CN108356802A - A kind of two-freedom-degree parallel mechanism of partly decoupled - Google Patents
A kind of two-freedom-degree parallel mechanism of partly decoupled Download PDFInfo
- Publication number
- CN108356802A CN108356802A CN201810465309.6A CN201810465309A CN108356802A CN 108356802 A CN108356802 A CN 108356802A CN 201810465309 A CN201810465309 A CN 201810465309A CN 108356802 A CN108356802 A CN 108356802A
- Authority
- CN
- China
- Prior art keywords
- curved rod
- revolute pair
- moving platform
- branched chain
- rotatablely connected
- 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 title claims abstract description 21
- 230000003068 static effect Effects 0.000 claims description 2
- 238000004088 simulation Methods 0.000 abstract description 2
- 238000001356 surgical procedure Methods 0.000 abstract description 2
- 239000011324 bead Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000282376 Panthera tigris Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 208000002925 dental caries Diseases 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of two-freedom-degree parallel mechanisms of partly decoupled, including silent flatform, moving platform and the first movement branched chain, the second movement branched chain；First movement branched chain includes the first revolute pair, and silent flatform is rotatablely connected by one end of the first revolute pair and the first curved rod；Second movement branched chain includes the second revolute pair, and holder is equipped on silent flatform, and holder is rotatablely connected by one end of the second revolute pair and the second curved rod, and the other end of the second curved rod is rotatablely connected with one end of third curved rod；In first axis pin and second axis pin of the side of moving platform equipped with the arrangement of 90 ° of angles each other；The other end of first curved rod and the first axis pin are rotatablely connected；The other end of third curved rod and the second axis pin are rotatablely connected；The configuration of the present invention is simple operates steadily, flexibility ratio height, realizes the partly decoupled between two rotational freedoms, can be applied to Virtual Machine, flight simulation equipment and the fields such as industrial robot and medical surgery equipment.
Description
Technical field
The present invention relates to a kind of parallel institution, especially a kind of two-freedom-degree parallel mechanism of partly decoupled.
Background technology
Since 1938 are put forward for the first time parallel institution, because its tool greater stiffness, stronger bearing capacity, error are small, smart
The features such as degree is high, dead weight duty ratio is small, power performance is good, control is easy, parallel institution is widely used in heavily loaded analog machine, machine
The fields such as device people, numerically-controlled machine tool, sensor and microoperation.
Currently, common are 2DOF, 3DOF, 4DOF, 5DOF, 6DOF parallel institution.These are in parallel
Each driving unit of mechanism couples, i.e. movement of the parallel robot overall output platform along any one direction is all drivings
The movement of unit synthesizes, and is non-linear between the movement and parallel institution mass motion (input and export) of each driving unit
's.This will cause parallel institution control complicated, and calibration is difficult, and constrains the raising of precision.Thus, how to realize parallel institution
Decoupling improve kinematic accuracy to simplify its control and calibration, be always a difficulty and be imbued with the project of challenge.
The problem of parallel institution decouples for a clear description, is described as follows the definition of concept first：
Decoupling：If translation or rotation of the parallel institution in certain direction rely only on a direction driving unit action,
Referred to as decouple；
Unconditional decoupling：If parallel robot at an arbitrary position be all decoupling under posture, be referred to as unconditional
Decoupling；
It has ready conditions decoupling：If parallel robot is decoupling at an arbitrary position or under particular pose, it is referred to as to have
Conditional decoupling (also referred to as partly decoupled)；
Instantaneous decoupling：If parallel robot is only decoupling, referred to as wink under specific position or particular pose
When decouple.
