CN108942892B - Three-dimensional moving one-dimensional rotating parallel mechanism - Google Patents
Three-dimensional moving one-dimensional rotating parallel mechanism Download PDFInfo
- Publication number
- CN108942892B CN108942892B CN201811007214.6A CN201811007214A CN108942892B CN 108942892 B CN108942892 B CN 108942892B CN 201811007214 A CN201811007214 A CN 201811007214A CN 108942892 B CN108942892 B CN 108942892B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- revolute pair
- pair
- simple branched
- branched chain
- 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.)
- Active
Links
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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
Abstract
The invention discloses a three-dimensional moving one-dimensional rotating parallel mechanism, which comprises a fixed platform, a movable platform and four simple branched chains, wherein the four simple branched chains consist of a simple branched chain I, a simple branched chain II, a simple branched chain III and a simple branched chain IV; the fixed platform and the movable platform are connected through four simple branched chains, and the output motion of the movable platform is formed by the compound motion of the four simple branched chains. The invention adopts four simple branched chains to connect the movable platform and the fixed platform to construct the parallel mechanism, has simple structure, can realize space three-dimensional translation and one-dimensional rotation, can be used for processing and welding operation of industrial complex curved surfaces, is a novel parallel mechanism, and can provide assistance for processing and manufacturing.
Description
Technical Field
The invention relates to a three-dimensional moving one-dimensional rotating parallel mechanism, and belongs to the technical field of parallel robots.
Background
Parallel mechanisms have received great attention from both institutional and industrial applications since their use, and many machine tools and engraving applications now operate with parallel mechanisms. Parallel mechanisms are in various forms, and in the past decades of development, some better three-dimensional moving and one-dimensional rotating mechanisms are emerging. For example, in 1988 R.Clavel has a simple S-P-S branch in series with a Delta mechanism, so that the mechanism has one-dimensional rotational freedom on the basis of three-dimensional movement. Five types of parallel mechanisms of three-dimensional movement and one-dimensional rotation were proposed and patented in 2003 Yang Tingli. The professor in yellow field developed a four-degree-of-freedom three-translation one-rotation Cross-IV high-speed transfer robot. While most studied such robots should be taught by university of Changzhou Shen Huiping, which describes the mechanism in this regard in both 201510564382.5 and 201610403796.4 patents.
Compared with Delta robots, the Delta robots have complex structures, are not well developed and applied, and secondly, the novel mechanism for realizing three-dimensional movement and one-dimensional rotation needs to be developed in combination and practical use, and is also a goal of long-term development of the mechanism, so that the combination and development of the novel mechanism are still the current difficulties and hot spots.
Disclosure of Invention
The invention provides a three-dimensional movement one-dimensional rotation parallel mechanism, which realizes the three-dimensional movement and one-dimensional rotation of a parallel mechanism moving platform through four simple branched chains; meanwhile, the structure is simple.
The technical scheme of the invention is as follows: a three-dimensional movement and one-dimensional rotation parallel mechanism comprises a fixed platform N, a movable platform M and four simple branched chains, wherein the four simple branched chains consist of a simple branched chain I, a simple branched chain II, a simple branched chain III and a simple branched chain IV;
the fixed platform N and the movable platform M are connected through four simple branched chains, and the compound motion of the four simple branched chains forms the output motion of the movable platform M;
the simple branched chain I has three-dimensional movement and two-dimensional rotation on the movable platform M;
the simple branched chain III has three-dimensional movement and two-dimensional rotation on the movable platform M;
the simple branched chain IV is a serial chain capable of realizing space 6-degree-of-freedom motion, and does not restrict motion of the movable platform M;
the structure adopted by the simple branched chain II is the same as that of the simple branched chain I or the simple branched chain IV.
The kinematic pair at one end of the two simple branched chains is connected with one parallel edge of the fixed platform N, the kinematic pair at one end of the other two simple branched chains is connected with the other parallel edge of the fixed platform N, the kinematic pair at the other end of the four simple branched chains is respectively connected with four corners of the movable platform M, the kinematic pairs at the opposite sides of the fixed platform N are parallel, and the four simple branched chains are not intersected.
The movable platform M is in a trapezoid form; the fixed platform N is also in a trapezoid form and is different from the movable platform M.
