CN107627292A - A kind of multiple degrees of freedom large stroke and high precision motion platform - Google Patents
A kind of multiple degrees of freedom large stroke and high precision motion platform Download PDFInfo
- Publication number
- CN107627292A CN107627292A CN201710881691.4A CN201710881691A CN107627292A CN 107627292 A CN107627292 A CN 107627292A CN 201710881691 A CN201710881691 A CN 201710881691A CN 107627292 A CN107627292 A CN 107627292A
- Authority
- CN
- China
- Prior art keywords
- platform
- high precision
- single dof
- multiple degrees
- dof mobility
- 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
Landscapes
- Machine Tool Units (AREA)
- Bearings For Parts Moving Linearly (AREA)
Abstract
The invention discloses a kind of multiple degrees of freedom large stroke and high precision motion platform, including：Three single dof mobility platforms, two rotatable parts and slide unit；One rotatable parts is formed with slide unit rotates sliding motion pair, and another rotatable parts forms revolute pair；Rotate sliding motion pair and revolute pair is separately positioned on two single dof mobility platforms；3rd single dof mobility platform, which is separately fixed at, to be rotated in sliding motion pair and revolute pair.Thus user can according to needed for neatly constructing specific requirement the free degree multiple degrees of freedom large stroke and high precision motion platform.
Description
Technical field
It is high-precision more particularly, to a kind of big stroke of multiple degrees of freedom the present invention relates to the technical field of precision movement platform
Spend motion platform.
Background technology
With the development of science and technology requirement more and more higher of the people to product, promotes manufacturer will to the machining accuracy of product
Seek also more and more higher, the stroke of feeding with high precision motion platform is universal shorter in existing equipment, and the common grand motion of big stroke
The precision of equipment can not meet actual demand again, if using special large stroke and high precision sports equipment, product is manufactured into
This will be significantly increased.For above-mentioned present situation, it is a kind of can be by the grand motion of big stroke general precision and micro- fortune of the small stroke of high accuracy
Large stroke and high precision is fed for dynamic mutually compound can realizing, and with multidirectional motion platform increasingly by the green grass or young crops of industry
Look at.
The content of the invention
In the prior art, according to the proper motion pattern of platform, the platform constructed is typically just one-dimensional or two-dimentional, freely
Spend less, it is impossible to meet being actually needed for user.The defects of based on prior art, the present invention provide a kind of big row of multiple degrees of freedom
Journey high-precision motion platform, technical scheme are as follows.
A kind of multiple degrees of freedom large stroke and high precision motion platform, it is characterised in that including：Three single dof mobilities are put down
Platform, the first rotatable parts (C401), the second rotatable parts (C401) and slide unit (C402)；
Each single dof mobility platform includes：Pedestal (C101, C201, C301) and guiding mechanism；It is described to lead
Include to mechanism：Rigid support platform (C102, C202, C302) and nucleus movement platform (C103, C203, C303)；
First rotatable parts (C401) form with slide unit (C402) and rotate sliding motion pair；The rotation sliding motion
Pair is rigidly connected with the nucleus movement platform (C103) in the first single dof mobility platform, and is put down with the 3rd single dof mobility
Pedestal (C301) in platform is rigidly connected；
Second rotatable parts (C401) rigidly connect with the nucleus movement platform (C203) in the second single dof mobility platform
Connect, and be rigidly connected with the pedestal (C301) in the 3rd single dof mobility platform.
Preferably, the multiple degrees of freedom large stroke and high precision motion platform also includes：First connector (C403) and second
Connector (C404)；
The sliding motion pair that rotates passes through the pedestal in the first connector (C403) and the 3rd single dof mobility platform
(C301) it is rigidly connected；
Second rotatable parts (C401) pass through in the second connector (C404) and the 3rd single dof mobility platform
Pedestal (C301) is rigidly connected.
Preferably, first rotatable parts (C401), the second rotatable parts (C401) are decussation roller collar.
Preferably, the slide unit (C402) is short straight line guide rail platform.
Preferably, each single dof mobility platform also includes：Line slideway (A3) and linear actuator (A4)；
Rigid support platform (A201) forms sliding pair with pedestal (A1) by line slideway (A3) and is connected, nucleus movement platform (A203)
It is connected with the mover of linear actuator (A4), the stationary part of the linear actuator (A4) rigidly connects with the pedestal (A1)
Connect.