Currently, have been achieved for numerous achievements in terms of parallel institution decouples research, but these achievements are also correspondingly
There are problems that, it is specific as follows：
Patent document CN1775487 proposes two-free-degree decoupling spherical parallel mechanism, but because of parallel the four of movement branched chain
Bian Xing mechanisms are replaced by prismatic pair, limit the slewing area of mechanism；
Patent document CN2762940 discloses a kind of spherical three-degree-of-freedom parallel mechanism, which can realize an axis
360 degree of rotations in direction, but three direction rotation couplings completely, i.e., cannot decouple；
The spherical surface rotating paralleling mechanism with Three Degree Of Freedom that patent document CN202162805U is proposed can realize three freely
Degree decoupling, but the slewing area of mechanism is limited inside its branch containing Hooke hinge；
Two one-rotation parallel mechanism of decoupling type that patent document CN104308833A is proposed only realizes that hemisphere rotates；
Two rotating mechanism of a kind of mobile decoupling that patent document CN102126212A is proposed, but the tiger contained by inside branch
Gram hinge limits the slewing area of mechanism；
The two-free-degree decoupling spherical parallel mechanism that patent document CN1803410A is proposed, can realize that two degrees of freedom is unconditional
Decoupling, but when moving platform bears certain dead load, moving platform is rotated around revolute pair, due to the influence of revolute pair friction circle,
Limit the working space of moving platform；Although the expansion of working space can be realized by proposing two kinds of biasing means, but still cannot be made
Obtaining moving platform has global face working space；
Patent document CN106426109A proposes a kind of decoupling type two degrees of freedom of achievable global face working space simultaneously
Online structure, the rotational freedom decoupling under capable of realizing two degrees of freedom unconditionally, the rotation in the one of direction of the parallel institution are adopted
Realized with the mode of pitman pin, cause moving platform during the direction rotates, the radius of gyration of associated linkages compared with
Greatly, and the centre of gyration point of its other moving platform be not two revolute axis intersection point, limit it in this way in precision positioning
Application；.
Invention content
Present invention aim to be directed to existing deficiencies in the technology, provide the two of a kind of partly decoupled from
By degree parallel institution, this parallel institution is simple in structure, operates steadily, flexibility ratio height, realizes two rotational freedoms each other
Between partly decoupled.
The present invention concrete scheme be：A kind of two-freedom-degree parallel mechanism of partly decoupled, including silent flatform, moving platform and
The first movement branched chain and the second movement branched chain being connected between dynamic and static platform；It is characterized in that：
First movement branched chain includes the first revolute pair, and the silent flatform passes through the first revolute pair and the first curved rod
One end rotation connection, wherein the first curved rod by two with arc core arrange the first curved rod and the second curved rod with opposite
The mode being slidably connected is connected as one；
Second movement branched chain includes the second revolute pair, and holder is equipped on silent flatform, and holder passes through the second revolute pair
It is rotatablely connected with one end of the second curved rod, the other end of the second curved rod connects with one end rotation of third curved rod
It connects；
First axis pin and second axis pin of the side of the moving platform equipped with the arrangement of 90 ° of angles each other；First arc
The other end of connecting rod and the first axis pin are rotatablely connected；The other end of the third curved rod and the second axis pin are rotatablely connected；
The central axes of first revolute pair and the second revolute pair are mutually perpendicular to and intersect at the geometric center of moving platform；
The arc core of first curved rod, the second curved rod and third curved rod coincides with the geometric center of moving platform.
Heretofore described moving platform is in cirque structure, circular configuration or regular polygon structure.
Heretofore described first revolute pair and the second revolute pair select stepper motor to be driven as input.
The cavity arranged along its arc-shaped side is equipped in heretofore described first curved rod；Second curved rod relative to
One end of first revolute pair is plugged in the cavity.
Beneficial effects of the present invention are as follows：
(1) the configuration of the present invention is simple, moving platform operate steadily, reliably；
(2) rotational freedom there are two heretofore described moving platform tools, and partly decoupled each other；
(3) flexibility ratio that runs of the present invention is high, can be applied to Virtual Machine, flight simulation equipment and industrial robot and
The fields such as medical surgery equipment.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the mounting structure schematic diagram of the first curved rod and the second curved rod in the present invention.
In figure：1-silent flatform, 2-moving platforms, the 3-the first revolute pair, the 4-the first curved rod, the first arcs of 4a-
Bar, the second curved rods of 4b-, the 5-the second revolute pair, 6-holders, the 7-the second curved rod, 8-third curved rods, 9-the
One axis pin, the 10-the second axis pin, 11-cavitys, 12-sliders, 13-limit beads.
