CN109278026B - 一种四自由度并联机械手 - Google Patents
一种四自由度并联机械手 Download PDFInfo
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- CN109278026B CN109278026B CN201811313506.2A CN201811313506A CN109278026B CN 109278026 B CN109278026 B CN 109278026B CN 201811313506 A CN201811313506 A CN 201811313506A CN 109278026 B CN109278026 B CN 109278026B
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- branched chain
- connecting rod
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- 238000003466 welding Methods 0.000 claims abstract description 8
- 150000001875 compounds Chemical class 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 40
- 230000000694 effects Effects 0.000 claims description 12
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000001154 acute effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201811313506.2A CN109278026B (zh) | 2018-11-06 | 2018-11-06 | 一种四自由度并联机械手 |
Applications Claiming Priority (1)
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CN201811313506.2A CN109278026B (zh) | 2018-11-06 | 2018-11-06 | 一种四自由度并联机械手 |
Publications (2)
Publication Number | Publication Date |
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CN109278026A CN109278026A (zh) | 2019-01-29 |
CN109278026B true CN109278026B (zh) | 2024-03-08 |
Family
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Family Applications (1)
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CN201811313506.2A Active CN109278026B (zh) | 2018-11-06 | 2018-11-06 | 一种四自由度并联机械手 |
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CN (1) | CN109278026B (zh) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014217931A (ja) * | 2013-05-10 | 2014-11-20 | 株式会社安川電機 | ロボットの姿勢変更方法、ロボットおよびロボットの回転ユニット |
CN104875190A (zh) * | 2015-05-19 | 2015-09-02 | 江南大学 | 一种两移动三转动完全解耦混联机器人机构 |
CN105619386A (zh) * | 2016-03-12 | 2016-06-01 | 常州大学 | 一种低耦合度三运动副动平台的三平移一转动并联机器人装置 |
CN105643600A (zh) * | 2016-03-12 | 2016-06-08 | 常州大学 | 一种低耦合度三运动副动平台的三平移一转动并联机器人机构 |
CN106426094A (zh) * | 2016-10-17 | 2017-02-22 | 广东工业大学 | 一种四自由度并联机构 |
CN209440147U (zh) * | 2018-11-06 | 2019-09-27 | 昆明理工大学 | 一种四自由度并联机械手 |
-
2018
- 2018-11-06 CN CN201811313506.2A patent/CN109278026B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014217931A (ja) * | 2013-05-10 | 2014-11-20 | 株式会社安川電機 | ロボットの姿勢変更方法、ロボットおよびロボットの回転ユニット |
CN104875190A (zh) * | 2015-05-19 | 2015-09-02 | 江南大学 | 一种两移动三转动完全解耦混联机器人机构 |
CN105619386A (zh) * | 2016-03-12 | 2016-06-01 | 常州大学 | 一种低耦合度三运动副动平台的三平移一转动并联机器人装置 |
CN105643600A (zh) * | 2016-03-12 | 2016-06-08 | 常州大学 | 一种低耦合度三运动副动平台的三平移一转动并联机器人机构 |
CN106426094A (zh) * | 2016-10-17 | 2017-02-22 | 广东工业大学 | 一种四自由度并联机构 |
CN209440147U (zh) * | 2018-11-06 | 2019-09-27 | 昆明理工大学 | 一种四自由度并联机械手 |
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CN109278026A (zh) | 2019-01-29 |
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Inventor after: Chen Jiupeng Inventor after: Wu Xing Inventor after: San Hongjun Inventor after: Zhang Daoyi Inventor after: Chen Mingfang Inventor after: Wang Xuejun Inventor after: He Wei Inventor after: Wu Haibo Inventor before: Wu Xing Inventor before: Chen Jiupeng Inventor before: San Hongjun Inventor before: Zhang Daoyi Inventor before: Chen Mingfang Inventor before: Wang Xuejun Inventor before: He Wei Inventor before: Wu Haibo |
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