The simple branched chain I consists of a revolute pair R12, a revolute pair R13, a revolute pair R14, a revolute pair R15, a shifting pair P11, a first connecting rod 1, a second connecting rod 2, a third connecting rod 3 and a fourth connecting rod 4; one end of a first connecting rod 1 is connected with a fixed platform N through a movable pair P11, the other end of the first connecting rod 1 is connected with one end of a second connecting rod 2 through a revolute pair R12, the other end of the second connecting rod 2 is connected with one end of a third connecting rod 3 through a revolute pair R13, the other end of the third connecting rod 3 is connected with one end of a fourth connecting rod 4 through a revolute pair R14, and the other end of the fourth connecting rod 4 is connected with a movable platform M through a revolute pair R15; the axes of the revolute pair R12 and the revolute pair R13 are perpendicular to the axes of the revolute pair R14, the revolute pair R15 and the revolute pair P11, the axes of the revolute pair R12 and the revolute pair R13 are parallel to each other, and the axes of the revolute pair R14 and the revolute pair R15 are parallel to each other.
The simple branched chain III consists of a movable pair P31, a revolute pair R32, a revolute pair R33, a revolute pair R34, a revolute pair R35, a ninth connecting rod 9, a tenth connecting rod 10, an eleventh connecting rod 11 and a twelfth connecting rod 12; one end of a ninth connecting rod 9 is connected with the fixed platform N through a movable pair P31, the other end of the ninth connecting rod 9 is connected with one end of a tenth connecting rod 10 through a revolute pair R32, the other end of the tenth connecting rod 10 is connected with one end of an eleventh connecting rod 11 through a revolute pair R33, the other end of the eleventh connecting rod 11 is connected with one end of a twelfth connecting rod 12 through a revolute pair R34, and the other end of the twelfth connecting rod 12 is connected with the movable platform M through a revolute pair R35; the axes of the revolute pair R32 and the revolute pair R33 are perpendicular to the axes of the revolute pair R34 and the revolute pair R35, the axes of the revolute pair R32 and the revolute pair R33 are parallel to the movable pair P31, the axes of the revolute pair R32 and the revolute pair R33 are parallel to each other, and the axes of the revolute pair R34 and the revolute pair R35 are parallel to each other.
The serial chain of the simple branched chain IV is of a PSS structure, and the simple branched chain IV consists of a movable pair P41, a ball pair S42, a ball pair S43, a thirteenth connecting rod 13 and a fourteenth connecting rod 14; the traveling pair P41 as the driving pair can be replaced by a revolute pair; one end of the thirteenth connecting rod 13 is connected with the movable platform M through a ball pair S43, the other end of the thirteenth connecting rod 13 is connected with one end of the fourteenth connecting rod 14 through a ball pair S42, and the other end of the fourteenth connecting rod 14 is connected with the fixed platform N through a movable pair P41.
The beneficial effects of the invention are as follows: the invention adopts four simple branched chains to connect the movable platform and the fixed platform to construct the parallel mechanism, has simple structure, can realize space three-dimensional translation and one-dimensional rotation, can be used for processing and welding operation of industrial complex curved surfaces, is a novel parallel mechanism, and can provide assistance for processing and manufacturing.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
the reference numerals in the figures are: n-fixed platform, M-fixed platform, 1-head rod, 2-second connecting rod, 3-third connecting rod, 4-fourth connecting rod, 5-fifth connecting rod, 6-sixth connecting rod, 7-seventh connecting rod, 8-eighth connecting rod, 9-ninth connecting rod, 10-tenth connecting rod, 11-eleventh connecting rod, 12-twelfth connecting rod, 13-thirteenth connecting rod, 14-fourteenth connecting rod.
Detailed Description
The invention will be further described with reference to the drawings and examples, but the invention is not limited to the scope.
Example 1: as shown in FIG. 1, the three-dimensional movement one-dimensional rotation parallel mechanism comprises a fixed platform N, a movable platform M and four simple branched chains, wherein the four simple branched chains consist of a simple branched chain I, a simple branched chain II, a simple branched chain III and a simple branched chain IV;
the fixed platform N and the movable platform M are connected through four simple branched chains, and the compound motion of the four simple branched chains forms the output motion of the movable platform M;
the simple branched chain I has three-dimensional movement and two-dimensional rotation effects on the movable platform M (the two-dimensional rotation is parallel to a plane formed by the revolute pair R13 and the revolute pair R14);
the simple branched chain III has three-dimensional movement and two-dimensional rotation on the movable platform M (the two-dimensional rotation is parallel to a plane formed by the revolute pairs R33 and R34);
the simple branched chain IV is a serial chain capable of realizing space 6-degree-of-freedom motion, and does not restrict motion of the movable platform M;
the structure adopted by the simple branched chain II is the same as that of the simple branched chain IV.
