CN112476412A - Four-degree-of-freedom robot - Google Patents
Four-degree-of-freedom robot Download PDFInfo
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- CN112476412A CN112476412A CN202011288155.1A CN202011288155A CN112476412A CN 112476412 A CN112476412 A CN 112476412A CN 202011288155 A CN202011288155 A CN 202011288155A CN 112476412 A CN112476412 A CN 112476412A
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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Abstract
The invention relates to the technical field of robots, and discloses a four-degree-of-freedom robot, which comprises: the fixing seat is arranged at the top end of the fixing frame, the driving arms are arranged on the fixing frame, the angle of the fixing frame is adjusted through the driving arms, the driving mechanisms are arranged on the fixing frame, the driving ends of the driving mechanisms are connected with the driving arms, the four-freedom-degree robot has reasonable design, simple structure, simple use method and convenient operation, the tail end of the robot provides three translational degrees of freedom for moving along X, Y and Z axes respectively and a rotational degree of freedom for rotating around the Z axis, the four-degree-of-freedom robot is mainly applied to an industrial production line to replace workers to complete sorting, carrying and other works, can also be applied to the processing industry for engraving, polishing and other purposes, and can also be used for two or more robots to cooperatively complete tasks.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a four-degree-of-freedom robot.
Background
With the gradual increase of the labor cost, the robot replaces the human work to become a trend, the serial or parallel robot used in the current automatic production scene is widely applied to the real life due to the structural characteristics of high precision, high rigidity, strong coupling and good dynamic response, wherein the delta robot is widely applied to the production line and other occasions due to the fact that the classical structure of the delta robot is large in number, but the application range and depth are influenced by the structural defects of poor bearing capacity, poor precision, poor rigidity and the like existing in the traditional delta in the actual production process.
The existing delta robot parallel structure mainly has the following defects:
1. the bearing capacity is poor, the common hinge of the motion driving arm and the motion driven arm is easy to fall off, the operation of the robot is not facilitated, although the spring connection is adopted, the falling off phenomenon is properly reduced, when the robot bears too much, the common hinge is easy to fall off from a ball socket, the whole bearing capacity of the robot is weakened, the value of a motor can not be well developed, and the robot is restrained from playing a greater role.
2. The precision is poor, and in the master arm drives the slave arm to move, the spring between the slave arms is pulled and buckled and is connected by the spring, some friction can be generated, and when some actions are completed, a proper deviation phenomenon and the like can occur, so that the accuracy of the slave arm is influenced to a certain extent, and when the robot bears too large load, the common hinge is easy to separate from the ball socket, so that the precision is poor.
3. The speed reducer uses a planetary gear speed reducer, has the problems of back clearance, low efficiency, complex structure (assembly), small speed reduction ratio, low speed, short service life and weak bearing capacity.
4. The rigidity is poor, and because the connecting rod of the motion driven arm adopts the spring constraint and adopts the traditional spherical hinge, the mechanical arm is easier to deform, the mechanical arm is difficult to keep the original state, and the rigidity of the mechanical arm is poor.
Disclosure of Invention
The invention provides a four-degree-of-freedom robot, which aims to solve the problem that the application width and depth are influenced by the structural defects of poor bearing capacity, poor precision, poor rigidity and the like of the traditional delta.
In order to achieve the above-described effect, the present application provides a four-degree-of-freedom robot including: a fixed frame 110, a fixed base 120, a plurality of driving arms 200, a plurality of driving mechanisms 300, a fourth shaft 400, a base 130, a terminal 140 and an aerial insert 150;
the fixing base 120 is disposed at the top end of the fixing frame 110, the plurality of driving arms 200 are disposed on the fixing frame 110, the plurality of driving arms 200 adjust the angle of the fixing frame 110, the plurality of driving mechanisms 300 are disposed on the fixing frame 110, the driving end of the driving mechanism 300 is connected to the driving arm 200, the driving arm 200 is driven by the driving mechanism 300 to rotate, the telescopic end of the fourth shaft 400 is connected to the bottom end of the fixed frame 110, the base 130 is connected to the fixed end of the fourth shaft 400, the base 130 is connected to the bottom ends of the plurality of driving arms 200, the fourth shaft 400 adjusts the distance between the fixing base 120 and the base 130, the terminal 140 is disposed at the bottom of the base 130, and the navigation plug 150 is disposed at the top of the fixing base 120.
