CN109129427A - A kind of the plane parallel mechanism device and control method of double five-rod drivings - Google Patents
A kind of the plane parallel mechanism device and control method of double five-rod drivings Download PDFInfo
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- CN109129427A CN109129427A CN201811157610.7A CN201811157610A CN109129427A CN 109129427 A CN109129427 A CN 109129427A CN 201811157610 A CN201811157610 A CN 201811157610A CN 109129427 A CN109129427 A CN 109129427A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
- Length Measuring Devices By Optical Means (AREA)
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Abstract
The invention discloses the plane parallel mechanism devices and control method of a kind of double five-rod drivings, including parallel institution body part, detection part and control section；The parallel institution body part includes two planar five-bar mechanisms, moving platform and silent flatform, the laser displacement sensor installed on silent flatform, for measuring displacement and the posture information of moving platform；Magnetic railings ruler sensor is used to measure the location information of motor；The output control signal after computer disposal, controls the movement of linear motor, and then control the movement of moving platform.Using two five-rods as driving branch, eliminate gap influences apparatus of the present invention to system bring, and carries out position closed loop feedback using laser displacement sensor, therefore has many advantages, such as that positioning accuracy is high, closed-loop control response is fast, control performance is good.
Description
Technical field
The present invention relates to plane parallel mechanism control fields, and in particular to a kind of planar parallel of double five-rod drivings
Structure device and control method.
Background technique
Parallel robot be several freedom degrees end effector and fixed ground by it is two or more solely
Vertical movement branched chain is connected, and parallel robot has many advantages, such as big rigidity, high-precision, high bearing capacity compared to serial manipulator, main
It applies in strong rigidity, the field that precision is high, movement velocity is fast, dynamic characteristic is good, operation is dexterous, little to working space requirement
It closes, such as aerospace, manufacturing equipment, accurate measurement and precision positioning field.It is existing in order to improve industrial productivity, energy saving
Generation machinery constantly develops to directions such as lightweight, low energy consumption and high efficiency, light-duty, high speed, high acceleration, high-precision parallel
Robot starts to obtain the concern of many researchers and engineer.
The driving method of parallel institution mainly has direct-driving motor to directly drive at present, servo motor drives, hydraulic drive
Dynamic, air pressure driving and novel driving device etc..With advances in technology, the speed and precision of mechanism is proposed higher and higher
It is required that the driving method of traditional motor acceleration and deceleration device increases the movement inertia of mechanism because the quality of retarder is generally large,
The response speed of reducing mechanism.Often there is also the backlash for being difficult to eliminate for retarder, have to the transmission accuracy of mechanism very big
Influence, the loss of energy can also be brought by rubbing present in retarder.
Structure of the linear motion actuator is simple, is not necessarily to movement conversion mechanism, movement inertia is small, dynamic response performance and positioning accuracy
It is high；Without Mechanical Contact, no friction and noise when linear motor moves, it is able to achieve the movement of very high speed and very low speed；It compares
In other lead screws, synchronous belt and gear-rack drive, linear motor driving can obtain high acceleration.
Summary of the invention
In order to overcome the prior art there are shortcoming and deficiency, the present invention provides a kind of plane-parallel type of double five-rod drivings
Mechanism arrangement and control method so that planar three-freedom-degree parallel mechanism movement is more flexible and quick, and realize that its precision is fixed
Position.