Further, the kinematic pair at one end of the two simple branched chains may be connected to one parallel edge of the fixed platform N, the kinematic pair at one end of the other two simple branched chains is connected to the other parallel edge of the fixed platform N (i.e. the assembly relationship is parallel), the kinematic pair at the other end of the four simple branched chains is connected to four corners of the movable platform M, the kinematic pairs at opposite sides of the fixed platform N are parallel, and the four simple branched chains are not intersected. The kinematic pairs adopted by the simple branched chains I and III connected with the fixed platform N are moving pairs, and the kinematic pairs of the simple branched chains II and IV connected with the fixed platform N are moving pairs or rotating pairs; the kinematic pairs adopted by the simple branched chain I and the simple branched chain III connected with the movable platform M are revolute pairs, and the kinematic pairs of the simple branched chain II and the simple branched chain IV connected with the movable platform M are ball pairs.
Further, the movable platform M may be configured to take a trapezoid form (e.g., a general trapezoid, an isosceles trapezoid, a right trapezoid); the fixed platform N is also in a trapezoid form and is different from the movable platform M.
Further, the simple branched chain I can be provided to be composed of a revolute pair R12, a revolute pair R13, a revolute pair R14, a revolute pair R15, a shifting pair P11, a first connecting rod 1, a second connecting rod 2, a third connecting rod 3 and a fourth connecting rod 4; one end of a first connecting rod 1 is connected with a fixed platform N through a movable pair P11, the other end of the first connecting rod 1 is connected with one end of a second connecting rod 2 through a revolute pair R12, the other end of the second connecting rod 2 is connected with one end of a third connecting rod 3 through a revolute pair R13, the other end of the third connecting rod 3 is connected with one end of a fourth connecting rod 4 through a revolute pair R14, and the other end of the fourth connecting rod 4 is connected with a movable platform M through a revolute pair R15; the axes of the revolute pair R12 and the revolute pair R13 are perpendicular to the axes of the revolute pair R14, the revolute pair R15 and the revolute pair P11, the axes of the revolute pair R12 and the revolute pair R13 are parallel to each other, and the axes of the revolute pair R14 and the revolute pair R15 are parallel to each other.
Further, the simple branched chain iii may be provided to be composed of a shifting pair P31, a revolute pair R32, a revolute pair R33, a revolute pair R34 and a revolute pair R35, a ninth connecting rod 9, a tenth connecting rod 10, an eleventh connecting rod 11 and a twelfth connecting rod 12; one end of a ninth connecting rod 9 is connected with the fixed platform N through a movable pair P31, the other end of the ninth connecting rod 9 is connected with one end of a tenth connecting rod 10 through a revolute pair R32, the other end of the tenth connecting rod 10 is connected with one end of an eleventh connecting rod 11 through a revolute pair R33, the other end of the eleventh connecting rod 11 is connected with one end of a twelfth connecting rod 12 through a revolute pair R34, and the other end of the twelfth connecting rod 12 is connected with the movable platform M through a revolute pair R35; the axes of the revolute pair R32 and the revolute pair R33 are perpendicular to the axes of the revolute pair R34 and the revolute pair R35, the axes of the revolute pair R32 and the revolute pair R33 are parallel to the movable pair P31, the axes of the revolute pair R32 and the revolute pair R33 are parallel to each other, and the axes of the revolute pair R34 and the revolute pair R35 are parallel to each other.
Further, the serial chain of the simple branched chain iv may be provided as a PSS structure, and the simple branched chain iv is composed of a shifting pair P41, a ball pair S42, a ball pair S43, a thirteenth connecting rod 13 and a fourteenth connecting rod 14; the traveling pair P41 as the driving pair can be replaced by a revolute pair; one end of the thirteenth connecting rod 13 is connected with the movable platform M through a ball pair S43, the other end of the thirteenth connecting rod 13 is connected with one end of the fourteenth connecting rod 14 through a ball pair S42, and the other end of the fourteenth connecting rod 14 is connected with the fixed platform N through a movable pair P41.