Preferably, the driving arm 200 includes:
the driving arm 210, the support end of the driving arm 210 is connected with the fixed frame 110;
an upper hinge 220, wherein the upper hinge 220 is connected with the connecting end of the driving arm 210;
a pair of follower arms 230, the top ends of the pair of follower arms 230 being connected to the connection ends of the upper hinges 220;
a lower hinge 240, the lower hinge 240 being connected to the bottom ends of the pair of driven arms 230;
a connection block 250, the connection block 250 being disposed on the base 130, and the connection block 250 being disposed between the lower hinges 240 to define a mounting position of the driving arm 200 and the base 130.
Preferably, the driving mechanism 300 includes:
a reducer base 310, the reducer base 310 being disposed at a bottom end of the fixed frame 110, an installation position of the driving mechanism 300 being defined by the reducer base 310;
the speed reducer 320 is arranged inside the speed reducer base 310, and a driving end of the speed reducer 320 is connected with the driving arm 210;
and the driving end of the servo motor 330 is connected with the speed reducer 320, and the servo motor 330 drives the speed reducer 320 to rotate.
Preferably, the fourth axis 400 includes: a first universal joint 410, a second universal joint 420 and a telescopic rod 430;
the first universal joint 410 is disposed at the bottom end of the fixed frame 110, the second universal joint 420 is disposed at the top end of the base 130, the telescopic end of the telescopic rod 430 is connected to the first universal joint 410, and the fixed end of the telescopic rod 430 is connected to the second universal joint 420.
Preferably, the upper hinge 220 includes: a first shaft 221, a second shaft 222 and a connecting seat 223;
the connecting seat 223 is connected to the top end of the driven arm 230, the first rotating shaft 221 is disposed inside the connecting seat 223, the second rotating shaft 222 is connected to the first rotating shaft 221, and the second rotating shaft 222 penetrates through the connecting end of the driving arm 210.
Preferably, also includes;
and the motor cover 340 is sleeved on the servo motor 330, and one end of the motor cover 340 is connected with the side wall surface of the reducer base 310.
Preferably, the first gimbal 410 includes: first gimbal block 411, second gimbal block 412, and connecting shaft 413:
the first universal block 411 is fixedly mounted at the bottom end of the fixed frame 110, the second universal block 412 is fixedly mounted at the telescopic end of the telescopic rod 430, and the connecting shaft 413 is disposed between the first universal block 411 and the second universal block 412.
Preferably, the method further comprises the following steps:
a coupler 500, wherein the coupler 500 is disposed between the telescopic rod 430 and the second universal joint 420.
The invention provides a four-degree-of-freedom robot, which comprises: a fixed frame; the fixed seat is arranged at the top end of the fixed frame; the driving arms are arranged on the fixed frame, and the angle of the fixed frame is adjusted by the driving arms; the driving mechanisms are arranged on the fixed frame, and the driving ends of the driving mechanisms are connected with the driving arms and drive the driving arms to rotate; the telescopic end of the fourth shaft is connected with the bottom end of the fixed frame; the base is connected with the fixed end of the fourth shaft and the bottom ends of the driving arms, and the fourth shaft is used for adjusting the distance between the fixed base and the base; a tip disposed at a bottom of the base; the four-freedom-degree robot is reasonable in design, simple in structure, simple and convenient to operate, the tail end of the robot provides three translational degrees of freedom to move along X, Y and Z axes respectively, and one rotational degree of freedom rotating around the Z axis, the four-freedom-degree robot is mainly applied to industrial production lines to replace workers to complete sorting, carrying and other works, can also be applied to the processing industry for engraving, polishing and other purposes, and can also use two or more robots to cooperatively complete tasks by being used as cooperative robots, and has the following beneficial effects: 1. the composite hinge has high precision, high rigidity and strong bearing capacity, because the composite hinge is adopted to replace the traditional hinge, the bearing capacity of the composite hinge restrained by a plurality of pairs of bearings depends on the bearing capacity and the material strength of the bearing, and the precision depends on the processing process precision and the bearing precision rather than the change along with the change of the load as the traditional DELTA robot. 2. Installation, change, easy maintenance, because every key spare part of modular design all can be dismantled and change and maintain fast when equipment breaks down, can reduce personnel's utilization and personnel's safety by module installation when equipment fixing.