The present invention adopts the following technical scheme:
A kind of plane parallel mechanism device of double five-rods driving, including parallel institution body part, detection part and
Control section；
The parallel institution body part includes two planar five-bar mechanisms, moving platform and silent flatform, and the moving platform is set
It sets on silent flatform, the moving platform includes equilateral triangle platform and parallelogram platform, the parallelogram platform
It is arranged on silent flatform, the top of parallelogram platform, described two planar five-bar mechanisms are arranged in equilateral triangle platform
Structure it is identical, include two rigid driven bar body units, two rigid driven bar body cellular constructions are identical, include
Rigid driven bar, linear motor and linear movement unit, the rigid driven bar one end setting linear movement unit, it is another
End and an angle of parallelogram platform connect and compose compound hinges by shaft, and linear motor drives linear movement unit to move
It is dynamic；
The detection part includes laser acquisition head and magnetic grid rule displacement sensor, and laser acquisition head is three, is fixed on
On silent flatform, and the laser of laser acquisition head is got on equilateral triangle platform；
The magnetic grid rule displacement sensor is arranged in rigid driven bar body unit, measures the location information of linear motor；
The control section includes Linear motor servo unit, motion control card, laser displacement sensor controller, data
Capture card and computer；
The linear motor connects straight-line electric by the way of speed control or position control with magnetic grid rule displacement sensor
Machine servo unit, the Linear motor servo unit and motion control card are connected with each other, and motion control card is connect with computer, are swashed
The displacement information and posture information of Optical displacement sensor detection moving platform are output to data by laser displacement sensor controller
After capture card, computer is inputted, computer obtains control amount and further drives by motion control card, Linear motor servo unit
The movement of linear motor, control moving platform desirably move to designated position in track.
Two laser acquisition heads are located at the right of moving platform, third laser acquisition head in three laser acquisition heads of the invention
The top of moving platform is set, and two laser acquisition heads on the right are placed in parallel.
The linear movement unit includes linear guide, sliding block and connecting plate, and the linear guide and linear motor are determined
Son is arranged on motor base, and connecting plate is fixed on sliding block, and sliding block moves in linear guide.
Parallelogram platform is arranged in a rigid driven bar in two rigid driven bar body units of the invention
Top, the lower section of parallelogram platform is arranged in another.
The magnetic grid rule displacement sensor includes picking up magnetic magnetic head and magnetic scale, picks up magnetic magnetic head and is fixed on connecting plate, magnetic
Property scale is mounted on motor base.
The present apparatus has three degree of freedom, specially two horizontal direction freedom degrees and a rotation direction freedom degree.
A kind of control method of the plane parallel mechanism device of double five-rod drivings, includes the following steps:
Step 1, computer carry out Inverse Kinematics Solution, obtain according to given track, target position and moving platform posture
To the output quantity of each linear motor, output quantity is output to Linear motor servo unit by motion control card by computer, control
Linear motor rotor processed is mobile, to move with moving platform；
Step 2 is arranged in the laser acquisition head around moving platform, measures moving platform in real time in moving platform motion process
Location information and posture information, data collecting card is output to by laser displacement sensor controller, is passed after carrying out A/D conversion
It is defeated by computer；
Magnetic railings ruler position sensor measures the location information of linear motor rotor in real time, and transfers information to linear motor
Servo unit, then computer is transferred to by motion control card；
Step 3, the feedback information that computer is obtained according to step 2 calculate control signal, and control signal passes through first
Motion control card is then output to Linear motor servo unit, driving linear motor rotor movement, and then controls moving platform on schedule
Hope track movement, with desired attitude motion to designated position.
