passes through first motor mounting assembly and the first driving branch support plate and the second driving branch thereon
Support plate coaxial cooperation is attached.Meanwhile first drives branch to connect by the first crossed joint with moving platform.Described second drives
Dynamic branch is identical as the first driving branch, and the second driving branch drives branch with third by the second motor support base component thereon
Support plate and the 4th driving branch support plate coaxial cooperation are attached.Meanwhile second driving branch by the second crossed joint with
Moving platform connection.
The redundant drive branch include third driving branch, the 4th driving branch, output rod, the U-shaped connector of third and
Third crossed joint.The third driving branch includes third servo motor, third motor support base component, third shaft coupling, third
Coupler casing, 3rd sleeve, third lead screw, third drive connection part, third push rod.Wherein, third driving branch passes through it
On third motor support base component connect with two redundant drive branch support plates.Meanwhile third driving branch passes through thereon
Third push rod is attached with output rod coaxial cooperation.The 4th driving branch includes the 4th servo motor, the 4th motor branch
Holder assembly, the 4th shaft coupling, the 4th coupler casing, 4th sleeve, the 4th lead screw, the 4th drive connection part, the 4th push rod.Its
In, the 4th driving branch is connect by the 4th motor support base component thereon with two redundant drive branch support plates, meanwhile, the
Four driving branches are attached by the 4th push rod thereon with output rod coaxial cooperation.Redundant drive branch passes through third cross
Section is connect with moving platform.
The motion platform includes disk, the 4th U-shaped connector, the 5th U-shaped connector, the 6th U-shaped connector, wherein
4th U-shaped connector, the 5th U-shaped connector, the 6th U-shaped connector are connect with disk respectively.The main shaft cutter head assembly includes
Main shaft cutter head unit and the 5th servo motor, wherein the 5th servo motor is fastenedly connected with disk, main shaft cutter head unit and the 5th
Servo motor connection.
It is proposed by the present invention that there is the redundantly driven parallel bed executing agency for evading Strange properties, it is characterised in that: even
Two driving branches of output rod are connect as redundant drive input, by the pose of the adjustable output rod of input of redundant drive,
The slewing area of moving platform and the range of work of cutter head are improved, to improve the flexible performance of mechanism entirety.First driving branch
It is identical with the second driving structure of branch, and the first driving branch, the second driving branch and redundant drive branch are at circumferentially 120
Degree is arranged symmetrically.
It is proposed by the present invention that there is the redundantly driven parallel bed executing agency for evading Strange properties to have the following advantages: (1)
It is symmetrical configuration, simple, it is easily assembled, processing cost is lower, it is easy to accomplish modular production；(2) there is redundant drive characteristic,
By the pose of the adjustable output rod of input of redundant drive, so that parallel institution has high flexible nature；(3) working space
Greatly, orientation capability is strong, by the adjusting of redundant drive branch, mechanism is allowed to evade the singular position of motion platform, can
Realize biggish steering travel；(4) rigidity is high, and the introducing of redundant drive makes the lathe be provided with good movement and dynamics
Performance, especially raising stiffness characteristics and raising precision characteristic；(5) rapid dynamic response speed can be realized High-speed machining.It is above-mentioned
Advantage is easy the Machine-Tool Control, and machining accuracy is higher, being capable of machine tooling field high speed, high load, high-precision and Gao An
The demand of full property.
Detailed description of the invention
Fig. 1 is the overall structure diagram of parallel machine executing agency of the invention
Fig. 2 is the structural schematic diagram of fixed platform of the invention
Fig. 3 is the perspective view of the explosion of the first driving branch of parallel machine executing agency of the invention
Fig. 4 is the perspective view of the explosion of the second driving branch of parallel machine executing agency of the invention
Fig. 5 is the perspective view of the explosion of the redundant drive branch of parallel machine executing agency of the invention
Fig. 6 is the motion platform of parallel machine executing agency of the invention and the perspective view of the explosion of main shaft cutter head assembly
Fig. 7 is the structural schematic diagram of the first driving branch support plate
Fig. 8 is the structural schematic diagram of the first redundant drive branch support plate
Fig. 9 is the perspective view of the explosion of the first U-shaped connector
Figure 10 is the perspective view of the explosion of third motor support base component
Figure 11 is the perspective view of the explosion of main shaft cutter head assembly
In Fig. 1: fixed platform 1, first driving branch 2, second driving branch 3, redundant drive branch 4, motion platform with
And main shaft cutter head assembly 5.
In Fig. 2: fixed bracket 1-1, the first driving branch support plate 1-2-1, the second driving branch support plate 1-2-2, the
Three driving branch support plate 1-2-3, the 4th driving branch support plate 1-2-4, the first redundant drive branch support plate 1-2-5, the
Two redundant drive branch support plate 1-2-6.
