CN112008698A - Two-rotation one-movement asymmetric complete decoupling parallel robot - Google Patents
Two-rotation one-movement asymmetric complete decoupling parallel robot Download PDFInfo
- Publication number
- CN112008698A CN112008698A CN202010987438.9A CN202010987438A CN112008698A CN 112008698 A CN112008698 A CN 112008698A CN 202010987438 A CN202010987438 A CN 202010987438A CN 112008698 A CN112008698 A CN 112008698A
- Authority
- CN
- China
- Prior art keywords
- pair
- moving
- platform
- connecting rod
- universal hinge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 abstract description 18
- 238000006073 displacement reaction Methods 0.000 abstract description 7
- 230000008878 coupling Effects 0.000 abstract description 4
- 238000010168 coupling process Methods 0.000 abstract description 4
- 238000005859 coupling reaction Methods 0.000 abstract description 4
- 230000003068 static effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a two-rotation one-movement asymmetric complete decoupling parallel robot, which comprises a static platform, a moving platform and three branch moving chains, wherein when a first rotating pair in a first branch moving chain is used as a driving pair to be independently input, the moving platform has one rotation degree of freedom, when a second moving pair in a second branch moving chain is used as a driving pair to be independently input, the moving platform has another rotation degree of freedom, when the linear displacement of a first cylindrical pair in a third branch moving chain and the first rotating pair in the first branch moving chain are simultaneously used as driving pair inputs, and the vertical displacement of a first universal hinge is the same as the displacement of the first cylindrical pair, the moving platform has one movement degree of freedom. Therefore, the invention has three degrees of freedom of rotation in two directions and movement in one direction, is simple to control and strong in practicability, solves the problems of strong coupling, complex kinematic calculation, difficult path planning and the like of a common parallel mechanism, and has wide application prospect.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a two-rotation one-movement asymmetric complete decoupling parallel robot.
Background
The parallel mechanism is formed by connecting the movable platform and the fixed platform through a plurality of branch moving chains, and has the advantages of compact structure, high rigidity, strong bearing capacity and the like compared with a serial mechanism. Has been widely applied in a plurality of fields such as medical instruments, aerospace, motion simulators and the like.
Compared with a parallel mechanism with 6 degrees of freedom, the parallel mechanism with less degrees of freedom has the advantages of less driving parts, less components, easy control, easy manufacture, low cost and the like. In particular, the parallel mechanism with three degrees of freedom of two rotations and one movement is a hot point of attention in the field due to the wide application prospect. At present, some scholars in China have certain research progress on a two-rotation one-movement three-freedom-degree parallel mechanism, but most of the existing parallel robot mechanisms have the problems of strong motion coupling, small working space, complex control, poor motion precision and the like.
Disclosure of Invention
The invention aims to provide a two-rotation one-movement asymmetric complete decoupling parallel robot, which solves the problems of strong kinematic coupling, poor decoupling, small working space and the like of a parallel mechanism in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: the two-rotation one-movement asymmetric complete decoupling parallel mechanism comprises a fixed platform, a movable platform and three branched kinematic chains, wherein one side of the top end of the fixed platform is provided with a connecting column, the three branched kinematic chains are respectively a first branched kinematic chain, a second branched kinematic chain and a third branched kinematic chain,
the first branch motion chain comprises a first rotating pair, a first universal hinge, a first moving pair and a second universal hinge which are sequentially connected through a connecting rod, the free ends of the first rotating pair and the second universal hinge are respectively connected to the connecting column and the moving platform, the axis of the first rotating pair is parallel to the inner axis of the first universal hinge, and the outer axis of the first universal hinge is parallel to the inner axis of the second universal hinge and is vertical to the moving direction of the first moving pair;
the second branch kinematic chain comprises a second moving pair, a second rotating pair, a third moving pair and a ball pair which are sequentially connected through a connecting rod, the free ends of the second moving pair and the ball pair are respectively connected to the fixed platform and the moving platform, and the axis of the second rotating pair is vertical to the moving direction of the third moving pair;
the third branched kinematic chain comprises a first cylindrical pair and a third revolute pair which are connected through a connecting rod, the free ends of the first cylindrical pair and the third revolute pair are respectively connected to the fixed platform and the movable platform, and the axes of the first cylindrical pair and the third revolute pair are positioned in the same plane and are arranged vertically to each other;
the first rotating pair, the first cylindrical pair and the second moving pair are power input ends and are respectively connected with a driving motor.