The location information and posture information of moving platform are obtained in step 2, specifically:
If the coordinate of first laser detecting head is P1(x1,y1), the coordinate of second laser detecting head is P2(x2,y2), first
The coordinate of laser acquisition head is P3(x3,y3), triangle edges a length of a in part on moving platform 12,
The then corner of moving platform are as follows:
The position of moving platform center in the x-direction are as follows:
The position of moving platform center in the y-direction are as follows:
Wherein
Beneficial effects of the present invention:
(1) present invention employs linear motors to be driven, and is free of retarder, eliminates the influence of transmission mechanism, it is driving
It is steady and quick to move friction very little, movement in the process, and it uses high-precision magnetic railings ruler as position feedback unit, so driving
Dynamic and control effect can be more preferable；
(2) present invention is a kind of using the location information and posture information of three laser displacement sensor measurement moving platforms
Non-contact measurement mode will not change apparatus structure, not increase additional mass, and measurement accuracy is high, response quickly, and entire system
System forms a closed-loop feedback circuit, and the information of feedback is used to design control algolithm, and the precision positioning to platform may be implemented
Control；
(3) present invention employs two five-rods as driving branch, it is alternatively referred to as plane two-freedom parallel machine
Structure, its forward kinematics solution and inverse solution are all relatively easy, so that the kinematics sequences of entire plane parallel mechanism are more
Simply, the operating characteristics of the mechanism is improved, but not loses the freedom degree of end's platform；
(4) present invention has three degree of freedom, i.e. two horizontal direction freedom degrees and a rotation direction freedom degree, and drives
There are four dynamic motors, so foring actuation redundancy, increases the mechanism redundancy, controls more flexible；
(5) apparatus of the present invention use two compound hinges, and installation difficulty will increase, and caused error can make precision meeting
It is reduced；
(6) present invention employs four sets of servo electrical machinery systems, and end's platform only has three degree of freedom, and it is superfluous to form driving
It is remaining, it can to control cost that is more flexible, but also will increase entire mechanism.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the right view of Fig. 1；
Fig. 4 is the structural schematic diagram of five-rod driving branch in the present embodiment
Fig. 5 is the present embodiment moving platform position solution figure；
Fig. 6 is the structural schematic diagram of laser displacement sensor in the present embodiment；
Fig. 7 is that moving platform position and posture information solve schematic diagram in the present embodiment.
Specific embodiment
Below with reference to examples and drawings, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Embodiment
As shown in figs 1 to 6, the plane parallel mechanism device and control method, hardware of a kind of double five-rod drivings are set
Standby includes parallel institution body part, detection part and control section；
The parallel institution body part includes two planar five-bar mechanisms, moving platform 12 and silent flatform 1, and silent flatform 1 is
Squared profile seat is used to support whole device as experimental bench.The moving platform 12 divides for two parts, and lower part is parallel
Quadrangle platform, wherein diagonal angle is opened there are two bearing hole up and down, by shaft and each driving branch chain link, upper part is etc.
Side triangle platform.
The structure of described two planar five-bar mechanisms is identical, includes two rigid driven bar body units, two rigidity
Follower lever body unit structure is identical, includes rigid driven bar, linear motor, linear guide 4, sliding block 6 and connecting plate, straight line
Motor is fixed on motor base 2, and the stator 3 and linear guide 4 of linear motor are bolted on motor base 2, directly
The upper surface of sliding block on line guide rail and the mover 5 of linear motor are in same plane, and solid by screw and connecting plate 7 respectively
It is fixed, it can guarantee that linear motor rotor 5, sliding block 6 and connecting plate 7 are integrally formed in this way, move together；In each connecting plate 7
It at the heart, is bolted and bearing block 8 is installed, the shaft end of shaft sleeve 9 is inserted into bearing block 8, two rigid driven bars
One end be fixed together by screw and socket end, and the other end then with a bottom of the parallelogram platform of moving platform 12
Angle constitutes compound hinges by shaft, and two rigid driven bars 10,11 are located at the over and under of parallelogram platform,
Two rigid driven bar body units be located at two of parallelogram platform it is diagonal on.Each planar five-bar mechanism is by two
A linear motor is driven, and the mover 5 of linear motor is moved integrally with movable slider 6, connecting plate 7, thus promote dynamic rigidity from
Lever movement, finally makes moving platform 12 move to designated position.
The detection part includes laser acquisition head 16 and magnetic grid rule displacement sensor, and the laser acquisition head is three,
It is fixed in adjusting bracket 17, the height of the adjustable laser acquisition head 16 of adjusting bracket 17, it is dynamic flat to guarantee that laser can be got to
The upper surface of platform 12 gable；Adjusting bracket is fixed on silent flatform, and two of them laser acquisition head 16 is located at moving platform 12
The right, third is located at the front of moving platform 12, and two adjusting brackets 17 on the right are parallel and horizontal positioned, the adjusting in front
Support vertical 17 is placed；Laser displacement sensor can accurately measure the displacement information and posture information of moving platform 12.
