CN107813290A - 串并混联机械臂 - Google Patents
串并混联机械臂 Download PDFInfo
- Publication number
- CN107813290A CN107813290A CN201610819276.1A CN201610819276A CN107813290A CN 107813290 A CN107813290 A CN 107813290A CN 201610819276 A CN201610819276 A CN 201610819276A CN 107813290 A CN107813290 A CN 107813290A
- Authority
- CN
- China
- Prior art keywords
- revolute joint
- fixed
- mechanical arm
- rod member
- table top
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims description 4
- 239000003814 drug Substances 0.000 abstract description 4
- 239000012636 effector Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005070 sampling Methods 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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
Description
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201610819276.1A CN107813290A (zh) | 2016-09-12 | 2016-09-12 | 串并混联机械臂 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610819276.1A CN107813290A (zh) | 2016-09-12 | 2016-09-12 | 串并混联机械臂 |
Publications (1)
Publication Number | Publication Date |
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CN107813290A true CN107813290A (zh) | 2018-03-20 |
Family
ID=61601067
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610819276.1A Pending CN107813290A (zh) | 2016-09-12 | 2016-09-12 | 串并混联机械臂 |
Country Status (1)
Country | Link |
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CN (1) | CN107813290A (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108890649A (zh) * | 2018-08-27 | 2018-11-27 | 佛山科学技术学院 | 一种六自由度并联机构的示教机械臂参数标定装置及方法 |
CN110524522A (zh) * | 2019-09-19 | 2019-12-03 | 浙江工业大学 | 一种多自由度冗余串并联拟人机械臂 |
CN113916499A (zh) * | 2021-10-28 | 2022-01-11 | 中国人民解放军63921部队 | 动平台光学测量设备跟踪性能检测系统和方法 |
EP4119301A4 (en) * | 2020-03-09 | 2024-03-27 | Toshiba Kk | ROBOT SYSTEM, PARALLEL LINK MECHANISM, CONTROL METHOD, CONTROL DEVICE, PROGRAM, AND STORAGE MEDIUM |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101049692A (zh) * | 2007-04-20 | 2007-10-10 | 天津大学 | 五自由度混联机器人 |
CN101224574A (zh) * | 2008-02-21 | 2008-07-23 | 北京航空航天大学 | 主被动结合的九自由度混联机器人 |
CN102699790A (zh) * | 2012-06-08 | 2012-10-03 | 常州大学 | 一种自适应打磨机器人机构 |
CN104526684A (zh) * | 2014-12-30 | 2015-04-22 | 天津大学 | 一种可实现重力自平衡的高刚度混联机器人 |
CN104552278A (zh) * | 2015-01-15 | 2015-04-29 | 南京信息职业技术学院 | 一种机器人化螺旋制孔系统 |
CN204397890U (zh) * | 2015-01-06 | 2015-06-17 | 安徽理工大学 | 一种基于拓扑结构的可重构混联机器人 |
CN105643593A (zh) * | 2014-11-07 | 2016-06-08 | 江南大学 | 一种(3t)&2r五自由度解耦混联机构 |
CN105856189A (zh) * | 2016-05-25 | 2016-08-17 | 刘明月 | 一种汽车轮毂码垛机器人 |
-
2016
- 2016-09-12 CN CN201610819276.1A patent/CN107813290A/zh active Pending
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101049692A (zh) * | 2007-04-20 | 2007-10-10 | 天津大学 | 五自由度混联机器人 |
CN101224574A (zh) * | 2008-02-21 | 2008-07-23 | 北京航空航天大学 | 主被动结合的九自由度混联机器人 |
CN102699790A (zh) * | 2012-06-08 | 2012-10-03 | 常州大学 | 一种自适应打磨机器人机构 |
CN105643593A (zh) * | 2014-11-07 | 2016-06-08 | 江南大学 | 一种(3t)&2r五自由度解耦混联机构 |
CN104526684A (zh) * | 2014-12-30 | 2015-04-22 | 天津大学 | 一种可实现重力自平衡的高刚度混联机器人 |
CN204397890U (zh) * | 2015-01-06 | 2015-06-17 | 安徽理工大学 | 一种基于拓扑结构的可重构混联机器人 |
CN104552278A (zh) * | 2015-01-15 | 2015-04-29 | 南京信息职业技术学院 | 一种机器人化螺旋制孔系统 |
CN105856189A (zh) * | 2016-05-25 | 2016-08-17 | 刘明月 | 一种汽车轮毂码垛机器人 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108890649A (zh) * | 2018-08-27 | 2018-11-27 | 佛山科学技术学院 | 一种六自由度并联机构的示教机械臂参数标定装置及方法 |
CN110524522A (zh) * | 2019-09-19 | 2019-12-03 | 浙江工业大学 | 一种多自由度冗余串并联拟人机械臂 |
CN110524522B (zh) * | 2019-09-19 | 2024-03-26 | 浙江工业大学 | 一种多自由度冗余串并联拟人机械臂 |
EP4119301A4 (en) * | 2020-03-09 | 2024-03-27 | Toshiba Kk | ROBOT SYSTEM, PARALLEL LINK MECHANISM, CONTROL METHOD, CONTROL DEVICE, PROGRAM, AND STORAGE MEDIUM |
CN113916499A (zh) * | 2021-10-28 | 2022-01-11 | 中国人民解放军63921部队 | 动平台光学测量设备跟踪性能检测系统和方法 |
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Legal Events
Date | Code | Title | Description |
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PB01 | Publication | ||
PB01 | Publication | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20190107 Address after: 311200 first floor, 4 building, 389 Hongxing Road, Xiaoshan economic and Technological Development Zone, Xiaoshan District, Hangzhou, Zhejiang. Applicant after: Hangzhou Chen Zheng Zheng Technology Co., Ltd. Address before: Room 705, 9 Building, No. 1 Courtyard, Dewai Xinfeng Street, Xicheng District, Beijing 100086 Applicant before: Ma Jianqun Applicant before: Zhang Lei |
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SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20201022 Address after: 317317 Baita Industrial Cluster, Baita Town, Xianju County, Taizhou City, Zhejiang Province Applicant after: Xianju Boyuan surgical medical equipment Co., Ltd Address before: Hung Hing Road, Xiaoshan economic and Technological Development Zone of Xiaoshan District of Hangzhou City, Zhejiang province 311200 No. 389 Building No. 4 Building Applicant before: HANGZHOU GUOCHEN ZHENGYU TECHNOLOGY Co.,Ltd. |
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TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210308 Address after: 317317 Baita Industrial Cluster, Baita Town, Xianju County, Taizhou City, Zhejiang Province Applicant after: Xianju Xingzhi Technology Co.,Ltd. Address before: 317317 Baita Industrial Cluster, Baita Town, Xianju County, Taizhou City, Zhejiang Province Applicant before: Xianju Boyuan surgical medical equipment Co., Ltd |