Drawings
FIG. 1 is a schematic structural diagram of a four-degree-of-freedom robot according to an embodiment of the present invention;
figure 2 is a schematic structural view of an actuator arm in an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a fourth shaft in an embodiment of the present invention;
FIG. 4 is a schematic structural view of an upper hinge in an embodiment of the present invention;
FIG. 5 is one of the schematic structural views of the driving mechanism in the embodiment of the present invention;
FIG. 6 is one of the schematic structural views of the driving mechanism in the embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a four-degree-of-freedom robot according to an embodiment of the present invention
FIG. 8 is one of the schematic prior art structures;
FIG. 9 is one of the schematic prior art structures;
fig. 10 is one of the schematic structural diagrams of the prior art.
In the figure, the position of the upper end of the main shaft,
110. a fixed frame; 120. a fixed seat; 130. a base; 140. a terminal end; 150. aerial plug;
200. a drive arm; 210. an active arm; 220. an upper hinge; 230. a driven arm; 240. a lower hinge; 250. connecting blocks;
221. a first rotating shaft; 222. a second rotating shaft; 223. a connecting seat;
300. a drive mechanism; 310. a speed reducer base; 320. a speed reducer; 330. a servo motor; 340. a motor cover;
400. a fourth axis; 410. a first universal joint; 420. a second universal joint; 430. a telescopic rod;
411. a first universal block; 412. a second gimbal block; 413. a connecting shaft;
500. a coupling is provided.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example (b): the invention provides a technical scheme that: as can be seen from fig. 1 to 6 of the specification, the present invention is a four-degree-of-freedom robot, which mainly comprises: the fixed frame 110, the fixed base 120, the plurality of driving arms 200, the plurality of driving mechanisms 300, the fourth shaft 400, the base 130, the end 140 and the aerial insertion 150 are connected as follows:
fixing base 120 sets up in fixed frame 110's top, a plurality of actuating arms 200 set up on fixed frame 110, adjust fixed frame 110's angle by a plurality of actuating arms 200, a plurality of actuating mechanism 300 set up on fixed frame 110, actuating mechanism 300's drive end is connected with actuating arm 200, drive actuating arm 200 by actuating mechanism 300 and rotate, the flexible end of fourth axle 400 is connected with fixed frame 110's bottom, base 130 is connected with the stiff end of fourth axle 400, and base 130 is connected with a plurality of actuating arm 200's bottom, adjust the interval between fixing base 120 and the base 130 by fourth axle 400, end 140 sets up in base 130's bottom, aviation plug 150 sets up in fixing base 120's top.
In summary, when in use, the robot is fixed by the cooperation of the fixing frame 110 and the base 130, all cables are conducted to the tail of the robot through the inner holes and connected to the tail of the robot through the aerial insertion 150, the four-degree-of-freedom robot end 140 realizes three translational degrees of freedom to move along the X, Y and Z axes respectively through the cooperation of a plurality of driving arms 200 and a driving mechanism 300, realizes the rotational degree of freedom to rotate around the Z axis through a fourth axis 400, the four-degree-of-freedom robot is mainly applied to an industrial production line to replace workers to finish sorting, carrying and other works, can also be applied to the processing industry for engraving, polishing and other purposes, can also use two or more robots as cooperative robots to cooperatively finish tasks, coupled coordinated motion through the three drive arms 200 produces three translational degrees of freedom of the tip 140 and a fourth axis 400 produces rotational motion of the tip 140.