Preferably, guiding mechanism also includes：Main flexible hinge chain group (A202)；The main flexible hinge chain group (A202) is arranged on
Between rigid support platform (A201) and nucleus movement platform (A203)；Linear actuator (A4) drives the nucleus movement platform
(A203) displacement is produced under the deflection constraint of main flexible hinge chain group (A202).
Preferably, the first single dof mobility platform and the second single dof mobility platform are all disposed within base (C5).
Compared with prior art, the beneficial effects of the invention are as follows：
1. can the multiple degrees of freedom large stroke and high precision motion of the free degree according to needed for neatly constructing specific requirement it is flat
Platform；
2. each big stroke high-precision movement platform assembly of single-degree-of-freedom is processed manufacture using general machining mode,
The particular components such as air supporting, magnetic suspension are not used, cost is relatively low.
Brief description of the drawings
Fig. 1 is single dof mobility platform schematic diagram.
Fig. 2 is single dof mobility platform exploded perspective view
Fig. 3 is the overall schematic of Three-degree-of-freedom motion platform.
Fig. 4 is the exploded perspective view of Three-degree-of-freedom motion platform.
Fig. 5 is the schematic diagram of the flexible hinge guiding mechanism comprising rigidity reinforcement structure of the embodiment 1 of guiding mechanism.
Fig. 6 is the axle sectional view and partial enlarged drawing of the guiding mechanism of the embodiment 1 of guiding mechanism.
Fig. 7 is the front cross sectional view and partial enlarged drawing of the embodiment 1 of guiding mechanism.
Fig. 8 is the assembly axle sectional view of the guiding mechanism of embodiment 1 of guiding mechanism.
Fig. 9 is the assembly axle side front cross sectional view and partial enlarged drawing of the guiding mechanism of embodiment 1 of guiding mechanism.
Figure 10 is the overall schematic of embodiment 2 of guiding mechanism.
Figure 11 is the assembly axle sectional view and partial enlarged drawing of the guiding mechanism of embodiment 2 of guiding mechanism.
Figure 12 is the guiding mechanism assembly front cross sectional view of embodiment 2 and partial enlarged drawing of guiding mechanism.
Embodiment
Accompanying drawing being given for example only property explanation, it is impossible to be interpreted as the limitation to this patent；It is attached in order to more preferably illustrate the present embodiment
Scheme some parts to have omission, zoom in or out, do not represent the size of actual product；To those skilled in the art,
Some known features and its explanation may be omitted and will be understood by accompanying drawing.Being given for example only property of position relationship described in accompanying drawing
Explanation, it is impossible to be interpreted as the limitation to this patent.
Single dof mobility platform as shown in Figure 1, 2, including：Guiding mechanism, line slideway (A3), pedestal (A1) and core
Motion platform (A203).Wherein, guiding mechanism includes：Rigid support platform (A201), main flexible hinge chain group (A202) and straight line
Driver (A4).Rigid support platform (A201) forms sliding pair with pedestal (A1) by line slideway (A3) and is connected, big carrying
Nucleus movement platform (A203) in flexible hinge guiding mechanism is connected with the mover of linear actuator (A4), can be driven described
Nucleus movement platform (A203) produces displacement under the deflection constraint of main flexible hinge chain group (A202).The linear actuator (A4)
Stationary part be rigidly connected with the pedestal (A1).
One kind three of multiple degrees of freedom large stroke and high precision motion platform is by degree motion platform, as shown in Figure 3 and Figure 4.Fig. 3 with
Three-degree-of-freedom motion platform shown in 4 employs three groups of single dof mobility Platforms, respectively single dof mobility
Platform α, β and θ.Wherein, above-mentioned single dof mobility platform α is mainly made up of pedestal (C101) and guiding mechanism.Wherein, it is oriented to
Mechanism includes：The parts such as rigid support platform (C102), nucleus movement platform (C103).Above-mentioned single dof mobility platform β master
To be made up of parts such as pedestal (C201), rigid support platform (C202), nucleus movement platforms (C203), above-mentioned single-degree-of-freedom fortune
Moving platform θ is mainly made up of parts such as pedestal (C301), rigid support platform (C302), nucleus movement platforms (C303).This reality
Apply to form with short straight line guide rail platform (C402) using decussation roller collar (C401) in example and rotate sliding motion pair, utilize simultaneously
Another decussation roller collar (C401) forms revolute pair.In above-mentioned rotation sliding motion pair and single dof mobility platform α
Nucleus movement platform (C103) is rigidly connected, and passes through the pedestal in connector (C403) and single dof mobility platform θ
(C301) it is rigidly connected.Above-mentioned revolute pair is rigidly connected with the nucleus movement platform (C203) in single dof mobility platform β, and
It is rigidly connected by connector (C404) and the pedestal (C301) in single dof mobility platform θ.The single dof mobility is put down
Platform α and β is arranged on base C5.