Furthermore, the axis of the second revolute pair, the axis of the third revolute pair and the outer axis of the second universal hinge are arranged in parallel.
Furthermore, an arc-shaped track matched with the second moving pair is formed in the fixed platform, and the axis of the first cylindrical pair is perpendicular to the plane where the arc-shaped track is located and passes through the circle center of the arc-shaped track.
Furthermore, the third revolute pair is located at the center of the movable platform, the second universal hinge, the third revolute pair and the ball pair are sequentially arranged along the length direction of the movable platform and are distributed on the same straight line.
Furthermore, two ends of the first universal hinge are respectively connected with the first rotating pair and the first moving pair through the first connecting rod and the second connecting rod, and the free end of the first moving pair is connected to the second universal hinge through the third connecting rod.
Furthermore, two ends of the second revolute pair are respectively connected with the second moving pair and the third moving pair through a fourth connecting rod and a fifth connecting rod, and the free end of the third moving pair is connected to the ball pair through a sixth connecting rod.
Furthermore, the first cylindrical pair is connected with the third rotating pair through a seventh connecting rod.
Compared with the prior art, the invention has the beneficial effects that: in the invention, when a first rotating pair in a first branch kinematic chain is used as a driving pair for independent input, the moving platform has one degree of freedom of rotation, when a second moving pair in a second branch kinematic chain is used as a driving pair for independent input, the moving platform has another degree of freedom of rotation, and when the linear displacement of a first cylindrical pair in a third branch kinematic chain and the first rotating pair in the first branch kinematic chain are simultaneously used as driving pair inputs, and the vertical displacement of a first universal hinge is the same as the displacement of the first cylindrical pair, the moving platform has one degree of freedom of movement. Therefore, the mechanism has rotation in two directions and movement in one direction, namely three degrees of freedom, at the moment, the speed jacobian matrix of the mechanism is a diagonal matrix, the mechanism has the kinematics characteristic of complete decoupling, the control is simple, the practicability is high, the problems of strong coupling, complex kinematics calculation, difficult path planning and the like of a common parallel mechanism are solved, and the mechanism has wide application prospect.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a two-rotation-one-movement asymmetric fully decoupled parallel mechanism of the present invention;
fig. 2 is a schematic distribution diagram of the second universal hinge, the spherical pair and the third revolute pair on the movable platform.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1, the two-rotation-one-movement asymmetric complete decoupling parallel robot of the present invention includes a fixed platform 10 and a movable platform 20, wherein L1, L2, and L3 represent a first, a second, and a third branched kinematic chains, respectively.
The first branch motion chain L1 comprises a first revolute pair R11, a first universal hinge U12, a first revolute pair P13 and a second universal hinge U14, one ends of the first revolute pair R11 and the second universal hinge U14 are directly connected with the fixed platform 10 and the movable platform 20 respectively, one side of the top end of the fixed platform is provided with a connecting column used for connecting the first revolute pair R11, the first universal hinge U12 is connected with the first revolute pair R11 and the first revolute pair P13 through a first connecting rod 1-1 and a second connecting rod 1-2 respectively, and the first revolute pair P13 is connected with the second universal hinge U14 through a third connecting rod 1-3. The axis of the first revolute pair R11 is parallel to the axis, i.e., the inner axis, of the first universal hinge U12 connected to the first link 1-1, the axis, i.e., the outer axis, of the first universal hinge U12 connected to the second link 1-2 is parallel to the axis, i.e., the inner axis, of the second universal hinge U14 connected to the third link 1-3, and the outer axis of the first universal hinge U12 is perpendicular to the moving direction of the first moving pair P13.
The second branching kinematic chain L2 includes a second kinematic pair P21, a second revolute pair R22, a third kinematic pair P23 and a ball pair S24. The second sliding pair P21 and the ball pair S24 are respectively and directly connected with the fixed platform 10 and the movable platform 20, the second revolute pair R22 is respectively connected with the second sliding pair P21 and the third sliding pair P23 through a fourth connecting rod 2-1 and a fifth connecting rod 2-2, and the third sliding pair P23 is connected with the ball pair S24 through a sixth connecting rod 2-3. The axis of the second revolute pair R22 is perpendicular to the moving direction of the third revolute pair P23.