Example 2: substantially the same as in example 1, except that: the structure adopted by the simple branched chain II is the same as that of the simple branched chain I. The kinematic pairs adopted by the simple branched chains I, II and III connected with the fixed platform N are moving pairs, and the kinematic pairs of the simple branched chains IV connected with the fixed platform N are moving pairs or rotating pairs; the kinematic pairs adopted by the simple branched chain I, the simple branched chain II and the simple branched chain III connected with the movable platform M are revolute pairs, and the kinematic pairs of the simple branched chain IV connected with the movable platform M are ball pairs.
Further, the simple branched chain ii may be configured to be composed of a revolute pair R22, a revolute pair R23, a revolute pair R24, a revolute pair R25, a shifting pair P21, a fifth connecting rod 5, a sixth connecting rod 6, a seventh connecting rod 7, and an eighth connecting rod 8; one end of the fifth connecting rod 5 is connected with the fixed platform N through a movable pair P21, the other end of the fifth connecting rod 5 is connected with one end of the sixth connecting rod 6 through a revolute pair R22, the other end of the sixth connecting rod 6 is connected with one end of the seventh connecting rod 7 through a revolute pair R23, the other end of the seventh connecting rod 7 is connected with one end of the eighth connecting rod 8 through a revolute pair R24, and the other end of the eighth connecting rod 8 is connected with the movable platform M through a revolute pair R25; the axes of the revolute pair R22 and the revolute pair R23 are perpendicular to the axes of the revolute pair R24, the revolute pair R25 and the revolute pair P21, the axes of the revolute pair R22 and the revolute pair R23 are parallel to each other, and the axes of the revolute pair R24 and the revolute pair R25 are parallel to each other.
The working principle of the invention is as follows:
the mechanism is characterized in that the movable platform M is constrained by a revolute pair due to the action of the simple branched chain I, and at the moment, the movable platform has three-translation-two-rotation (3T 2R) motion, and when the simple branched chain II is identical to the simple branched chain I in structure, the effect is identical, the structure is semi-symmetrical, and meanwhile, the strength and the rigidity of the parallel mechanism are improved. When the simple branched chain III acts on the movable platform M, the movable platform is subjected to three-translation-two-rotation (3T 2R) action; the intersection of the simple branched chain I, the simple branched chain II and the simple branched chain III is used for constraining two rotations of the movable platform M together, and the parallel mechanism has the functions of three-dimensional movement and one-dimensional rotation; the added simple branched chain IV is a free motion chain, the motion of the moving platform is not restrained, the four branched chains are intersected, and the simple branched chain IV is a three-dimensional moving one-dimensional rotating mechanism. When the simple branched chain II samples the structure same as the simple branched chain IV, the added simple branched chain II and the simple branched chain IV are free motion chains, and the motion of the movable platform is not restrained; the simple branched chain I and the simple branched chain III respectively generate three-translation two-rotation (3T 2R) effects on the movable platform, the simple branched chain I and the simple branched chain III meet each other, two rotations of the movable platform M are constrained together, and the parallel mechanism has the functions of three-dimensional movement and one-dimensional rotation; the four branched chains are intersected to form a three-dimensional moving one-dimensional rotating mechanism.
The four pairs of movements P11, P21, P31 and P41 located on the stationary platform should be driving pairs at the same time. When one, two and three driving pairs are fixed in sequence, the device becomes a three-degree-of-freedom, two-degree-of-freedom and single-degree-of-freedom three-translation-one-rotation (3T 1R) parallel mechanism, and the number of independent output movements is three, two and one. Other motions are derivative motions, which can also be understood as derivative motions.