Nucleus movement platform (C103) in the single dof mobility platform α and β passes through differential motion side with (C203)
Formula can realize two free degree sides such as unidirectional linear motion and the yaw motion of the pedestal in the single dof mobility platform θ
To motion.Core motion platform (C303) line slideway fixed along pedestal (301) in the single dof mobility platform θ
System can realize the motion in Three Degree Of Freedom direction.By the above-mentioned means, Three-degree-of-freedom motion platform of the present invention can
To realize x-y- θ three-degree-of-freedom motions.
The guiding mechanism of the present invention includes two embodiments.Embodiment 1 is as shown in Figure 5.Guiding mechanism shown in embodiment 1
It is in the main distinction of existing flexible hinge guiding mechanism in adding for carrying big load and the change of resistance inoperative direction
Secondary flexible hinge (401) used in shape.The operation principle of the guiding mechanism of embodiment 1 is：As shown in Figure 6 and Figure 7, the core fortune
Moving platform (3) is connected by main flexible hinge chain group (2) and time flexible hinge chain group (401) with the rigid support platform (1) respectively.
The main flexible hinge chain group (2) is integrated with the flexible hinge in time flexible hinge chain group (401) with the rigid support platform (1)
Formula is fabricated, and the secondary flexible hinge chain group (401) is connected by the portion of being rigidly connected (402) with the nucleus movement platform (3).
The main operative orientation of the main flexible hinge chain group (2) and the flexible hinge in time flexible hinge chain group (401) is that the core is transported
The direction of displacement of moving platform (3).The main flexible hinge chain group (2) and the cloth of the flexible hinge of the secondary flexible hinge chain group (401)
Office direction is mutually perpendicular in the direction plane of nucleus movement platform (3) direction of motion, and is transported both with respect to the core
Moving platform (3) is arranged symmetrically, as shown in Figure 7.The main flexible hinge chain group (2) of arrangement and described secondary is mutually perpendicular in three dimensions
Flexible hinge in flexible hinge chain group (401) can mutually be strengthened mutual bearing big load and resisting inoperative Direction distortion
Ability.
The application of flexible hinge guide frame on the moving platform described in embodiment 1 is as shown in Figure 8 and Figure 9.The core
Motion platform (3) is driven by the linear actuator (5), and the work shift of the nucleus movement platform (3) is passed by pattern displacement
Sensor (6) measurement obtains.Driver described in straight line (5) act on it is inclined caused by the torque on the nucleus movement platform (3)
Indexing moves is offset by the secondary flexible hinge chain group being arranged symmetrically with the nucleus movement platform (3).The nucleus movement platform (3) is held
When carrying big load, because main flexible hinge chain group (2) motion platform (3) caused by vertical load direction rigidity is relatively low is sunk
The flexibility that displacement is arranged symmetrically by relatively described nucleus movement platform (3) horizontal central plane in the secondary flexible hinge chain group (401)
Hinge is offset.By above-mentioned operation principle, the nucleus movement platform (3) utilizes the rigidity enhancing side of the secondary flexible hinge chain group
Formula can greatly improve the ability for bearing big load resistance inoperative Direction distortion.
Particularly, the rigid support platform (3) in embodiment 1 caused by processing time flexible hinge chain group (401) is weak
Part can carry out rigidly connected mode to increase rigid support by an embedded Stiff Block (403) blending bolt group A (404)
The rigidity of platform (3).