Silent flatform center is coordinate origin, establishes XY axis coordinate system, and the right is X-axis positive direction, and front is Y-axis positive direction.
Magnetic grid rule displacement sensor includes picking up magnetic magnetic head and magnetic scale, described to pick up magnetic magnetic head 14 by link block 15 and connect
Fishplate bar 7 is fixed together, and magnetic scale 13 is then mounted on motor base 2, is picking up magnetic magnetic head 14 with linear motor rotor 5
During movement, magnetic railings ruler can accurately measure the location information of linear motor rotor.
The control section includes Linear motor servo unit 18, motion control card 19, laser displacement sensor controller
20, data collecting card 21 and computer 22；
Linear motor and magnetic railings ruler and Linear motor servo list is connected to by the way of speed control or position control
Member 18, Linear motor servo unit 18 and motion control card 19 are connected with each other, and location information is fed back to linear motor by magnetic railings ruler
Servo unit 18, and then computer 22 is transferred to by motion control card 19；The displacement of the moving platform 12 of laser acquisition head detection
Information and posture information then pass through laser displacement sensor controller 20 and are output to data collecting card 21, after carrying out A/D conversion
It is transferred to computer 22；Computer 22 issues corresponding control amount after running respective algorithms according to the feedback information of front, by fortune
Dynamic control card 19 is transmitted to Linear motor servo unit 18, the movement of linear motor rotor is driven, to control moving platform by expectation
Track moves to designated position.
Compared to plane 3-RRR parallel institution, it, instead of three branches in parallel, but is not changed with two five-rods
Become the freedom degree of mechanism；The present apparatus still has three degree of freedom, i.e. two horizontal direction freedom degrees and a rotation direction are certainly
By spending, and there are four driving motors, so foring actuation redundancy, increases the mechanism redundancy, control more flexible.
Using linear motor as driver, need not move through the intermediate transmission mechanisms such as retarder, reduce frictional force,
Gap, it is non-linear the problems such as, greatly improve the motion control accuracy and response speed of mechanism.
The course of work of the invention:
Step 1, computer carry out Inverse Kinematics Solution, obtain according to given track, target position and moving platform posture
To the output quantity of each linear motor, output quantity is output to Linear motor servo unit by motion control card by computer, control
Linear motor rotor processed is mobile, to move with moving platform；
Step 2 is arranged in the laser acquisition head around moving platform, measures moving platform in real time in moving platform motion process
Location information and posture information, data collecting card is output to by laser displacement sensor controller, is passed after carrying out A/D conversion
It is defeated by computer；
Magnetic railings ruler position sensor measures the location information of linear motor rotor in real time, and transfers information to linear motor
Servo unit, then computer is transferred to by motion control card；
Step 3, the feedback information that computer is obtained according to step 2 calculate control signal, and control signal passes through first
Motion control card is then output to Linear motor servo unit, driving linear motor rotor movement, and then controls moving platform on schedule
Hope track movement, with desired attitude motion to designated position.
Step 4 repetition test modifies control parameter, so that control precision reaches expected requirement.
The location information and posture information of moving platform are obtained in step 2, as shown in fig. 7, specifically:
If the coordinate of first laser detecting head is P1(x1,y1), the coordinate of second laser detecting head is P2(x2,y2), first
The coordinate of laser acquisition head is P3(x3,y3), triangle edges a length of a in part on moving platform 12,
The then corner of moving platform are as follows:
The position of moving platform center in the x-direction are as follows:
The position of moving platform center in the y-direction are as follows:
Wherein
The posture information, that is, center point coordinate (xG,yG) and corner α.