In Fig. 3: first servo motor 2-1, first motor mounting assembly 2-2, first shaft coupling 2-3, outside first shaft coupling
Shell 2-4, first sleeve 2-5, the first lead screw 2-6, the first drive connection part 2-7, the first push rod 2-8, the first U-shaped connector 2-
9, the first crossed joint 2-10.
In Fig. 4: the second servo motor 3-1, the second motor support base component 3-2, second shaft coupling 3-3, outside second shaft coupling
Shell 3-4, second sleeve 3-5, the second lead screw 3-6, the second drive connection part 3-7, the second push rod 3-8, the second U-shaped connector 3-
9, the second crossed joint 3-10.
In Fig. 5: third servo motor 4-1, the 4th servo motor 4-2, third motor support base component 4-3, the 4th motor branch
Holder assembly 4-4, third shaft coupling 4-5, the 4th shaft coupling 4-6, third coupler casing 4-7, the 4th coupler casing 4-8, the
Three sleeve 4-9,4th sleeve 4-10, third lead screw 4-11, the 4th lead screw 4-12, third drive connection part 4-13, the 4th driving
Connector 4-14, third push rod 4-15, the 4th push rod 4-16, output rod 4-17, the U-shaped connector 4-18 of third, third crossed joint
4-19。
In Fig. 6: the 5th servo motor 5-1, the 4th U-shaped connector 5-2, the 5th U-shaped connector 5-3, the 6th U-shaped connector
5-4, disk 5-5, main shaft cutter head unit 5-6.
Specific embodiment
It is of the invention a kind of with evading the redundantly driven parallel bed executing agency of Strange properties in conjunction with attached drawing and implementation
Example is further described.
As shown in Figure 1 is a kind of with the redundantly driven parallel bed executing agency's overall structure signal for evading Strange properties
Figure comprising fixed platform 1, first drives branch 2, second to drive branch 3, redundant drive branch 4, motion platform and master
Axis cutter head assembly 5.
As shown in Fig. 2, equipped with fixed bracket 1-1, the first driving branch support plate 1-2-1, second in the fixed platform 1
Driving branch support plate 1-2-2, the third driving of driving branch support plate 1-2-3 and the 4th branch support plate 1-2-4 lead to respectively
It crosses bolt to be fastenedly connected with fixed bracket 1-1, the first redundant drive branch support plate 1-2-5 and the support of the second redundant drive branch
Plate 1-2-6 passes through bolt respectively and is fastenedly connected with fixed bracket 1-1.
First driving branch 2 as shown in Figure 3, first servo motor 2-1 connect and pacify with first motor mounting assembly 2-2
Mounted in the inside of first motor mounting assembly 2-2, first shaft coupling 2-3 is connect with the output end of first servo motor 2-1, and first
Servo motor 2-1 drives first shaft coupling 2-3 rotation, one end of first shaft coupling shell 2-4 and first motor mounting assembly 2-
2 connections, the other end of first shaft coupling shell 2-4 are connect with first sleeve 2-5, and the first lead screw 2-6 and first shaft coupling 2-3 connect
It connects and is rotated by first shaft coupling 2-3 by first servo motor 2-1 drive, the first drive connection part 2-7 is pushed away with first
Bar 2-8 connection, the first drive connection part 2-7 connects by being threadedly engaged with the first lead screw 2-6, and the first lead screw 2-6, which rotates, makes the
One push rod 2-8 is moved, and one end of the first U-shaped connector 2-9 is fastenedly connected by bolt and the first push rod 2-8, and the 10th
Byte 2-10 is connect with the hole on the first U-shaped connector 2-9 by coaxial cooperation.
Second driving branch 3 as shown in Figure 4 is identical as the modular construction of the first driving branch 2 and connection type, and second
Servo motor 3-1 connect with the second motor support base component 3-2 and is mounted on the inside of the second motor support base component 3-2, and second
Axis device 3-3 is connect with the output end of the second servo motor 3-1, and the second servo motor 3-1 drives second shaft coupling 3-3 rotation, the
One end of two coupler casing 3-4 is connect with the second motor support base component 3-2, the other end of second shaft coupling shell 3-4 and
Two sleeve 3-5 connections, the second lead screw 3-6 are connect and by second shaft coupling 3-3 by the second servo motor with second shaft coupling 3-3
3-1 drive is rotated, and the second drive connection part 3-7 is connect with the second push rod 3-8, and the second drive connection part 3-7 passes through screw thread
Cooperation is connect with the second lead screw 3-6, and the second lead screw 3-6 rotation moves the second push rod 3-8, the second U-shaped connector 3-9's
One end is fastenedly connected by bolt and the second push rod 3-8, and the second crossed joint 3-10 passes through with the hole on the second U-shaped connector 3-9
Coaxial cooperation connection.