The embodiment 2 of guiding mechanism is as shown in Figure 10 to Figure 12.The guiding mechanism of embodiment 2 and the guiding mechanism of embodiment 1
Main Differences point is：Secondary flexible hinge chain group (401) use of embodiment 1 is integrally machined mode with the rigid support platform and entered
Row manufacture, the secondary flexible hinge chain group described in embodiment 2 are manufactured by the way of part assembling.
As is illustrated by figs. 11 and 12, secondary flexible hinge chain group includes spring leaf (401a), bolt group B (405), bolt group C
(406), contiguous block A (407), contiguous block B (408) etc..Wherein, the spring leaf (401a) by bolt group B (405) with it is described
Rigid support platform (1) is rigidly connected, and the nucleus movement platform (3) passes through contiguous block B (408), contiguous block A (407) and spiral shell
The parts such as bolt group C (406) in the middle part of the spring leaf (401a) with being rigidly connected.Pass through the above-mentioned assembling that is rigidly connected, the spring
Piece (401a) can realize the said function with described in embodiment 1 flexible hinge chain group (401).Spring leaf (401a) dress
The secondary flexible hinge assembly that part is formed can be used for increasing the nucleus movement platform (3) and bear big load and resist non-
The ability of operative orientation deformation.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement made within the spirit and principle of invention etc., should be included in the claims in the present invention
Protection domain within.
Claims (8)
- A kind of 1. multiple degrees of freedom large stroke and high precision motion platform, it is characterised in that including：Three single dof mobility platforms, First rotatable parts (C401), the second rotatable parts (C401) and slide unit (C402)；Each single dof mobility platform includes：Pedestal (C101, C201, C301) and guiding mechanism；The Guiding machine Structure includes：Rigid support platform (C102, C202, C302) and nucleus movement platform (C103, C203, C303)；First rotatable parts (C401) form with slide unit (C402) and rotate sliding motion pair；The rotation sliding motion it is secondary with Nucleus movement platform (C103) in first single dof mobility platform is rigidly connected, and with the 3rd single dof mobility platform Pedestal (C301) be rigidly connected；Second rotatable parts (C401) are rigidly connected with the nucleus movement platform (C203) in the second single dof mobility platform, and It is rigidly connected with the pedestal (C301) in the 3rd single dof mobility platform.
- 2. multiple degrees of freedom large stroke and high precision motion platform according to claim 1, it is characterised in that：The multiple degrees of freedom Large stroke and high precision motion platform also includes：First connector (C403) and the second connector (C404)；The sliding motion pair that rotates passes through the pedestal in the first connector (C403) and the 3rd single dof mobility platform (C301) it is rigidly connected；Second rotatable parts (C401) pass through the pedestal in the second connector (C404) and the 3rd single dof mobility platform (C301) it is rigidly connected.
- 3. multiple degrees of freedom large stroke and high precision motion platform according to claim 1 or 2, it is characterised in that：Described first Rotatable parts (C401), the second rotatable parts (C401) are decussation roller collar.
- 4. multiple degrees of freedom large stroke and high precision motion platform according to claim 3, it is characterised in that：The slide unit (C402) it is short straight line guide rail platform.
- 5. multiple degrees of freedom large stroke and high precision motion platform according to claim 1, it is characterised in that：Each list is certainly Also included by degree motion platform：Line slideway (A3) and linear actuator (A4)；Rigid support platform (A201) passes through straight line Guide rail (A3) forms sliding pair with pedestal (A1) and is connected, and the mover of nucleus movement platform (A203) and linear actuator (A4) connects Connect, stationary part and the pedestal (A1) of the linear actuator (A4) are rigidly connected.
- 6. multiple degrees of freedom large stroke and high precision motion platform according to claim 5, it is characterised in that：The guiding mechanism Also include：Main flexible hinge chain group (A202)；The main flexible hinge chain group (A202) is arranged on rigid support platform (A201) and core Between heart motion platform (A203)；Linear actuator (A4) drives the nucleus movement platform (A203) in main flexible hinge chain group (A202) displacement is produced under deflection constraint.
- 7. the multiple degrees of freedom large stroke and high precision motion platform according to one of claim 1 to 2,4 to 6, it is characterised in that： First single dof mobility platform and the second single dof mobility platform are all disposed within base (C5).
- 8. multiple degrees of freedom large stroke and high precision motion platform according to claim 3, it is characterised in that：First single-degree-of-freedom Motion platform and the second single dof mobility platform are all disposed within base (C5).
