CN108908292B - Series-parallel decoupling machine tool capable of realizing two-rotation three-movement - Google Patents
Series-parallel decoupling machine tool capable of realizing two-rotation three-movement Download PDFInfo
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- CN108908292B CN108908292B CN201810722393.5A CN201810722393A CN108908292B CN 108908292 B CN108908292 B CN 108908292B CN 201810722393 A CN201810722393 A CN 201810722393A CN 108908292 B CN108908292 B CN 108908292B
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- 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
The invention belongs to the field of robots, and aims to solve the problems of large motion inertia, poor stability, weak controllability, low precision and the like of the conventional parallel-serial machine tool; the two branched chains are connected with the rotary decoupling mechanism in parallel to complete the rotation of the machine tool in two directions; and the base clamping device is used for finishing accurate positioning of the workpiece on the machine tool. The machine tool is formed by connecting two parallel mechanisms in series through a U pair, has larger movement space and movement rigidity, is easy to control, and has high movement precision and high rigidity; and the direction of the axis of rotation does not change during operation.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a series-parallel decoupling machine tool capable of realizing two-rotation and three-movement.
Background
Because the parallel decoupling mechanism has small motion space, the parallel decoupling mechanism integrates the working space with large series configuration and the configuration advantages of high precision, high rigidity and high bearing of the parallel configuration, and can meet the working requirements of various complex environments of modern high-end intelligent equipment. However, the prior local decoupling series-parallel configuration formed by connecting two parallel mechanisms in series has large motion inertia and is difficult to operate; the parallel-serial mechanism formed by connecting the parallel decoupling mechanism and the kinematic pair in series has the advantages that part of drive of the parallel-serial mechanism is required to be arranged on the kinematic pair, the flexibility of the operation of the parallel-serial mechanism is inhibited, the rigidity of the tail end manipulator is low, and the parallel-serial mechanism is particularly not suitable for machine tool equipment.
Disclosure of Invention
The invention provides a parallel-serial decoupling machine tool capable of realizing two-transfer and three-transfer, aiming at the problems of large motion inertia, poor stability, weak controllability, low precision, small rigidity of a tail end manipulator and the like of the conventional parallel-serial machine tool.
The invention adopts the following technical scheme:
a series-parallel decoupling machine tool capable of realizing two-rotation three-movement comprises: the three-branch-chain isotropic parallel movement (3T) decoupling mechanism, the two-branch-chain parallel rotation (2R) decoupling mechanism and the base clamping device; the three-branch-chain isotropic parallel movement (3T) decoupling mechanism completes the movement of the platform I; two chains are connected in parallel to rotate (2R) the decoupling mechanism to complete the rotation of the platform II; the base clamping device is used for accurately positioning the workpiece on the machine tool; the three-branched-chain isotropic parallel moving decoupling mechanism and the two-branched-chain parallel rotating decoupling mechanism are connected in series through a U pair according to an upper structure and a lower structure, all driving branched chains of the two parallel mechanisms are installed on a rectangular cylinder frame composed of a plurality of stand columns and cross rods, and the bottom of the rectangular cylinder frame is fixedly connected with the top surface of the base clamping device, so that a base of the machine tool is formed.
The three-branched-chain isotropic parallel movement decoupling mechanism comprises a No. I movable platform and three (4R) RR branched chains, wherein two branched chains are symmetrically arranged, the outer side ends of the two branched chains are respectively connected with two adjacent cross rods at the top of the rectangular cylinder frame, the inner side ends of the two branched chains are connected with the side face of the No. I movable platform, the outer side end of the other branched chain is connected with a vertical upright column which is vertically connected with the two adjacent cross rods, and the inner side end of the other branched chain is connected with the side face of the No. I;
the three branched chains have the same structure composition, and each branched chain comprises a rotating rod I, a long rotating rod, a long rotating shaft, two rotating rods II, a rotating shaft box, a gear box and a servo motor. The rotating shaft box, the gear box and the servo motor are fixed on the cross bar and the upright post where the branched chain is located; one end of a rotating rod I is connected with a rotating pair of a moving platform I, the other end of the rotating rod I is connected with one end of a long rotating rod in a rotating mode, the other end of the long rotating rod is connected with a long rotating shaft cylindrical sleeve pair, two ends of the long rotating shaft are respectively connected with a rotating pair at one end of two rotating rods II, the two rotating rods II are parallel to each other, the other ends of the two rotating rods II are correspondingly connected with two shafts of a rotating shaft box, an input shaft of the gear box is connected with a servo motor, an output shaft of the gear box is connected with two shafts of the rotating shaft box, and the two shafts of the rotating shaft box are; the rotating shaft box, the 2 No. II rotating rods and the long rotating shaft form a parallelogram mechanism, and the parallelogram mechanism is parallel to the cross rods or the upright columns which are correspondingly connected; two branched chains connected with the two cross rods drive the I-shaped movable platform to move back and forth and left and right in the horizontal direction, and the branched chains connected with the upright columns drive the I-shaped movable platform to move up and down.