Wherein, the end 140 can be arranged as a clamp, a sucker, etc., and the structure is used for the industrial production line to replace workers to complete the work of sorting, carrying, etc.; the tail end 140 can also be arranged as a carving main shaft, and the structure is used in the fields of processing carving and the like and can be used as a numerical control processing machine tool; if multiple such structures are used and the end 140 uses different actuators, it may be possible to work as a cooperative robot instead of manually doing dangerous, heavy, and repetitive work.
Wherein, the driving arm 200 includes: a driving arm 210, an upper hinge 220, a pair of driven arms 230, a lower hinge 240, and a connecting block 250;
the support end of the driving arm 210 is connected to the fixed frame 110, the upper hinge 220 is connected to the connection end of the driving arm 210, the top ends of the pair of driven arms 230 are connected to the connection end of the upper hinge 220, the lower hinge 240 is connected to the bottom ends of the pair of driven arms 230, the connection block 250 is disposed on the base 130, and the connection block 250 is disposed between the lower hinges 240 to define the installation positions of the driving arm 200 and the base 130, and the upper end of the driving arm 210 is connected to the driving mechanism 300 through a screw, so that the driving arm 210 rotates around the driving to drive the driven arms 230 to move.
In summary, the height of the joint between the driven arm 230 and the driving arm 210 is adjusted by the rotation of the driving arm 210, so as to adjust the distance between the fixing base 120 and the base 130, the connectivity between the driving arm 210 and the driven arm 230 is increased by the upper hinge 220, and the falling-off phenomenon is avoided, and the connectivity between the driven arm 230 and the base 130 is increased by the cooperation of the lower hinge 240 and the connecting block 250, wherein the upper hinge 220 and the lower hinge 240 have the same structure.
Wherein, the driving mechanism 300 includes: a reducer base 310, a reducer 320 and a servo motor 330;
the reduction gear base 310 is disposed at the bottom end of the fixed frame 110, the installation position of the driving mechanism 300 is limited by the reduction gear base 310, the reduction gear 320 is disposed inside the reduction gear base 310, the driving end of the reduction gear 320 is connected to the driving arm 210, the driving end of the servo motor 330 is connected to the reduction gear 320, and the reduction gear 320 is driven by the servo motor 330 to rotate.
In summary, the installation position of the driving mechanism 300 is limited by the reducer base 310, the reducer 320 is protected by the reducer base 310, dust and other dirt are prevented from entering the reducer 320 to affect the performance of the reducer 320, the servo motor 330 is started, the reducer 320 is driven to rotate by the rotation of the servo motor 330, and the driving arm 210 is driven to rotate, wherein the reducer base 310 and the fixing base 120 are fixed by bolts, and the reducer 320 adopts a combined driving form of the RV reducer 320 and the servo motor 330, so that the output torque is larger, and the precision is higher.
Wherein the fourth axis 400 includes: a first universal joint 410, a second universal joint 420 and a telescopic rod 430;
first universal joint 410 sets up in the bottom of fixed frame 110, and second universal joint 420 sets up in the top of base 130, and the flexible end of telescopic link 430 is connected with first universal joint 410, and the stiff end of telescopic link 430 is connected with second universal joint 420.
In summary, the telescopic rod 430 is a hydraulic rod, and can be extended and shortened but cannot rotate, the first universal joint 410 increases the connectivity between the telescopic rod 430 and the fixed frame 110, the second universal joint 420 increases the connectivity between the telescopic rod 430 and the base 130, the universal joints are communicated with the drive, and the torque is transmitted to the tail end 140 through the telescopic rod 430 and the universal joints, wherein the first universal joint 410 and the second universal joint 420 have the same structure.