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710881691.4A CN107627292B (en) | 2017-09-26 | 2017-09-26 | Multi-degree-of-freedom large-stroke high-precision motion platform |
| US15/853,847 US10564553B2 (en) | 2017-09-26 | 2017-12-24 | Large load-bearing guide mechanism and multi-DOF large-stroke high-precision motion platform system |
| JP2018000624A JP6860869B2 (en) | 2017-09-26 | 2018-01-05 | High load-bearing guidance mechanism and multi-degree-of-freedom, large stroke, high-precision moving stage system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710881691.4A CN107627292B (en) | 2017-09-26 | 2017-09-26 | Multi-degree-of-freedom large-stroke high-precision motion platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107627292A true CN107627292A (en) | 2018-01-26 |
| CN107627292B CN107627292B (en) | 2023-10-03 |
Family
ID=61102499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710881691.4A Active CN107627292B (en) | 2017-09-26 | 2017-09-26 | Multi-degree-of-freedom large-stroke high-precision motion platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107627292B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253308A (en) * | 2019-07-23 | 2019-09-20 | 广东工业大学 | A kind of double lathes and method for driving movement warp in compensation gantry |
| CN111804948A (en) * | 2020-07-01 | 2020-10-23 | 尚特(广州)机器人智能装备有限公司 | Aluminum alloy processing machine |
| CN112008755A (en) * | 2020-08-27 | 2020-12-01 | 中国科学院宁波材料技术与工程研究所 | Flexible joint and double-drive gantry rectangular coordinate platform |
| CN112259488A (en) * | 2020-12-22 | 2021-01-22 | 上海隐冠半导体技术有限公司 | Micro-motion platform and motion device |
| CN114074318A (en) * | 2022-01-17 | 2022-02-22 | 常州铭赛机器人科技股份有限公司 | Gantry double-drive structure |
| CN114888868A (en) * | 2022-05-27 | 2022-08-12 | 龚重园 | Building decorative panel processing bed |
| CN115026621A (en) * | 2022-07-26 | 2022-09-09 | 北京慧摩森电子系统技术有限公司 | Machining tool, three-degree-of-freedom automatic carrying device and control method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060241810A1 (en) * | 2005-04-20 | 2006-10-26 | Dan Zhang | High stiffness, high accuracy, parallel kinematic, three degree of freedom motion platform |
| US20080229860A1 (en) * | 2005-11-17 | 2008-09-25 | Ilian Bonev | Planar Parallel Mechanism and Method |
| CN204248537U (en) * | 2014-11-26 | 2015-04-08 | 广东工业大学 | Isomery motor is the grand micro-integration high speed precise motion two-dimensional stage of the many drivings of stator altogether |
| CN104889793A (en) * | 2015-06-08 | 2015-09-09 | 广东工业大学 | Damping spring sheet type rigidity frequency adjustable macro-micro integrated composite platform |
| CN206123167U (en) * | 2016-06-29 | 2017-04-26 | 广东工业大学 | Accurate motion platform of hard and soft coupling of single drive |
| WO2017092105A1 (en) * | 2015-12-04 | 2017-06-08 | 中国科学院深圳先进技术研究院 | Radiation therapy bed with multiple degrees of freedom |
| CN207465223U (en) * | 2017-09-26 | 2018-06-08 | 广东工业大学 | A kind of multiple degrees of freedom large stroke and high precision motion platform |
-
2017
- 2017-09-26 CN CN201710881691.4A patent/CN107627292B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060241810A1 (en) * | 2005-04-20 | 2006-10-26 | Dan Zhang | High stiffness, high accuracy, parallel kinematic, three degree of freedom motion platform |
| US20080229860A1 (en) * | 2005-11-17 | 2008-09-25 | Ilian Bonev | Planar Parallel Mechanism and Method |
| CN204248537U (en) * | 2014-11-26 | 2015-04-08 | 广东工业大学 | Isomery motor is the grand micro-integration high speed precise motion two-dimensional stage of the many drivings of stator altogether |
| CN104889793A (en) * | 2015-06-08 | 2015-09-09 | 广东工业大学 | Damping spring sheet type rigidity frequency adjustable macro-micro integrated composite platform |
| WO2017092105A1 (en) * | 2015-12-04 | 2017-06-08 | 中国科学院深圳先进技术研究院 | Radiation therapy bed with multiple degrees of freedom |