The two branched chains are connected in parallel and rotationally decoupled, the decoupling mechanism comprises a platform II and two (CPUR) branched chains, the top of the platform II is connected with a movable platform I in series through a Hooke hinge II, a cutter connecting piece is installed at the bottom of the platform II, the two branched chains are symmetrically arranged, the inner side ends of the branched chains are connected with the platform II, and the outer side ends of the branched chains are connected with the rectangular cylinder frame;
the structure of two branched chains is constituteed the same, the branched chain includes ball, I number guide rail slider, No. I number linear guide, the right angle rotates the connecting piece, the straight line rotates the connecting piece, the one end and the platform side revolute pair of II numbers of straight line rotation connecting piece are connected, the other end that the straight line rotated the connecting piece is connected with the horizontal end revolute pair of right angle rotation connecting piece through No. I hooke hinge, No. I number guide rail slider is installed to the vertical end bottom of right angle rotation connecting piece, No. I number guide rail slider removes vice with the horizontal No. I number linear guide who sets up and is connected, No. I number linear guide's one end is connected with ball assembly's slider revolute pair, ball assembly's the external drive servo motor of vertical lead screw, and vertical lead screw's upper.
Base clamping device includes the base and installs II number linear guide on the base, II number guide slider, the vice, III number guide slider and III number linear guide, rectangular cylinder frame's stand is fixed in four angle departments of base upper surface, two II number linear guide parallel arrangement install on the base, III number linear guide's both ends are connected through II number guide slider and the II number linear guide removal pair of both sides respectively, III number linear guide goes up the vice installation III number guide slider of removal, there is the vice through the flat board on the III number guide slider.
The invention is formed by three branched chains with isotropyThe movable platform of the linkage movable decoupling mechanism and the movable platform of the two parallel chain rotary decoupling mechanism are connected in series through a U pair. The initial conditions of assembly must satisfy:
center of number platform and
the center of the number platform is on a vertical central line;
2, two branched chains of the rotating parallel decoupling mechanism are parallel to two branched chains of the isotropic moving parallel decoupling mechanism arranged on the transverse column; and two axes of the U pair are respectively parallel to the two directions. The isotropic moving parallel decoupling mechanism of the three branched chains realizes the translation of the machine tool along three directions, the parallel decoupling rotating mechanism of the two branched chains realizes the rotation of the machine tool along two directions, and the clamping mechanism realizes the accurate positioning of a workpiece on the machine tool. Has the following beneficial effects:
1. the movable platforms of the two parallel decoupling mechanisms are connected through a U pair; all branch chains of parallel decoupling mechanism
Is connected with the machine tool frame. Therefore, the machine tool has small motion inertia, strong controllability, high motion precision and large working rigidity of the end cutter.
2. The motion freedom degree of the rotating parallel decoupling mechanism branched chain comprises the motion freedom degree of an isotropic parallel decoupling mechanism, namely, the rotating parallel decoupling mechanism branched chain has local freedom degree relative to the isotropic parallel decoupling mechanism; and the decoupling between the 2R rotating parallel decoupling mechanism and the 3T parallel mechanism is realized.
3. The machine tool is formed by connecting two parallel mechanisms in series through a U pair, has larger movement space and movement rigidity, is easy to control, and has high movement precision and rigidity; and the direction of the axis of rotation does not change during operation.
4. The machine tool can be used for processing and forming various micro, fine and thin products, such as mechanics of precision mechanical parts, precision manufacturing of false teeth, carving of artware and the like.