As shown in Figure 1 and Figure 5, third driving branch 4-a and the 4th driving branch 4-b passes through third push rod respectively
4-15 and the 4th push rod 4-16 are connect with the through-hole coaxial cooperation on output rod 4-17, output rod 4-17 and the U-shaped connector of third
4-18 is bolted, and third crossed joint 4-19 is connect with the hole on the U-shaped connector 4-18 of third by coaxial cooperation.Its
In, in third driving branch 4-a, third servo motor 4-1 connect with third motor support base component 4-3 and is mounted on third
The inside of motor support base component 4-3, third shaft coupling 4-5 are connect with the output end of third servo motor 4-1, third servo electricity
Machine 4-1 drives third shaft coupling 4-5 rotation, and one end of third coupler casing 4-7 is connect with third motor support base component 4-3,
The other end of third coupler casing 4-7 is connect with 3rd sleeve 4-9, third lead screw 4-11 connect with third shaft coupling 4-5 and
It is rotated by third shaft coupling 4-5 by third servo motor 4-1 drive, third drive connection part 4-13 and third push rod 4-
15 connections, third drive connection part 4-13 connects by being threadedly engaged with third lead screw 4-11, and third lead screw 4-11, which rotates, makes the
Three push rod 4-15 are moved.In the 4th driving branch 4-b, the 4th servo motor 4-2 and the 4th motor support base component 4-4 connect
Meet and be mounted on the inside of the 4th motor support base component 4-4, the output end company of the 4th shaft coupling 4-6 and the 4th servo motor 4-2
It connects, the 4th servo motor 4-2 drives the 4th shaft coupling 4-6 rotation, one end of the 4th coupler casing 4-8 and the 4th motor support base
Component 4-4 connection, the other end of the 4th coupler casing 4-8 are connect with 4th sleeve 4-10, the 4th lead screw 4-12 and tetrad
Axis device 4-6 connection and by the 4th shaft coupling 4-6 by the 4th servo motor 4-2 drive rotated, the 4th drive connection part 4-
14 connect with the 4th push rod 4-16, and the 4th drive connection part 4-14 is connect by being threadedly engaged with the 4th lead screw 4-12, and the 4th
Thick stick 4-12 rotation moves the 4th push rod 4-16.
As shown in fig. 6, the 5th servo motor 5-1 and disk 5-5 is bolted connection, the 4th U-shaped connector 5-2 with
Disk 5-5 is bolted connection, and the 5th U-shaped connector 5-3 and disk 5-5 is bolted connection, the 6th U-shaped connection
Part 5-4 is bolted connection with disk 5-5, and main shaft cutter head unit 5-6 is connect with the 5th servo motor, by the 5th servo electricity
Machine drive is rotated.
It is of the invention have evade the redundantly driven parallel bed executing agencies of Strange properties when in use, be installed in
On the fixation bracket of lathe, main shaft cutter head unit is mounted on moving platform end, can complete high speed and high-precision processing operation
Task.
Claims (2)
1. a kind of with the redundantly driven parallel bed executing agency for evading Strange properties comprising fixed platform, the first driving
Branch, the second driving branch, redundant drive branch, motion platform and main shaft cutter head assembly, it is characterised in that: the fixation is flat
Platform includes a fixed bracket, four identical driving branch support plates and two identical redundant drive branch support plates；
Wherein one end of the first driving branch support plate and the second driving branch support plate is respectively and outside the motor on the first driving branch
Shell is attached；The other end of first driving branch support plate and the second driving branch support plate is connect with fixed bracket；Third
One end of driving branch support plate and the 4th driving branch support plate is connected with the motor housing on the second driving branch respectively
It connects；The other end of third driving branch support plate and the 4th driving branch support plate is connect with fixed bracket；First redundant drive
One end of branch support plate and the second redundant drive branch support plate respectively on redundant drive branch first motor shell and
Second motor housing is attached；The other end of first redundant drive branch support plate and the second redundant drive branch support plate with
Fixed bracket connection；
The first driving branch include first servo motor, first motor mounting assembly, first shaft coupling, outside first shaft coupling
Shell, first sleeve, the first lead screw, the first drive connection part, the first push rod, the first U-shaped connector and the first crossed joint；Its
In, the first driving branch drives branch support plate and the second driving branch branch by first motor mounting assembly and first thereon
Fagging coaxial cooperation is attached；Meanwhile first drives branch to connect by the first crossed joint with moving platform；Second driving
Branch is identical as the first driving branch, and the second driving branch drives branch branch with third by the second motor support base component thereon
Fagging and the 4th driving branch support plate coaxial cooperation are attached；Meanwhile second drives branch by the second crossed joint and moves
Platform connection；
The redundant drive branch includes third driving branch, the 4th driving branch, output rod, the U-shaped connector of third and third
Crossed joint；The third driving branch includes third servo motor, third motor support base component, third shaft coupling, third shaft coupling
Device shell, 3rd sleeve, third lead screw, third drive connection part, third push rod；Wherein, third driving branch passes through thereon
Third motor support base component is connect with two redundant drive branch support plates；Meanwhile third driving branch passes through third thereon
Push rod is attached with output rod coaxial cooperation；The 4th driving branch includes the 4th servo motor, the 4th motor support base group
Part, the 4th shaft coupling, the 4th coupler casing, 4th sleeve, the 4th lead screw, the 4th drive connection part, the 4th push rod；Wherein,
4th driving branch is connect by the 4th motor support base component thereon with two redundant drive branch support plates, meanwhile, the 4th
Driving branch is attached by the 4th push rod thereon with output rod coaxial cooperation；Redundant drive branch passes through third crossed joint
It is connect with moving platform；
The motion platform includes disk, the 4th U-shaped connector, the 5th U-shaped connector, the 6th U-shaped connector, wherein the 4th U
Type connector, the 5th U-shaped connector, the 6th U-shaped connector are connect with disk respectively；The main shaft cutter head assembly includes main shaft knife
Head unit and the 5th servo motor, wherein the 5th servo motor is fastenedly connected with disk, main shaft cutter head unit and the 5th servo electricity
Machine connection.