The third branched kinematic chain L3 comprises a first cylindrical pair C31 and a third revolute pair R32. One end of the first cylinder pair C31 and one end of the third revolute pair R32 are directly connected with the fixed platform 10 and the movable platform 20 respectively, and the third revolute pair R32 is connected with the first cylinder pair C31 through a seventh connecting rod 3-1. The axis of the first cylinder pair C31 and the axis of the third revolute pair R32 are in the same plane and perpendicular to each other.
In this embodiment, the axis of the second revolute pair R22 in the second branched kinematic chain L2, the axis of the third revolute pair R32 in the third branched kinematic chain L3, and the axis of the universal hinge U13 connected to the movable platform 20, that is, the outer axis, are parallel to each other two by two.
Further optimizing the scheme, the axis of the first universal hinge U12 in the first branched moving chain L1 connected with the second connecting rod 1-2 is parallel to the axis of the first cylindrical pair C31 in the third branched moving chain L3 and is perpendicular to the axis of the third rotating pair R32 in the third branched moving chain L3. The second moving pair P21 of the second branched kinematic chain L2 moves along the circular arc shaped track, and the axis of the first cylinder pair C31 in the third branched kinematic chain L3 is perpendicular to the plane of the circular arc shaped track and passes through the center of the circular arc shaped track.
Further optimizing the scheme, as shown in fig. 2, the second universal hinge U14 in the first branched kinematic chain L1 and the ball pair S24 in the second branched kinematic chain L2 are on both sides of the movable platform 20, and the third revolute pair R32 in the third branched kinematic chain L3 is located in the center of the movable platform 20, and the three are distributed on the same straight line.
In the parallel mechanism, a kinematic pair connected with the fixed platform 10 in the three branched kinematic chains is respectively selected as an active pair, wherein a first cylindrical pair C31 in a third branched kinematic chain L3 takes linear displacement as active input.
The control principle of the invention is as follows: the invention drives the driving pair through the servo motor and provides power for the moving platform 20 through three branch kinematic chains. The first driving motor drives the first rotating pair R11 in the first branched moving chain L1 to make the movable platform 20 rotate around the axial direction of the third rotating pair R32 in the third branched moving chain L3; the second driving motor drives the second moving pair P21 in the second branched kinematic chain L2 to make the movable platform 20 rotate around the axial direction of the first cylindrical pair C31 in the third branched kinematic chain L3; the first driving motor and the third driving motor respectively drive the first revolute pair R11 in the first branched kinematic chain L1 and the first cylindrical pair C31 in the third branched kinematic chain L3, so that the movable platform 20 moves along the axial direction of the first cylindrical pair C31 in the third branched kinematic chain L3, and thus the two-rotation one-movement three-degree-of-freedom of the parallel mechanism in space is realized.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. Two rotate an asymmetric complete decoupling zero parallel robot that removes, including deciding the platform, moving platform and three branch's kinematic chains, decide top one side of platform and be provided with spliced pole, its characterized in that: the three branched kinematic chains are respectively a first branched kinematic chain, a second branched kinematic chain and a third branched kinematic chain, wherein,
the first branch motion chain comprises a first rotating pair, a first universal hinge, a first moving pair and a second universal hinge which are sequentially connected through a connecting rod, the free ends of the first rotating pair and the second universal hinge are respectively connected to the connecting column and the moving platform, the axis of the first rotating pair is parallel to the inner axis of the first universal hinge, and the outer axis of the first universal hinge is parallel to the inner axis of the second universal hinge and is vertical to the moving direction of the first moving pair;
the second branch kinematic chain comprises a second moving pair, a second rotating pair, a third moving pair and a ball pair which are sequentially connected through a connecting rod, the free ends of the second moving pair and the ball pair are respectively connected to the fixed platform and the moving platform, and the axis of the second rotating pair is vertical to the moving direction of the third moving pair;
the third branched kinematic chain comprises a first cylindrical pair and a third revolute pair which are connected through a connecting rod, the free ends of the first cylindrical pair and the third revolute pair are respectively connected to the fixed platform and the movable platform, and the axes of the first cylindrical pair and the third revolute pair are positioned in the same plane and are arranged vertically to each other;
the first rotating pair, the first cylindrical pair and the second moving pair are power input ends and are respectively connected with a driving motor.