Drawings
FIG. 1 is an isometric view of a two-transfer three-transfer parallel-serial decoupling machine tool;
FIG. 2 is a schematic diagram of a 3T isotropic movement parallel decoupling mechanism capable of realizing a two-transfer three-transfer parallel decoupling machine tool;
FIG. 3 is a schematic diagram of a 2R parallel decoupling mechanism capable of realizing a two-transfer three-transfer parallel-serial machine tool;
FIG. 4 is a schematic diagram of a base clamping device capable of realizing a two-transfer three-transfer parallel-serial decoupling machine tool;
FIG. 5 is a schematic view of the present invention;
in the figure: 1-rotating shaft, 2-rotating shaft, 3-long rotating shaft, 4-connecting shaft, 5-long rotating shaft, 6-rotating shaft, 7-rotating shaft box, 8-gear box, 9-servo motor, 10-column connecting member, 11-fixed connecting member, 12-platform, 13-truss, 14-column, 15-bar, 16-rotating connecting member, 17-ball screw assembly, 18-rail slide, 19-rail slide, 20-rotating connecting shaft, 21-right-angle rotating connecting member, 22-fixed plate, 23-linear rotating connecting member, 24-Hooke's joint, 25-platform, 26-Hooke's joint, 27-tool connecting member, 28-tool, no. 29-II linear guide rail, No. 30-II guide rail sliding block, 31-vice, 32-flat plate, No. 33-III guide rail sliding block, No. 34-III linear guide rail and 35-base.
Detailed Description
The embodiments of the invention will be further explained with reference to the accompanying drawings:
the invention relates to a series-parallel decoupling machine tool capable of realizing two-rotation three-movement, which consists of a 3T isotropic movement parallel decoupling mechanism, a 2R parallel decoupling mechanism and a base clamping device, wherein the 3T isotropic movement parallel decoupling mechanism and the 2R parallel decoupling mechanism are connected in series through a No. II Hooke hinge (U pair).
The 3T parallel decoupling mechanism is composed of 6 rotating shafts, 3 rotating rods I, 3 long rotating rods, 6 rotating rods II, 6 connecting shafts, 4 stand columns, 3 gear boxes, 3 rotating shaft boxes, 1 servo motor and 1 platform I as shown in figure 2. The branched chain structure for controlling the machine tool to realize translation in two directions on a horizontal plane is the same, 2 gear boxes are fixed above the middles of the two adjacent sides of a square truss through bolts, 2 rotating shaft boxes are fixed below the side of the square truss where the 2 gear box is located through bolts, and the rotating shaft boxes are connected with shafts of the gear box through bearings, a servo motor is fixed above the gear box through bolts, two shafts of each rotating shaft box are connected with one ends of two No. II rotating rods through bearings, the other ends of the No. II rotating rods are respectively connected with shaft ends of 2 connecting shafts through bearings, two ends of a long rotating shaft are fixedly connected in shaft holes at the tail ends of the connecting shafts, so that the rotating shaft boxes, the No. 2 II rotating rods, the 2 connecting shafts and the long rotating shaft form a parallelogram mechanism, one end of the long rotating shaft is connected with the middle of the long rotating shaft through a bearing, and the, the other end of the rotating rod I is connected to the upper right end of the platform I through a bearing and a rotating shaft; the other branched chain for controlling the horizontal movement of the machine tool has the same structure as the branched chain, and the tail end of the branched chain is connected to the left end of the platform I. Four upright posts are fixed on four corners of the square truss through bolts, and a third branched chain for controlling the vertical movement of the machine tool is arranged on the upright post at the intersection point of the truss sides of the moving branched chain. The stand connecting piece passes through the bolt rigid coupling on the stand, the mounting rigid coupling is on the stand connecting piece, the gear box rigid coupling is in one side of mounting, servo motor fixes on the gear box, the opposite side at the mounting is fixed to the pivot case, the pivot case passes through two hub connections of bearing and gear box, two hub connections on bearing and the pivot case are passed through to the one end of No. II dwang, the other end passes through the bearing and is connected with the axle head of connecting axle, the both ends rigid coupling of long axis of rotation is in the axle hole on the connecting axle end, make the pivot case, 2 individual No. II dwang, 2 individual connecting axle, parallelogram mechanism is constituteed to long axis of rotation, the centre at long dwang is passed through the bearing connection to the one. The translation of series-parallel machine tool in two directions of horizontal plane can be realized to the branch chain of fixing on two edges of truss, and the gear in the servo motor drive gear box drives the axle in the pivot case, drives II # dwang and controls (front and back) swing, drives and moves about (front and back) the long dwang of connecting in long axis of rotation through the bearing, and long dwang drives I # dwang motion, and I # dwang drives the motion about (front and back) of I # platform realization. The servo motor drives a gear fixedly connected in a gear box on the fixed connecting piece to drive a shaft in the rotating shaft box, a No. II rotating rod is driven to move up and down, a long rotating rod connected to the long rotating shaft through a bearing is driven to move up and down, and the long rotating rod drives a No. I platform to move up and down. Because I platform and II platform are connected together through II hooke hinge, so II platform can realize the translation in three directions with I platform together.