Wherein, the upper hinge 220 includes: a first shaft 221, a second shaft 222 and a connecting seat 223;
the connecting seat 223 is connected with the top end of the driven arm 230, the first rotating shaft 221 is arranged inside the connecting seat 223, the second rotating shaft 222 is connected with the first rotating shaft 221, the second rotating shaft 222 penetrates through the connecting end of the driving arm 210, the upper hinge 220 is composed of two hinges, each hinge is composed of two rotating shafts, has two orthogonal rotating shafts and shares one rotating shaft, and each rotating shaft is restrained by a pair of bearings.
Wherein, still include: the motor cover 340 is sleeved on the servo motor 330, one end of the motor cover 340 is connected with the side wall surface of the speed reducer base 310, the servo motor 330 is protected through the motor cover 340, damage to the motor caused by exposure of the servo motor 330 is avoided, and dust and other dirt are prevented from entering the motor to affect the performance of the motor.
Wherein the first gimbal 410 includes: first gimbal block 411, second gimbal block 412, and connecting shaft 413:
first universal block 411 is fixedly mounted at the bottom end of fixed frame 110, second universal block 412 is fixedly mounted at the telescopic end of telescopic link 430, and connecting shaft 413 is disposed between first universal block 411 and second universal block 412.
As can be seen from the above, the connection between the first gimbal block 411 and the second gimbal block 412 is increased by the connection shaft 413, and the angle between the first gimbal block 411 and the second gimbal block 412 can be adjusted by the connection shaft 413.
Wherein, still include: the coupling 500 is disposed between the telescopic rod 430 and the second universal joint 420, and the coupling 500 increases the connectivity between the telescopic rod 430 and the second universal joint 420.
Each object in space has six degrees of freedom: three translational motions X, Y, Z, respectively, and rotations A, B, C about the three translations, respectively.
Where R represents a constraint with only one rotational degree of freedom (XYZ and two of the three rotations are constrained).
Where S represents a constraint with three rotational degrees of freedom (only XYZ is constrained).
As shown in fig. 10, the delta robot in the prior art is composed of three moving branched chains, and each branched chain is sequentially connected with a static platform, a rotating pair (the rotation is driven by a motor), four spherical hinges distributed in a parallelogram and a moving platform from the static platform to the moving platform.
Wherein δ R represents the revolute pair on which the drive is located, and S represents the ball pair.
As shown in fig. 7, the four-degree-of-freedom robot structure is also composed of three identical branched chains, each branched chain is sequentially composed of a static platform, a revolute pair (the rotation of the revolute pair is driven by a motor), a revolute pair, two revolute pairs connected to two ends of the revolute pair and sharing a shaft, and a movable platform from the static platform to the movable platform, wherein the four revolute pairs are distributed in a parallelogram shape.
Where δ R denotes the revolute pair on which the drive is located, and R denotes the revolute pair.
To sum up, an embodiment of the present invention provides a four-degree-of-freedom robot, including: a fixed frame; the fixed seat is arranged at the top end of the fixed frame; the driving arms are arranged on the fixed frame, and the angle of the fixed frame is adjusted by the driving arms; the driving mechanisms are arranged on the fixed frame, and the driving ends of the driving mechanisms are connected with the driving arms and drive the driving arms to rotate; the telescopic end of the fourth shaft is connected with the bottom end of the fixed frame; the base is connected with the fixed end of the fourth shaft and the bottom ends of the driving arms, and the fourth shaft is used for adjusting the distance between the fixed base and the base; a tip disposed at a bottom of the base; the four-freedom-degree robot is reasonable in design, simple in structure, simple and convenient to operate, the tail end of the robot provides three translational degrees of freedom to move along X, Y and Z axes respectively, and one rotational degree of freedom rotating around the Z axis, the four-freedom-degree robot is mainly applied to industrial production lines to replace workers to complete sorting, carrying and other works, can also be applied to the processing industry for engraving, polishing and other purposes, and can also use two or more robots to cooperatively complete tasks by being used as cooperative robots, and has the following beneficial effects: 1. the composite hinge has high precision, high rigidity and strong bearing capacity, because the composite hinge is adopted to replace the traditional hinge, the bearing capacity of the composite hinge restrained by a plurality of pairs of bearings depends on the bearing capacity and the material strength of the bearing, and the precision depends on the processing process precision and the bearing precision rather than the change along with the change of the load as the traditional DELTA robot. 2. Installation, change, easy maintenance, because every key spare part of modular design all can be dismantled and change and maintain fast when equipment breaks down, can reduce personnel's utilization and personnel's safety by module installation when equipment fixing.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (8)
1. A four degree-of-freedom robot, comprising:
a fixed frame;
the fixed seat is arranged at the top end of the fixed frame;
the driving arms are arranged on the fixed frame, and the angle of the fixed frame is adjusted by the driving arms;
the driving mechanisms are arranged on the fixed frame, and the driving ends of the driving mechanisms are connected with the driving arms and drive the driving arms to rotate;
the telescopic end of the fourth shaft is connected with the bottom end of the fixed frame;
the base is connected with the fixed end of the fourth shaft and the bottom ends of the driving arms, and the fourth shaft is used for adjusting the distance between the fixed base and the base;
a tip disposed at a bottom of the base;
the aerial plug is arranged on the top end of the fixed seat.