While the present invention has been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (2)
1. A three-dimensional removal one-dimensional rotation parallel mechanism, its characterized in that: the device comprises a fixed platform (N), a movable platform (M) and four simple branched chains, wherein the four simple branched chains consist of a simple branched chain I, a simple branched chain II, a simple branched chain III and a simple branched chain IV;
the fixed platform (N) and the movable platform (M) are connected through four simple branched chains, and the compound motion of the four simple branched chains forms the output motion of the movable platform (M);
the simple branched chain I has three-dimensional movement and two-dimensional rotation effects on the movable platform (M);
the simple branched chain III has three-dimensional movement and two-dimensional rotation on the movable platform (M);
the simple branched chain IV is a serial chain capable of realizing space 6-degree-of-freedom motion, and does not restrict motion of the movable platform (M);
the structure adopted by the simple branched chain II is the same as that of the simple branched chain I or the simple branched chain IV;
the kinematic pairs at one end of each of the two simple branched chains are connected with one parallel side of the fixed platform (N), the kinematic pairs at one end of the other two simple branched chains are connected with the other parallel side of the fixed platform (N), the kinematic pairs at the other end of each of the four simple branched chains are respectively connected with four corners of the movable platform (M), the kinematic pairs at the opposite sides of the fixed platform (N) are parallel, and the four simple branched chains are not intersected;
the simple branched chain I consists of a revolute pair R12, a revolute pair R13, a revolute pair R14, a revolute pair R15, a shifting pair P11, a first connecting rod (1), a second connecting rod (2), a third connecting rod (3) and a fourth connecting rod (4);
one end of a first connecting rod (1) is connected with a fixed platform (N) through a movable pair P11, the other end of the first connecting rod (1) is connected with one end of a second connecting rod (2) through a revolute pair R12, the other end of the second connecting rod (2) is connected with one end of a third connecting rod (3) through a revolute pair R13, the other end of the third connecting rod (3) is connected with one end of a fourth connecting rod (4) through a revolute pair R14, and the other end of the fourth connecting rod (4) is connected with a movable platform (M) through a revolute pair R15; the axes of the revolute pair R12 and the revolute pair R13 are perpendicular to the axes of the revolute pair R14, the revolute pair R15 and the movable pair P11, the axes of the revolute pair R12 and the revolute pair R13 are parallel to each other, and the axes of the revolute pair R14 and the revolute pair R15 are parallel to each other;
the simple branched chain III consists of a movable pair P31, a revolute pair R32, a revolute pair R33, a revolute pair R34, a revolute pair R35, a ninth connecting rod (9), a tenth connecting rod (10), an eleventh connecting rod (11) and a twelfth connecting rod (12);
one end of a ninth connecting rod (9) is connected with the fixed platform (N) through a movable pair P31, the other end of the ninth connecting rod (9) is connected with one end of a tenth connecting rod (10) through a revolute pair R32, the other end of the tenth connecting rod (10) is connected with one end of an eleventh connecting rod (11) through a revolute pair R33, the other end of the eleventh connecting rod (11) is connected with one end of a twelfth connecting rod (12) through a revolute pair R34, and the other end of the twelfth connecting rod (12) is connected with the movable platform (M) through a revolute pair R35; the axes of the revolute pair R32 and the revolute pair R33 are perpendicular to the axes of the revolute pair R34 and the revolute pair R35, the axes of the revolute pair R32 and the revolute pair R33 are parallel to the axis of the movable pair P31, the axes of the revolute pair R32 and the revolute pair R33 are parallel to each other, and the axes of the revolute pair R34 and the revolute pair R35 are parallel to each other;
the serial chain of the simple branched chain IV is of a PSS structure, and the simple branched chain IV consists of a movable pair P41, a ball pair S42, a ball pair S43, a thirteenth connecting rod (13) and a fourteenth connecting rod (14); the traveling pair P41 as the driving pair can be replaced by a revolute pair;
one end of a thirteenth connecting rod (13) is connected with the movable platform (M) through a ball pair S43, the other end of the thirteenth connecting rod (13) is connected with one end of a fourteenth connecting rod (14) through a ball pair S42, and the other end of the fourteenth connecting rod (14) is connected with the fixed platform (N) through a movable pair P41.