Specific implementation mode
Referring to Fig. 1, a kind of two-freedom-degree parallel mechanism of partly decoupled, including silent flatform 1, moving platform 2 and be separately connected
The first movement branched chain between silent flatform 1 and moving platform 2 and the second movement branched chain；
First movement branched chain includes the first revolute pair 3, and the silent flatform 1 passes through the first revolute pair 3 and the first arc
One end of connecting rod 4 is rotatablely connected, wherein the first curved rod 4a and the second arc that the first curved rod 4 is arranged by two with arc core
Bar 4b is connected as one in a manner of opposite be slidably connected；
Second movement branched chain includes the second revolute pair 5, and holder 6 is equipped on silent flatform 1, and holder 6 passes through second turn
One end of 5 and second curved rod 7 of dynamic pair is rotatablely connected, one end of the other end and third curved rod 8 of the second curved rod 7
Rotation connection；
First axis pin 9 and second axis pin 10 of the side of the moving platform 2 equipped with the arrangement of 90 ° of angles each other；Described first
The other end of curved rod 4 and the first axis pin 9 are rotatablely connected；10 turns of the other end of the third curved rod 8 and the second axis pin
Dynamic connection；
The central axes of first revolute pair, 3 and second revolute pair 5 are mutually perpendicular to and intersect at the geometric center of moving platform 2
Place；Geometric center of the arc core of first curved rod 4, the second curved rod 7 and third curved rod 8 with moving platform 2
It coincides.
Moving platform 2 described in the present embodiment is in cirque structure, and the moving platform 2 can also be designed according to actual demand in circle
Shape structure or regular polygon structure.
First revolute pair 3 described in the present embodiment and the second revolute pair 5 select stepper motor to be driven as input.
The cavity 11 arranged along its arc-shaped side is equipped in first curved rod 4a described in the present embodiment；Second curved rod
4b is plugged in relative to one end of the first revolute pair 3 in the cavity 11, and is equipped in the end and is matched with the cavity 11
Slider 12, the end of the first curved rod 4a be equipped with for prevent the slider 12 on the second curved rod 4b from its sky
The limit bead 13 being detached from chamber 11, referring to Fig. 2.It should be pointed out that can also the second arc be set to the cavity 11
On bar 4b, one end of the first curved rod 4a is plugged in the cavity 11 on the second curved rod 4b, to realize the first curved rod
4a and the second curved rod 4b is connected as one in a manner of opposite be slidably connected.
In the present embodiment, make two by the first movement branched chain and the second movement branched chain traction moving platform 2 with its geometric center
The operation logic of degree of freedom is as follows：
3 input power of the first revolute pair driving in the first movement branched chain is given, the first curved rod 4 will be with the first rotation
Vertical axes where pair 3 are that rotary motion is made in axle center, so that the first curved rod 4a makees reciprocal fortune along the second curved rod 4b
It is dynamic；In addition, giving 5 input power of the second revolute pair driving in the second movement branched chain, the second curved rod 7 will be with the second rotation
Trunnion axis where pair 5 is that rotary motion, and the third that the second curved rod 7 will drive one end to be rotatablely connected with it are made in axle center
Curved rod 8 acts as rotary motion；In turn, moving platform 2 will jointly be drawn in the first curved rod 4 and third curved rod 8
Under, realize that it makees the movement of two degree of freedom around center.
When locking the first revolute pair 3, only the second revolute pair 5 being selected to be driven, moving platform 2 is merely capable of realizing flat
One axis at platform center rotates movement；When locking the second revolute pair 5, only the first revolute pair 3 being selected to be driven, move flat
Platform 2 is also only capable of realizing that an axis of Platform center rotates movement；And when moving platform 2 is parallel with silent flatform 1, only
The first revolute pair 3 on silent flatform 1 need to be driven, realizes that moving platform 2 is rotated around the vertical central axes of the first revolute pair 3.At this point, should
Movement is unrelated with the second revolute pair 5 on holder 6, therefore, the motion state partly decoupled of moving platform 2 at this time.
Claims (4)
1. a kind of two-freedom-degree parallel mechanism of partly decoupled, including silent flatform, moving platform and be connected to dynamic and static platform it
Between the first movement branched chain and the second movement branched chain；It is characterized in that：
First movement branched chain includes the first revolute pair, and the silent flatform passes through the first revolute pair and the one of the first curved rod
End rotation connection, wherein the first curved rod by two with arc core arrange the first curved rod and the second curved rod with opposite sliding
The mode of connection is connected as one；
Second movement branched chain includes the second revolute pair, and holder is equipped on silent flatform, and holder passes through the second revolute pair and the
One end of two curved rods is rotatablely connected, and the other end of the second curved rod is rotatablely connected with one end of third curved rod；
First axis pin and second axis pin of the side of the moving platform equipped with the arrangement of 90 ° of angles each other；First curved rod
The other end and the first axis pin be rotatablely connected；The other end of the third curved rod and the second axis pin are rotatablely connected；
The central axes of first revolute pair and the second revolute pair are mutually perpendicular to and intersect at the geometric center of moving platform；It is described
The arc core of first curved rod, the second curved rod and third curved rod coincides with the geometric center of moving platform.