| CN206123167U (en) * | 2016-06-29 | 2017-04-26 | 广东工业大学 | Accurate motion platform of hard and soft coupling of single drive |
| CN207465223U (en) * | 2017-09-26 | 2018-06-08 | 广东工业大学 | A kind of multiple degrees of freedom large stroke and high precision motion platform |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253308A (en) * | 2019-07-23 | 2019-09-20 | 广东工业大学 | A kind of double lathes and method for driving movement warp in compensation gantry |
| CN110253308B (en) * | 2019-07-23 | 2024-05-14 | 广东工业大学 | Machine tool and method for compensating gantry double-drive motion deviation |
| CN111804948A (en) * | 2020-07-01 | 2020-10-23 | 尚特(广州)机器人智能装备有限公司 | Aluminum alloy processing machine |
| CN112008755A (en) * | 2020-08-27 | 2020-12-01 | 中国科学院宁波材料技术与工程研究所 | Flexible joint and double-drive gantry rectangular coordinate platform |
| CN112008755B (en) * | 2020-08-27 | 2021-07-16 | 中国科学院宁波材料技术与工程研究所 | Flexible joint and double-drive gantry rectangular coordinate platform |
| CN112259488A (en) * | 2020-12-22 | 2021-01-22 | 上海隐冠半导体技术有限公司 | Micro-motion platform and motion device |
| CN114074318A (en) * | 2022-01-17 | 2022-02-22 | 常州铭赛机器人科技股份有限公司 | Gantry double-drive structure |
| CN114888868A (en) * | 2022-05-27 | 2022-08-12 | 龚重园 | Building decorative panel processing bed |
| CN114888868B (en) * | 2022-05-27 | 2024-04-12 | 长沙迪奥装饰工程有限公司 | Building decorative panel processing bed |
| CN115026621A (en) * | 2022-07-26 | 2022-09-09 | 北京慧摩森电子系统技术有限公司 | Machining tool, three-degree-of-freedom automatic carrying device and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107627292B (en) | 2023-10-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107627292A (en) | A kind of multiple degrees of freedom large stroke and high precision motion platform | |
| US7793564B2 (en) | Parallel mechanism having two rotational and one translational degrees of freedom | |
| JPWO2019009105A1 (en) | Table circulation guide device | |
| JP2010537184A5 (en) | ||
| US20110178782A1 (en) | Method for Estimating Geometric Error Between Linear Axis and Rotary Axis in a Multi-Axis Machine Tool | |
| EP1257045A2 (en) | Stage system with onboard linear motor | |
| CN107705822A (en) | A kind of big carrying flexible hinge guiding mechanism | |
| US20220324096A1 (en) | Positioning System | |
| CN207474079U (en) | A kind of big carrying flexible hinge guiding mechanism | |
| US20190094714A1 (en) | Large load-bearing guide mechanism and multi-dof large-stroke high-precision motion platform system | |
| CN205663756U (en) | Straight line intersecting roller guide is vice | |
| JP2014206416A (en) | Measuring machine, and movable guide mechanism of the same | |
| JP6938457B2 (en) | Transport system, mover, control device and control method | |
| CN108453716A (en) | Robot | |
| CN207465223U (en) | A kind of multiple degrees of freedom large stroke and high precision motion platform | |
| CN101774174A (en) | Novel broad sense parallel connection platform structure | |
| KR101146947B1 (en) | 4 degrees of freedom motion limiting device and simulator motion platform utilizing the motion limiting device | |
| KR101176414B1 (en) | 4 degrees of freedom actuation system and simulator motion platform utilizing the actuation system | |
| JP2010264526A (en) | Parallel mechanism and control method therefor | |
| US20070089554A1 (en) | Tetrahedron rack and pinion drive | |
| CN102455174A (en) | Multi-degrees-of-freedom displacement measuring device and application thereof to body-in-white static stiffness test | |
| CA2986541A1 (en) | Positioning system | |
| US10439480B2 (en) | Actuator and linear motion module | |
| TW200425164A (en) | X-Y axis stage device | |
| WO2021003865A1 (en) | Humanoid robot waist joint and humanoid robot |
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 |