Dotted line connection in Fig. 1 indicates the connection figure of electric signal and detection drive dynamic control device, and direction arrow shows inspection
Survey and control the direction of transfer of signal stream.
In the present embodiment:
Silent flatform is assembled by the aluminum profile that three kinds of length are respectively 1200mm, 1200mm, 1000mm, and table top is one piece
1320mm × 1320mm × 10mm stainless steel plate is connect by screw with profile, and each junction of profile has angle bar solid
It is fixed.
What magnetic railings ruler was selected is Italian GIVI magnetic railings ruler, picks up magnetic magnetic head model MTSH2C0528VL, staff gauge magnetic grating type
It number is MP200, the precision of magnetic railings ruler is 40 μm of scholar, and 5~28V of supply voltage exports as LINE-DRIVER.
What linear motor used can be selected the U-shaped vertical straight line electricity of WMU series produced by Zheng Zhou micro-nano science and technology Co., Ltd
Machine, rated output power are 90N, maximum operational speed 2.5m/s.
The motion control card used is the PMAC2 of DELTA TAU company of U.S. PMAC card series.First to driver mould
Formula, electronic gear proportion, there are also PMAC2 card I variables to be configured.Used motor pattern is position control mode.Driver
During load is set as, respective value 1, rigidity is neutrality, and being worth is 3.Electronic gear proportion is set as each pulse pair and motor is answered to rotate
0.04°。
Laser acquisition head and laser displacement sensing controler select a series of laser displacements of Japanese Keyemce company production
Sensor, laser acquisition head model LK-G500, the scattered reflection type installation of triangulation, it is seen that red semiconductor laser, wave
A length of 655mm, reference distance are 500mm, and it to measurement reproducibility is 4 μm that measurement range, which is scholar 100mm, and linearity is scholar 0.05%
FS (FS=scholar 100mm), the sampling period be can be selected in a grade.Laser displacement sensing controler model LK-
G300lV, analog voltage output area are -10V to 10V, tool there are two laser acquisition head synchro measure function, operating function,
Average function, filtering function, the functions such as calibration function, auto zero function, sampling rate setting
The PCI-8193 of model Beijing Altay Science and Technology Ltd. production of data collecting card, analog input model
Enclose -10V~+10V.
CPU model the intel-Core i74790, frequency 3.6Hz, memory 4G of the computer of selection.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by the embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (8)
1. a kind of plane parallel mechanism device of double five-rod drivings, which is characterized in that including parallel institution body part, inspection
Survey part and control section；
The parallel institution body part includes two planar five-bar mechanisms, moving platform and silent flatform, and the moving platform setting exists
On silent flatform, the moving platform includes equilateral triangle platform and parallelogram platform, the parallelogram platform setting
On silent flatform, the top of parallelogram platform, the knot of described two planar five-bar mechanisms is arranged in equilateral triangle platform
Structure is identical, includes two rigid driven bar body units, and two rigid driven bar body cellular constructions are identical, includes rigidity
Follower lever, linear motor and linear movement unit, the rigid driven bar one end setting linear movement unit, the other end with
One angle of parallelogram platform connects and composes compound hinges by shaft, and linear motor drives linear movement unit mobile；
The detection part includes laser acquisition head and magnetic grid rule displacement sensor, and laser acquisition head is three, is fixed on quiet flat
On platform, and the laser of laser acquisition head is got on equilateral triangle platform；
The magnetic grid rule displacement sensor is arranged in rigid driven bar body unit, measures the location information of linear motor；
The control section includes Linear motor servo unit, motion control card, laser displacement sensor controller, data acquisition
Card and computer；
The linear motor connects linear motor by the way of speed control or position control with magnetic grid rule displacement sensor and watches
Unit is taken, the Linear motor servo unit and motion control card are connected with each other, and motion control card is connect with computer, laser position
The displacement information and posture information of displacement sensor detection moving platform are output to data by laser displacement sensor controller and acquire
After card, computer is inputted, computer obtains control amount and further drives straight line by motion control card, Linear motor servo unit
The movement of motor, control moving platform desirably move to designated position in track.