2. The four degree-of-freedom robot of claim 1, wherein the drive arm comprises:
the driving arm support end is connected with the fixed frame;
the upper hinge is connected with the connecting end of the driving arm;
the top ends of the driven arms are connected with the connecting end of the upper hinge;
the lower hinge is connected with the bottom ends of the pair of driven arms;
the connecting block is arranged on the base and arranged between the lower hinges so as to limit the installation positions of the driving arm and the base.
3. The four degree-of-freedom robot of claim 1, wherein the drive mechanism comprises:
the speed reducer base is arranged at the bottom end of the fixed frame, and the mounting position of the driving mechanism is limited by the speed reducer base;
the speed reducer is arranged inside the speed reducer base, and the driving end of the speed reducer is connected with the driving arm;
and the driving end of the servo motor is connected with the speed reducer, and the speed reducer is driven by the servo motor to rotate.
4. The four degree-of-freedom robot of claim 1, wherein the fourth axis comprises: the first universal joint, the second universal joint and the telescopic rod are arranged on the base;
the first universal joint set up in fixed frame's bottom, the second universal joint set up in the top of base, the flexible end of telescopic link with first universal joint is connected, the stiff end of telescopic link with the second universal joint is connected.
5. The four degree-of-freedom robot of claim 2, wherein the upper hinge comprises: the first rotating shaft, the second rotating shaft and the connecting seat;
the connecting seat is connected with the top end of the driven arm, the first rotating shaft is arranged inside the connecting seat, the second rotating shaft is connected with the first rotating shaft, and the second rotating shaft penetrates through the connecting end of the driving arm.
6. The four degree-of-freedom robot of claim 3, further comprising;
and the motor cover is sleeved on the servo motor, and one end of the motor cover is connected with the side wall surface of the speed reducer base.
7. The four degree-of-freedom robot of claim 4, wherein the first gimbal comprises: first universal piece, second universal piece and connecting axle:
the first universal block is fixedly installed at the bottom end of the fixed frame, the second universal block is fixedly installed at the telescopic end of the telescopic rod, and the connecting shaft is arranged between the first universal block and the second universal block.
8. The four degree-of-freedom robot of claim 4, further comprising:
and the coupler is arranged between the telescopic rod and the second universal joint.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011288155.1A CN112476412A (en) | 2020-11-17 | 2020-11-17 | Four-degree-of-freedom robot |
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| CN202011288155.1A CN112476412A (en) | 2020-11-17 | 2020-11-17 | Four-degree-of-freedom robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113928854A (en) * | 2021-10-15 | 2022-01-14 | 恩纳基智能科技无锡有限公司 | Chip moves and carries driver |
| CN115592653A (en) * | 2022-12-16 | 2023-01-13 | 太原理工大学（Cn） | Planar three-degree-of-freedom redundant drive parallel mechanism |
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| CN115592653B (en) * | 2022-12-16 | 2023-04-07 | 太原理工大学 | Planar three-degree-of-freedom redundant drive parallel mechanism |
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