2. according to claim 1 have the redundantly driven parallel bed executing agency for evading Strange properties, feature exists
In: two driving branches of output rod are connected as redundant drive input, and the pose of output rod is adjusted by the input of redundant drive,
And then realize the change of main shaft cutter head assembly machining angle, the structure of the first driving branch and the second driving branch is identical, and the
One driving branch, the second driving branch and redundant drive branch are arranged symmetrically at circumferentially 120 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710969872.2A CN107617890B (en) | 2017-10-18 | 2017-10-18 | It is a kind of with the redundantly driven parallel bed executing agency for evading Strange properties |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710969872.2A CN107617890B (en) | 2017-10-18 | 2017-10-18 | It is a kind of with the redundantly driven parallel bed executing agency for evading Strange properties |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107617890A CN107617890A (en) | 2018-01-23 |
| CN107617890B true CN107617890B (en) | 2019-11-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710969872.2A Expired - Fee Related CN107617890B (en) | 2017-10-18 | 2017-10-18 | It is a kind of with the redundantly driven parallel bed executing agency for evading Strange properties |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109894883B (en) * | 2019-03-26 | 2020-05-05 | 燕山大学 | Symmetrical three-axis parallel spindle head capable of rotating around fixed point |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001038551A (en) * | 1999-08-04 | 2001-02-13 | Hiihaisuto Seiko Kk | Work table mechanism applying six degree of freedom parallel mechanism |
| EP1870214A1 (en) * | 2005-02-17 | 2007-12-26 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| CN101301725A (en) * | 2008-06-26 | 2008-11-12 | 清华大学 | Series connected type A/B shaft mainshaft head structure driven by telescopic branched chain |
| CN101862966A (en) * | 2010-07-02 | 2010-10-20 | 上海交通大学 | Two-degree of freedom translation parallel decoupling micromotion platform |
| CN103143940A (en) * | 2013-02-28 | 2013-06-12 | 清华大学 | Passive gravity compensation branched chain of spatial parallel mechanism |
| CN106736613A (en) * | 2016-12-23 | 2017-05-31 | 南京理工大学 | A kind of three translation gantry parallel machines of additional redundancy linear slide |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207447882U (en) * | 2017-10-18 | 2018-06-05 | 北京交通大学 | It is a kind of that there is the redundantly driven parallel bed executing agency for evading Strange properties |
-
2017
- 2017-10-18 CN CN201710969872.2A patent/CN107617890B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001038551A (en) * | 1999-08-04 | 2001-02-13 | Hiihaisuto Seiko Kk | Work table mechanism applying six degree of freedom parallel mechanism |
| EP1870214A1 (en) * | 2005-02-17 | 2007-12-26 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| CN101301725A (en) * | 2008-06-26 | 2008-11-12 | 清华大学 | Series connected type A/B shaft mainshaft head structure driven by telescopic branched chain |
| CN101862966A (en) * | 2010-07-02 | 2010-10-20 | 上海交通大学 | Two-degree of freedom translation parallel decoupling micromotion platform |
| CN103143940A (en) * | 2013-02-28 | 2013-06-12 | 清华大学 | Passive gravity compensation branched chain of spatial parallel mechanism |
| CN106736613A (en) * | 2016-12-23 | 2017-05-31 | 南京理工大学 | A kind of three translation gantry parallel machines of additional redundancy linear slide |
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