2. a kind of two-freedom-degree parallel mechanism of partly decoupled according to claim 1, it is characterized in that：The moving platform is in
Cirque structure, circular configuration or regular polygon structure.
3. a kind of two-freedom-degree parallel mechanism of partly decoupled according to claim 1, it is characterized in that：First rotation
Secondary and the second revolute pair selects stepper motor to be driven as input.
4. a kind of two-freedom-degree parallel mechanism of partly decoupled according to claim 1, it is characterized in that：First arc
The cavity arranged along its arc-shaped side is equipped in bar；Second curved rod is plugged in the sky relative to one end of the first revolute pair
In chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810465309.6A CN108356802A (en) | 2018-05-16 | 2018-05-16 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810465309.6A CN108356802A (en) | 2018-05-16 | 2018-05-16 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108356802A true CN108356802A (en) | 2018-08-03 |
Family
ID=63012297
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810465309.6A Pending CN108356802A (en) | 2018-05-16 | 2018-05-16 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108356802A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450137A (en) * | 2019-08-02 | 2019-11-15 | 天津大学 | A kind of two degrees of freedom one-rotation parallel mechanism of partly decoupled |
| CN110925293A (en) * | 2019-12-10 | 2020-03-27 | 哈尔滨工业大学 | Novel ball pair mechanism and multi-degree-of-freedom composite ball pair joint hinge |
| US11458614B2 (en) * | 2017-06-09 | 2022-10-04 | Shenzhen Institutes Of Advanced Technology | 2 degree-of-freedoms decoupling parallel mechanism |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3664517A (en) * | 1969-10-03 | 1972-05-23 | Commissariat Energie Atomique | Articulated master-slave manipulator |
| US5966991A (en) * | 1997-04-23 | 1999-10-19 | Universite Laval | Two degree-of-freedom spherical orienting device |
| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| US20080202274A1 (en) * | 2007-02-23 | 2008-08-28 | Microdexterity Systems, Inc. | Manipulator |
| CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
| CN102126212A (en) * | 2010-12-24 | 2011-07-20 | 燕山大学 | Motion decoupling two-degree-of-freedom rotation parallel mechanism |
| CN202162805U (en) * | 2011-05-18 | 2012-03-14 | 上海工程技术大学 | Spherical surface rotation parallel mechanism having three degrees of freedom of decoupling |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
| CN104511904A (en) * | 2013-09-26 | 2015-04-15 | 崔文德 | Spherical coordinate control mechanism |
| CN105216999A (en) * | 2015-10-16 | 2016-01-06 | 山东大学（威海） | Freedom degree parallel connection type vector propulsion device and there is the under-water robot of this device |
| TWM529100U (en) * | 2016-02-05 | 2016-09-21 | Stronkin Electronics Co Ltd | Curved support device |
| CN106426109A (en) * | 2016-11-25 | 2017-02-22 | 河北工业大学 | Decoupling two-degree-of-freedomparallel mechanism capable of achieving full-spherical work space |
| CN107351059A (en) * | 2017-06-09 | 2017-11-17 | 深圳先进技术研究院 | A kind of parallel institution of two-free-degree decoupling |
| CN208409864U (en) * | 2018-05-16 | 2019-01-22 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
-
2018
- 2018-05-16 CN CN201810465309.6A patent/CN108356802A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3664517A (en) * | 1969-10-03 | 1972-05-23 | Commissariat Energie Atomique | Articulated master-slave manipulator |
| US5966991A (en) * | 1997-04-23 | 1999-10-19 | Universite Laval | Two degree-of-freedom spherical orienting device |
| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| US20080202274A1 (en) * | 2007-02-23 | 2008-08-28 | Microdexterity Systems, Inc. | Manipulator |
| CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
| CN102126212A (en) * | 2010-12-24 | 2011-07-20 | 燕山大学 | Motion decoupling two-degree-of-freedom rotation parallel mechanism |
| CN202162805U (en) * | 2011-05-18 | 2012-03-14 | 上海工程技术大学 | Spherical surface rotation parallel mechanism having three degrees of freedom of decoupling |