2R decoupling zero parallel mechanism is shown in fig. 3, by 2 ball screw subassemblies, 6 rotation connecting pieces, 2 fixed plates, 4 crossbars, 2 rotation connecting axles, 2I linear guide, 2I guide slider, 2 right angle rotation connecting pieces, 4 linear rotation connecting pieces, 2I hooke joint, 1 II hooke joint, 1 cutter connecting piece, 1 cutter, 2 servo motor constitute. The two branched chains of the 2R decoupling parallel mechanism are consistent in structure. The four transverse bars are respectively fixed on the other three upright posts, one end of each transverse rod is respectively fixed on each upright post, a rotary connecting piece is fixed at the middle position of each transverse rod through a bolt, a fixed plate is connected with the rotary connecting piece through a bearing, a ball screw assembly is fixedly connected on the fixed plate through a bolt, a servo motor is fixed above the ball screw assembly, a rotary connecting piece is fixed on a slide block of the ball screw assembly, the shaft end of the rotary connecting shaft is connected with the rotary connecting piece through a bearing, a linear guide rail is fixed on a platform at the tail end of the rotary connecting shaft through a bolt, a guide rail slide block is arranged on the linear guide rail, the tail end of the right-angle rotary connecting piece is fixed on the guide rail slide block through a bolt, the shaft end of the right-angle rotary connecting piece is connected with the tail end of the linear rotary connecting piece through a bearing, the top, the tail end of the rotary shaft is connected with a platform II through a bearing, the upper side of the platform II is fixed with one end of a Hooke joint II through a bolt, the other end of the Hooke joint II is fixedly connected with the platform I through a bolt, the axes of two rotary shafts of the Hooke joint II are respectively vertical to the plane where the ball screw assembly is located, the lower side of the plane II is fixedly connected with one end of a cutter connecting piece, and the other end of the cutter connecting piece is fixedly connected with a cutter. Connect the ball screw subassembly on the horizontal pole through rotating the connecting piece and can rotate around the axis of two rotation connecting pieces, servo motor drive ball screw subassembly 17's lead screw drives reciprocating of slider, reciprocating of slider drives I linear guide who connects on it through rotating the connecting piece and rotating the connecting axle and reciprocates and rotates, I linear guide can revolute the axis motion of rotating the connecting piece, reciprocating and the rotation of I linear guide drive I guide slider slide on the guide rail, the motion of I guide slider drives the right angle and rotates the connecting piece, the straight line rotates the connecting piece, I hooke's hinge motion, finally drive the rotation of II platform, the coordinated motion of two branched chains of the parallel decoupling zero mechanism of 2R can make II platform realize the rotation in two directions. The cutter is fixed on the platform II through the cutter connecting piece 27, and the platform II can realize the movement in three directions and the rotation in two directions, so the cutter can also realize the movement in three directions and the rotation in two directions.
Base clamping device is shown in fig. 4, by 2 II number linear guide, 2 II number guide slider, 1 III number linear guide, 1 III number guide slider, 1 flat board, 1 vice, 1 base is constituteed. Four stands pass through the bolt rigid coupling on four angles of the base platform that the device was held to the base with, two No. II linear guide pass through the bolt fastening on base platform, 2 individual No. II guide rail slider adorns respectively on 2 individual No. II linear guide rail, No. III linear guide rail's both ends are passed through the bolt fastening on 2 individual No. II guide rail slider, No. III guide rail slider dress is on No. III linear guide rail, No. III guide rail slider upside is fixed with the flat board, the vice passes through the bolt fastening on the flat board, be used for the centre gripping work piece, then the vice can realize moving about around on the horizontal plane, a position for adjusting the work piece.