2. The two-rotation one-movement asymmetric complete decoupling parallel robot of claim 1, wherein: the axis of the second revolute pair, the axis of the third revolute pair and the outer axis of the second universal hinge are arranged in parallel.
3. The two-rotation one-movement asymmetric complete decoupling parallel robot of claim 2, wherein: and the fixed platform is provided with an arc-shaped track matched with the second moving pair, and the axis of the first cylindrical pair is vertical to the plane of the arc-shaped track and passes through the circle center of the arc-shaped track.
4. The two-rotation one-movement asymmetric complete decoupling parallel robot of claim 3, wherein: the third revolute pair is located at the center of the movable platform, and the second universal hinge, the third revolute pair and the spherical pair are sequentially arranged along the length direction of the movable platform and distributed on the same straight line.
5. The two-rotation one-movement asymmetric complete decoupling parallel robot of claim 1, wherein: two ends of the first universal hinge are respectively connected with the first rotating pair and the first moving pair through the first connecting rod and the second connecting rod, and the free end of the first moving pair is connected to the second universal hinge through the third connecting rod.
6. The two-rotation one-movement asymmetric complete decoupling parallel robot of claim 1, wherein: two ends of the second revolute pair are connected with the second moving pair and the third moving pair through a fourth connecting rod and a fifth connecting rod respectively, and the free end of the third moving pair is connected to the ball pair through a sixth connecting rod.
7. The two-rotation one-movement asymmetric complete decoupling parallel robot of claim 1, wherein: and the first cylindrical pair is connected with the third rotating pair through a seventh connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010987438.9A CN112008698A (en) | 2020-09-18 | 2020-09-18 | Two-rotation one-movement asymmetric complete decoupling parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010987438.9A CN112008698A (en) | 2020-09-18 | 2020-09-18 | Two-rotation one-movement asymmetric complete decoupling parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112008698A true CN112008698A (en) | 2020-12-01 |
Family
ID=73523037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010987438.9A Pending CN112008698A (en) | 2020-09-18 | 2020-09-18 | Two-rotation one-movement asymmetric complete decoupling parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112008698A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112757266A (en) * | 2021-01-28 | 2021-05-07 | 河南科技大学 | Completely-decoupled two-degree-of-freedom rotating parallel mechanism |
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
| RU2010107004A (en) * | 2010-02-25 | 2011-08-27 | Российская академия наук Учреждение Российской академии наук Институт машиноведения им. А.А. Благонравова РАН (RU) | SPATIAL MECHANISM WITH FOUR DEGREES OF FREEDOM AND KINEMATIC EXECUTION |
| CN103624778A (en) * | 2013-08-21 | 2014-03-12 | 河南科技大学 | Asymmetric full-decoupling four-freedom-degree parallel mechanism |
| US20140311271A1 (en) * | 2013-04-23 | 2014-10-23 | Northwestern University | Translational parallel manipulators and methods of operating the same |
| CN105215975A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There is the asymmetric parallel institution of two turn of one shift three degrees of freedom |
| CN205033197U (en) * | 2015-09-30 | 2016-02-17 | 河南科技大学 | Asymmetric parallel mechanism with two change one moves three degrees of freedom |
| CN105522560A (en) * | 2016-01-11 | 2016-04-27 | 河南科技大学 | Three-freedom-degree, asymmetric and fully-isotropic parallel robot mechanism |
| WO2018076601A1 (en) * | 2016-10-25 | 2018-05-03 | 浙江理工大学 | Large-rotation angle two-rotational, one-translational parallel mechanism |
| CN212497752U (en) * | 2020-09-18 | 2021-02-09 | 河南科技大学 | Two-rotation one-movement asymmetric complete decoupling parallel robot |
-
2020
- 2020-09-18 CN CN202010987438.9A patent/CN112008698A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