| CN104511904A (en) * | 2013-09-26 | 2015-04-15 | 崔文德 | Spherical coordinate control mechanism |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
| CN105216999A (en) * | 2015-10-16 | 2016-01-06 | 山东大学（威海） | Freedom degree parallel connection type vector propulsion device and there is the under-water robot of this device |
| TWM529100U (en) * | 2016-02-05 | 2016-09-21 | Stronkin Electronics Co Ltd | Curved support device |
| CN106426109A (en) * | 2016-11-25 | 2017-02-22 | 河北工业大学 | Decoupling two-degree-of-freedomparallel mechanism capable of achieving full-spherical work space |
| CN107351059A (en) * | 2017-06-09 | 2017-11-17 | 深圳先进技术研究院 | A kind of parallel institution of two-free-degree decoupling |
| CN208409864U (en) * | 2018-05-16 | 2019-01-22 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
Non-Patent Citations (3)
| Title |
|---|
| 徐赐军;蒋超平;肖新华;: "基于ADAMS的锚泊系统仿真分析与应用", 湖北理工学院学报 * |
| 范彩霞;刘宏昭;张彦斌;袁格侠;: "一种新型2R完全解耦并联机构的运动学和奇异性分析", 中国机械工程 * |
| 黎建军;杨春杰;尹念东;何彬;: "可连续转弯的6-RSPS驾驶模拟器平台机构设计", 湖北理工学院学报 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11458614B2 (en) * | 2017-06-09 | 2022-10-04 | Shenzhen Institutes Of Advanced Technology | 2 degree-of-freedoms decoupling parallel mechanism |
| CN110450137A (en) * | 2019-08-02 | 2019-11-15 | 天津大学 | A kind of two degrees of freedom one-rotation parallel mechanism of partly decoupled |
| CN110450137B (en) * | 2019-08-02 | 2024-02-02 | 天津大学 | Partially-decoupled two-degree-of-freedom rotary parallel mechanism |
| CN110925293A (en) * | 2019-12-10 | 2020-03-27 | 哈尔滨工业大学 | Novel ball pair mechanism and multi-degree-of-freedom composite ball pair joint hinge |
| CN110925293B (en) * | 2019-12-10 | 2022-03-15 | 哈尔滨工业大学 | Novel ball pair mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11203112B2 (en) | Three-degree-of-freedom parallel mechanism | |
| JP5560495B2 (en) | Electric joint having two pivot joints and humanoid robot mounted with this joint | |
| CN100363151C (en) | Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide | |
| US8245595B2 (en) | Two-axis non-singular robotic wrist | |
| CN108356802A (en) | A kind of two-freedom-degree parallel mechanism of partly decoupled | |
| WO2012017722A1 (en) | Parallel mechanism | |
| CN104644267B (en) | Mixed-coupled five-freedom micro-wound surgical operation mechanical arm | |
| CN103639712B (en) | A kind of three rotation spherical parallel institutions | |
| CN101301756B (en) | Three-freedom degree spherical surface parallel connected anthropomorphic robot bionic hip-joint with bias output | |
| US9752718B1 (en) | Two-axis joint | |
| CN206366991U (en) | A kind of 3-dof parallel robot device | |
| CN104942796B (en) | Three move two rotation five degree of freedom rotates mobile full decoupled parallel institution | |
| WO2018195762A1 (en) | Three-degrees-of-freedom parallel mechanism having an arc-shaped movement pair | |
| CN106903678B (en) | A kind of 3-freedom parallel mechanism with arc prismatic pair | |
| CN208409864U (en) | A kind of two-freedom-degree parallel mechanism of partly decoupled | |
| CN109571444B (en) | Two-translation one-rotation partial decoupling parallel mechanism | |
| CN106859768A (en) | For the decoupling four-degree-of-freedom telecentricity mechanism of abdominal-cavity minimal-invasion surgery | |
| CN206048199U (en) | A kind of six-degree-of-freedom parallel robot | |
| JPH1086090A (en) | Joint mechanism and robot used for it | |
| CN106625591B (en) | Three-translation two-rotation five-degree-of-freedom parallel mechanism | |
| CN107160365A (en) | A kind of three freedom decoupling sphere parallel mechanism | |
| CN108297070B (en) | Three-freedom parallel mechanism | |
| CN114603538B (en) | Complete decoupling spherical 3R rotation parallel mechanism | |
| US10272562B2 (en) | Parallel kinematics robot with rotational degrees of freedom | |
| Huang et al. | Mechanism design and kinematic analysis of a robotic manipulator driven by joints with two degrees of freedom (DOF) |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180803 |
|
| RJ01 | Rejection of invention patent application after publication |