2. The three-dimensional moving one-dimensional rotating parallel mechanism according to claim 1, wherein: the movable platform (M) is in a trapezoid form; the fixed platform (N) is also in a trapezoid form and is different from the movable platform (M).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811007214.6A CN108942892B (en) | 2018-08-31 | 2018-08-31 | Three-dimensional moving one-dimensional rotating parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811007214.6A CN108942892B (en) | 2018-08-31 | 2018-08-31 | Three-dimensional moving one-dimensional rotating parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108942892A CN108942892A (en) | 2018-12-07 |
| CN108942892B true CN108942892B (en) | 2023-10-20 |
Family
ID=64474998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811007214.6A Active CN108942892B (en) | 2018-08-31 | 2018-08-31 | Three-dimensional moving one-dimensional rotating parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108942892B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111438683B (en) * | 2020-04-10 | 2021-05-14 | 燕山大学 | Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990038264A (en) * | 1997-11-04 | 1999-06-05 | 한창수 | Balanced Robot Manipulator |
| CN201532609U (en) * | 2009-09-30 | 2010-07-21 | 浙江大学 | Four-branched chain parallel type six-freedom degree force feedback device |
| CN103968207A (en) * | 2014-04-30 | 2014-08-06 | 福州大学 | Singularity-free complete isotropic space three-dimensional rotating parallel mechanism |
| CN104875186A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R (three-transfer one-rotate) parallel robot mechanism |
| CN104875207A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R (three-transfer one-rotate) spatial parallel robot mechanism |
| CN105437214A (en) * | 2015-12-17 | 2016-03-30 | 天津大学 | Multi-closed-loop three-rotation catching and releasing mechanism |
| CN105945917A (en) * | 2016-06-02 | 2016-09-21 | 燕山大学 | Multi-rotating-center type two-rotation and one-movement parallel mechanism |
-
2018
- 2018-08-31 CN CN201811007214.6A patent/CN108942892B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990038264A (en) * | 1997-11-04 | 1999-06-05 | 한창수 | Balanced Robot Manipulator |
| CN201532609U (en) * | 2009-09-30 | 2010-07-21 | 浙江大学 | Four-branched chain parallel type six-freedom degree force feedback device |
| CN103968207A (en) * | 2014-04-30 | 2014-08-06 | 福州大学 | Singularity-free complete isotropic space three-dimensional rotating parallel mechanism |
| CN104875186A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R (three-transfer one-rotate) parallel robot mechanism |
| CN104875207A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R (three-transfer one-rotate) spatial parallel robot mechanism |
| CN105437214A (en) * | 2015-12-17 | 2016-03-30 | 天津大学 | Multi-closed-loop three-rotation catching and releasing mechanism |
| CN105945917A (en) * | 2016-06-02 | 2016-09-21 | 燕山大学 | Multi-rotating-center type two-rotation and one-movement parallel mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108942892A (en) | 2018-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101407059B (en) | Four-freedom degree industrial robot | |
| CN102166749B (en) | 2-PRR&PPRR three-degree-of-freedom spatial parallel robot mechanism | |
| CN103072132A (en) | Three-degree-of-freedom movable decoupling parallel robot mechanism with fully-symmetrical structure | |
| CN108818502B (en) | Two-movement one-rotation parallel mechanism with spherical surface rotation freedom degree | |
| CN102350697A (en) | 5R closed loop subchain-containing two-degree-of-freedom parallel mechanism | |
| CN104875192A (en) | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism | |
| CN112720545A (en) | Humanoid parallel robot dexterous hand | |
| CN102513998A (en) | Space five-range of motion drilling robot mechanism | |
| CN108942892B (en) | Three-dimensional moving one-dimensional rotating parallel mechanism | |
| CN104708617A (en) | Three-freedom-degree locating mechanism and multiple-freedom-degree hybrid manipulator robot with same | |
| CN102975197A (en) | Parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom | |
| CN109176471B (en) | Four-degree-of-freedom parallel mechanism | |
| CN202378048U (en) | Spatial five-mobility drilling robot mechanism | |
| CN207747038U (en) | A kind of plane grasping mechanism | |
| CN104690722A (en) | Five-DOF robot | |
| CN108942893B (en) | Two-rotation two-translation parallel mechanism | |
| CN102514001A (en) | Spatial eight-degrees-of-freedom welding robot mechanism | |
| CN104772751A (en) | Three degree-of-freedom parallel mechanism | |
| CN106826767B (en) | Six-degree-of-freedom parallel mechanism based on grabbing parallel structure | |
| CN109176472B (en) | Four-degree-of-freedom decoupling parallel mechanism | |
| CN109278025B (en) | Five-degree-of-freedom series-parallel robot | |
| CN109514532A (en) | The 2R1T symmetric parallel mechanism of the prismatic pair containing arc | |
| CN111037592A (en) | Flexible bionic manipulator | |
| CN102431030A (en) | Spatial six-mobility drilling robot mechanism | |
| CN108942891B (en) | Parallel mechanism with five-dimensional motion |
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 |