The invention relates to a series-parallel decoupling machine tool with 3 movement and 2 rotation, wherein a base and a rectangular cylinder are connected into a whole to form a pillar frame of the series-parallel decoupling machine tool.The upper end of the frame is connected with the movable platform through three branched chains (4R) RR branched chains (along two horizontal directions and vertical directions of the rectangular column) with the same structure
An isotropic parallel decoupling mechanism is formed. The lower end of the movable platform is connected with the movable platform through two CPUR branched chains (along the horizontal plane direction of the rectangular column body and consistent with the two horizontal directions of the rectangular column body)
The two are connected to form a 2-rotation parallel decoupling mechanism; movable platform
And moving platform
The U pairs are connected together, and the axial direction of the U is consistent with the two horizontal directions of the rectangular column; forming a series-parallel decoupling mechanism.
Because all drivers are arranged on the rectangular column frame, the motion inertia output by the tail end of the machine tool is small, and the stability is good; the movement in three orthogonal directions and the rotation in two orthogonal directions are respectively realized by two parallel mechanisms, so that the controllability is strong, and the movement precision is high; 2 the rotating parallel decoupling mechanism realizes two rotations in the same direction with the U axis by linear driving in the two directions in the same direction with the U axis, thereby solving the problem that only one fixed rotating shaft exists in the two rotating parallel mechanisms; the series-parallel decoupling mechanism integrates the characteristics of the series mechanism, so that the series-parallel decoupling mechanism has larger motion space than the parallel mechanism with the same size structure.
Claims (4)
1. The utility model provides a can realize two series-parallel decoupling zero lathe that change three moves which characterized in that includes: the three-branch-chain isotropic parallel moving decoupling mechanism, the two-branch-chain parallel rotating decoupling mechanism and the base clamping device are arranged in parallel;
the three branched chains are isotropically connected in parallel to move the decoupling mechanism to complete the movement of the platform I (12);
the two branched chains are connected in parallel with a rotary decoupling mechanism to complete the rotation of the platform II (25);
the base clamping device is used for accurately positioning the workpiece on the machine tool;
the three-branched-chain isotropic parallel moving decoupling mechanism and the two-branched-chain parallel rotating decoupling mechanism are connected through a U pair according to an upper structure and a lower structure, all branched chains of the two parallel decoupling mechanisms are installed on a rectangular cylinder frame formed by connecting a plurality of stand columns and cross rods, and the bottom of the rectangular cylinder frame is connected with the top surface of the base clamping device.
2. The parallel-series decoupling machine tool capable of realizing two rotations and three displacements according to claim 1 is characterized in that the three-branched-chain isotropic parallel movement decoupling mechanism comprises a platform I (12) and three branched chains, wherein the two branched chains are symmetrically arranged, the outer ends of the two branched chains are respectively connected with two adjacent cross rods at the top of a rectangular cylinder frame, the inner ends of the two branched chains are connected with the side surface of the platform I (12), the outer ends of the other branched chains are connected with upright columns vertically connected with the two adjacent cross rods, and the inner ends of the other branched chains are connected with the side surface of the platform I (12);
the three branched chains have the same structure composition, each branched chain comprises a rotating rod I (1), a long rotating rod (3), a long rotating shaft (5), two rotating rods II (6), a rotating shaft box (7), a gear box (8) and a servo motor (9), the rotating shaft box (7), the gear box (8) and the servo motor (9) are fixed on a cross bar and an upright post where the branched chain is positioned, one end of the rotating rod I (1) is connected with a rotating pair of a platform I (12), the other end of the rotating rod I (1) is connected with one end of the long rotating rod (3) in a rotating way, the other end of the long rotating rod (3) is connected with a cylindrical sleeve pair of the long rotating shaft (5), the two ends of the long rotating shaft (5) are respectively connected with rotating pairs of the two rotating rods II (6), the two rotating rods II (6) are parallel to each other, the other ends of the two, an input shaft of the gear box (8) is connected with the servo motor (9), an output shaft of the gear box (8) is connected with two shafts of the rotating shaft box (7), the two shafts of the rotating shaft box (7) are correspondingly connected with one ends of two No. II rotating rods (6), the rotating shaft box (7), 2 No. II rotating rods (6) and the long rotating shaft (5) form a parallelogram mechanism, and the parallelogram mechanism is parallel to a cross rod or a vertical column which is correspondingly connected;
two branched chains connected with the two cross rods drive the platform I (12) to move back and forth and left and right in the horizontal direction, and the branched chains connected with the upright columns drive the platform I (12) to move up and down.