2. plane parallel mechanism device according to claim 1, which is characterized in that two laser in three laser acquisition heads
Detecting head is located at the right of moving platform, and the top of moving platform, two laser acquisitions on the right are arranged in third laser acquisition head
Head is placed in parallel.
3. plane parallel mechanism device according to claim 1, which is characterized in that the linear movement unit includes straight line
The stator of guide rail, sliding block and connecting plate, the linear guide and linear motor is arranged on motor base, and connecting plate is fixed on cunning
On block, sliding block moves in linear guide.
4. plane parallel mechanism device according to claim 1, which is characterized in that in two rigid driven bar body units
A rigid driven bar top of parallelogram platform is set, the lower section of parallelogram platform is arranged in another.
5. plane parallel mechanism device according to claim 1, which is characterized in that magnetic grid rule displacement sensor includes picking up magnetic
Magnetic head and magnetic scale pick up magnetic magnetic head and are fixed on connecting plate, and magnetic scale is mounted on motor base.
6. plane parallel mechanism device according to claim 1, which is characterized in that the present apparatus has three degree of freedom, tool
Body is two horizontal direction freedom degrees and a rotation direction freedom degree.
7. a kind of a kind of control of the plane parallel mechanism device of double five-rod drivings according to claim 1-6
Method processed, which comprises the steps of:
Step 1, computer carry out Inverse Kinematics Solution according to given track, target position and moving platform posture, obtain every
Output quantity is output to Linear motor servo unit by motion control card by the output quantity of a linear motor, computer, and control is straight
Line electric mover is mobile, to move with moving platform；
Step 2 is arranged in the laser acquisition head around moving platform, measures the position of moving platform in real time in moving platform motion process
Confidence breath and posture information are output to data collecting card by laser displacement sensor controller, are transferred to after carrying out A/D conversion
Computer；
Magnetic railings ruler position sensor measures the location information of linear motor rotor in real time, and transfers information to Linear motor servo
Unit, then computer is transferred to by motion control card；
Step 3, the feedback information that computer is obtained according to step 2 calculate control signal, and control signal passes through movement first
Control card is then output to Linear motor servo unit, driving linear motor rotor movement, and then controls moving platform and press desired rail
Mark moves, with desired attitude motion to designated position.
8. control method according to claim 1, which is characterized in that obtain the location information and appearance of moving platform in step 2
State information, specifically:
If the coordinate of first laser detecting head is P1(x1,y1), the coordinate of second laser detecting head is P2(x2,y2), first laser
The coordinate of detecting head is P3(x3,y3), triangle edges a length of a in part on moving platform 12,
The then corner of moving platform are as follows:
The position of moving platform center in the x-direction are as follows:
The position of moving platform center in the y-direction are as follows:
Wherein
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| CN112722195A (en) * | 2020-12-10 | 2021-04-30 | 渤海造船厂集团有限公司 | 400-ton ship power module longitudinal cabin entering process equipment |
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| CN106625586A (en) * | 2016-11-30 | 2017-05-10 | 华南理工大学 | Parallel mechanism device based on driving of linear motion units and control method |
| CN107139193A (en) * | 2017-06-28 | 2017-09-08 | 华南理工大学 | The redundancy plane parallel mechanism control device and method of direct drive |
| CN208992704U (en) * | 2018-09-30 | 2019-06-18 | 华南理工大学 | A kind of plane parallel mechanism device of double five-rod drivings |
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| CN110333134A (en) * | 2019-07-04 | 2019-10-15 | 西北工业大学 | Uniaxial stretching device and experimental method associated with a kind of and neutron scattering |
| CN112722195A (en) * | 2020-12-10 | 2021-04-30 | 渤海造船厂集团有限公司 | 400-ton ship power module longitudinal cabin entering process equipment |
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