| RU2010107004A (en) * | 2010-02-25 | 2011-08-27 | Российская академия наук Учреждение Российской академии наук Институт машиноведения им. А.А. Благонравова РАН (RU) | SPATIAL MECHANISM WITH FOUR DEGREES OF FREEDOM AND KINEMATIC EXECUTION |
| US20140311271A1 (en) * | 2013-04-23 | 2014-10-23 | Northwestern University | Translational parallel manipulators and methods of operating the same |
| CN103624778A (en) * | 2013-08-21 | 2014-03-12 | 河南科技大学 | Asymmetric full-decoupling four-freedom-degree parallel mechanism |
| CN105215975A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There is the asymmetric parallel institution of two turn of one shift three degrees of freedom |
| CN205033197U (en) * | 2015-09-30 | 2016-02-17 | 河南科技大学 | Asymmetric parallel mechanism with two change one moves three degrees of freedom |
| CN105522560A (en) * | 2016-01-11 | 2016-04-27 | 河南科技大学 | Three-freedom-degree, asymmetric and fully-isotropic parallel robot mechanism |
| WO2018076601A1 (en) * | 2016-10-25 | 2018-05-03 | 浙江理工大学 | Large-rotation angle two-rotational, one-translational parallel mechanism |
| CN212497752U (en) * | 2020-09-18 | 2021-02-09 | 河南科技大学 | Two-rotation one-movement asymmetric complete decoupling parallel robot |
Non-Patent Citations (1)
| Title |
|---|
| 王英;李秦川;武传宇;胡旭东;: "一种具有各向同性的3-PPRRR移动并联机构", 中国机械工程, no. 10, 25 May 2009 (2009-05-25), pages 1135 - 1140 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112757266A (en) * | 2021-01-28 | 2021-05-07 | 河南科技大学 | Completely-decoupled two-degree-of-freedom rotating parallel mechanism |
| CN112757266B (en) * | 2021-01-28 | 2024-01-12 | 河南科技大学 | Completely-decoupled two-degree-of-freedom rotary parallel mechanism |
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
| CN113246099B (en) * | 2021-05-14 | 2024-05-03 | 江南大学 | Three-degree-of-freedom parallel mechanism with continuous rotating shaft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201808063U (en) | Six-degrees-of-freedom parallel robot device | |
| CN108621130B (en) | Parallel mechanism with two motion modes of 2R1T and 2T1R | |
| CN101844350B (en) | Three freedom degree parallel robot mechanism | |
| CN112008698A (en) | Two-rotation one-movement asymmetric complete decoupling parallel robot | |
| CN102303313B (en) | Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism | |
| CN110125919B (en) | Three-degree-of-freedom redundant drive parallel mechanism with large rotation angle | |
| CN101927491B (en) | Completely isotropic three-freedom degree spatial parallel robot mechanism | |
| CN114227648B (en) | High-rigidity five-degree-of-freedom parallel driving robot | |
| CN105082111A (en) | Completely-decoupling two-movement three-rotation parallel robot mechanism | |
| CN102294691B (en) | Two-freedom-degree rotating decoupling parallel robot mechanism | |
| CN107175654B (en) | Structure redundancy parallel mechanism with two rotation and two movement | |
| CN112008697B (en) | Two-rotation one-movement three-degree-of-freedom decoupling parallel mechanism | |
| CN104526687A (en) | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism | |
| CN212385478U (en) | Complete decoupling two-rotation one-movement parallel mechanism | |
| CN201625978U (en) | Completely decoupled one-translational two-rotational three-freedom-of-degree spatial parallel mechanism | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN212497752U (en) | Two-rotation one-movement asymmetric complete decoupling parallel robot | |
| CN112008699A (en) | Complete decoupling two-rotation one-movement parallel mechanism | |
| CN201736224U (en) | Three-freedom parallel robotic mechanism | |
| CN108110424B (en) | Parallel satellite antenna attitude adjusting device | |
| CN212385477U (en) | Two-rotation one-movement three-freedom-degree decoupling parallel mechanism | |
| CN108000495B (en) | Two-rotation one-movement redundant driving parallel mechanism with large swing angle | |
| CN110539293B (en) | Four-degree-of-freedom parallel mechanism | |
| CN109531550B (en) | Coupling-free two-rotation parallel mechanism | |
| CN115476340B (en) | Three-independent spiral motion degree-of-freedom parallel mechanism |
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 |