3. The parallel-serial decoupling machine tool capable of realizing two rotations and three translations according to claim 2, wherein the two branched chains parallel-connection rotation decoupling mechanism comprises a platform (25) II and two branched chains, the top of the platform (25) II is connected with the platform (12) I in series through a Hooke hinge (26) II, a cutter connecting piece (27) is installed at the bottom of the platform (25) II, the two branched chains are symmetrically arranged, the inner side ends of the branched chains are connected with the platform (25) II, and the outer side ends of the branched chains are connected with the rectangular column frame;
the structure composition of two branched chains is the same, the branched chain includes ball screw subassembly (17), No. I guide rail slider (18), No. I linear guide (19), right angle rotation connecting piece (21), straight line rotation connecting piece (23), the one end of straight line rotation connecting piece (23) is connected with the revolute pair of No. II platform (25) side, the other end of straight line rotation connecting piece (23) passes through No. I hooke hinge (24) and is connected with the horizontal end revolute pair of right angle rotation connecting piece (21), No. I guide rail slider (18) is installed to the vertical end bottom of right angle rotation connecting piece (21), No. I guide rail slider (18) and the I linear guide (19) sliding pair that transversely sets up are connected, the one end of No. I linear guide (19) is connected with the slider revolute pair of ball screw subassembly (17), the external drive servo motor of the vertical screw of ball screw subassembly (17), and the upper and lower both ends of vertical screw link to rectangular cylinder frame revolute pair through rotation connecting And (6) connecting.
4. The parallel-serial decoupling machine tool capable of realizing two rotations and three rotations according to claim 3, wherein the base clamping device comprises a base (35), and a number II linear guide rail (29), a number II guide rail sliding block (30), a vice (31), a number III guide rail sliding block (33) and a number III linear guide rail (34) which are installed on the base (35), wherein the upright posts of the rectangular cylinder frame are fixed at four corners of the upper surface of the base (35), the two number II linear guide rails (29) are installed on the base (35) in parallel, two ends of the number III linear guide rail (34) are respectively connected with the number II linear guide rails (29) at two sides through the number II guide rail sliding block (30), the number III linear guide rail sliding block (33) is installed on the number III linear guide rail sliding block (34) in a moving pair manner, and the vice (31) is fixed on the number III guide rail sliding block (33) through a.
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| CN201810562577X | 2018-06-04 | ||
| CN201810562577 | 2018-06-04 |
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| CN109759867B (en) * | 2019-03-07 | 2023-07-25 | 安徽工程大学 | Series-parallel six-degree-of-freedom full decoupling adjustable clamp |
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|---|---|---|---|---|
| CN101417391A (en) * | 2008-11-19 | 2009-04-29 | 浙江工业大学 | Five freedom-degree parallel lathe |
| CN104875192A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism |
| WO2015168799A1 (en) * | 2014-05-08 | 2015-11-12 | UNIVERSITé LAVAL | Parallel mechanism with kinematically redundant actuation |
| CN107756217A (en) * | 2016-08-22 | 2018-03-06 | 香港理工大学 | A kind of vertical connection in series-parallel burnishing machine |
-
2018
- 2018-07-04 CN CN201810722393.5A patent/CN108908292B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101417391A (en) * | 2008-11-19 | 2009-04-29 | 浙江工业大学 | Five freedom-degree parallel lathe |
| WO2015168799A1 (en) * | 2014-05-08 | 2015-11-12 | UNIVERSITé LAVAL | Parallel mechanism with kinematically redundant actuation |
| CN104875192A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism |
| CN107756217A (en) * | 2016-08-22 | 2018-03-06 | 香港理工大学 | A kind of vertical connection in series-parallel burnishing machine |
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