CN112917459B - Multistage parallel mechanism of shape memory alloy - Google Patents
Multistage parallel mechanism of shape memory alloy Download PDFInfo
- Publication number
- CN112917459B CN112917459B CN202110138625.4A CN202110138625A CN112917459B CN 112917459 B CN112917459 B CN 112917459B CN 202110138625 A CN202110138625 A CN 202110138625A CN 112917459 B CN112917459 B CN 112917459B
- Authority
- CN
- China
- Prior art keywords
- shape memory
- memory alloy
- platform
- platforms
- stages
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
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
-
- 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
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multistage parallel mechanism of shape memory alloy, comprising: the system comprises multiple stages of platforms which are sequentially connected, wherein the first stage of platform is a static platform, and the rest of platforms are movable platforms; a circuit board is arranged on the movable platform; the support is arranged on the upper stage platform of each two adjacent stages of platforms; the spherical hinge is connected with the corresponding support; one end of the rigid rod is connected with the corresponding spherical hinge, and the other end of the rigid rod is connected to the lower stage platform; one end of the shape memory alloy component is connected with the upper stage platform, the other end of the shape memory alloy component is connected with the lower stage platform, and the shape memory alloy component is connected with the corresponding circuit board; the shape memory alloy parts are electrified under the control of the corresponding circuit boards so as to drive the corresponding lower platforms to move. The invention can realize complex and fine pose, has simple control and light weight, and can be applied to various working scenes.
Description
Technical Field
The invention relates to the field of robots, in particular to a multistage parallel mechanism of shape memory alloy.
Background
The parallel mechanism is also called a parallel robot, and is a closed loop mechanism which is formed by connecting a movable platform and a static platform through at least two independent kinematic chains, has two or more degrees of freedom and is driven in a parallel mode. Compared with the traditional serial mechanism, the parallel mechanism has the advantages of high precision, high bearing capacity, high rigidity, simple and compact mechanism and the characteristic of easy high-speed movement, but along with the development of times, the traditional hydraulic cylinder or electric cylinder driving mode can not meet the new requirements of the fields of medical robots, processing machines, space station docking mechanisms, military robots and the like on the parallel mechanism. The shape memory alloy as a novel material has excellent physical and chemical properties and compatibility, and the shape memory alloy as a driving structure has the advantages of simple structure, accurate control, high positioning precision and the like.
The shape memory alloy is the material with the best memory performance in the existing shape memory material, can control the deformation of the shape memory alloy according to different temperatures, and can achieve the millimeter level of control precision. Therefore, the shape memory alloy has the advantages of large deformation, rapid displacement, free direction, simple control and the like when being driven. Shape memory alloys are lightweight and therefore mechanisms driven with shape memory alloys are often particularly well suited for high precision, small load, high speed robots such as reactor drives, artificial hearts, probes, and the like. The shape memory alloy is used as a driven multilayer parallel mechanism, and has important leading significance for further research and development of precision machinery and complex parallel mechanisms in China.
Accordingly, those skilled in the art have endeavored to develop a multistage parallel mechanism of a shape memory alloy that enables a more complicated and more detailed posture than the conventional parallel mechanism. When the multi-stage parallel mechanism is applied to a flexible arm, the flexible arm usually has good flexibility. Meanwhile, the shape memory alloy is regularly connected among all the rigid platforms, so that the control of the multilayer parallel mechanism is simpler. Follow-up research and data acquisition can be more conveniently developed, and therefore the flexible arm technology is further developed.
Disclosure of Invention
To achieve the above object, the present invention provides a multistage parallel mechanism of shape memory alloy, comprising:
the system comprises multiple stages of platforms which are connected in sequence, wherein the first stage of the multiple stages of platforms is a static platform, and the rest of the platforms are dynamic platforms; a circuit board is arranged on the movable platform;
a plurality of supports, a plurality of ball joints, a plurality of rigid rods, shape memory alloy components disposed between each two adjacent stages of platforms, wherein:
the plurality of supports are respectively arranged on the upper stage platform of each two adjacent stages of platforms;
the plurality of spherical hinges are respectively connected with the corresponding support;
one end of the rigid rod is connected with the corresponding spherical hinge, and the other end of the rigid rod is connected to the lower stage platform;
one end of the shape memory alloy component is connected with the superior platform, the other end of the shape memory alloy component is connected with the inferior platform, and the shape memory alloy component is connected with the circuit board on the corresponding movable platform;
the shape memory alloy components are configured to be energized under control of the corresponding circuit boards to drive the corresponding lower platforms to move.
In some embodiments, optionally, the plurality of rigid rods are symmetrically arranged.
In some embodiments, optionally, the number of the plurality of supports is 4, and the supports are respectively arranged at four opposite corners of the upper stage platform; the number of the rigid rods is 4, and the rigid rods are respectively connected with the corresponding supports through the corresponding spherical hinges.
In some embodiments, optionally, the number of the shape memory alloy members between the adjacent two stages is plural.
In some embodiments, optionally, a plurality of groups of the shape memory alloy members are disposed between the two adjacent stages, and the number of each group of the shape memory alloy members is plural.
In some embodiments, optionally, the plurality of shape memory alloy members between the adjacent two stages are configured to be simultaneously controllable by the corresponding circuit boards.
In some embodiments, optionally, the plurality of shape memory alloy components between platforms of different stages are configured to be independently controllable.
In some embodiments, optionally, each of the multi-stage platforms is approximately disc-shaped.
In some embodiments, optionally, each of the multiple stages has a different diameter, wherein the diameter of the stationary stage is the largest and the diameters of the remaining stages are successively smaller.
In some embodiments, optionally, the multi-stage platforms remain parallel to each other in an initial state, which is a state of the shape memory alloy component at room temperature.
The multistage parallel mechanism of the shape memory alloy has the following technical effects:
1. the invention uses the shrinkage deformation of the shape memory alloy layer as a driving force, and heats the shape memory alloy by electrifying the circuit board at a fixed position, so that the shape memory alloy layer performs shrinkage movement, and the platforms also perform deflection at relative positions. Furthermore, rigid connecting rods and spherical hinges are used for connecting the platforms at all levels, so that the translation freedom degree of the mechanism is limited, and the rigidity of the whole mechanism is increased. Further, after the work is finished, as the current is not available in the circuit board any more, the whole mechanism can be automatically restored to the initial state finally along with the gradual reduction of the temperature of the shape memory alloy. In addition, the driving force can be increased by using a plurality of shape memory alloys in parallel in each direction. Therefore, the invention ensures certain movement precision, has relatively simple control and certain loading capacity, further widens the variety of the parallel mechanism and increases the application possibility of the parallel mechanism in various fields.
2. The invention has high precision and simple control, thus being used as a novel flexible arm structure. Meanwhile, the invention has certain load capacity, can be better matched with other structures, and expands the application range of the invention.
3. Because the platforms of the parallel mechanism are connected by using the spherical hinge and the rigid connecting rod, the mechanical property is better, and the number of the movable platforms can be increased within a certain range. Along with the increase of the number of the movable platforms, the flexibility of the mechanism is enhanced, the movement amplitude is larger, and the pose which can be completed by the tail end is also larger. And thus may be suitable for more complex work environments.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be made clear and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in figure 1, the invention discloses a multilayer parallel mechanism of shape memory alloy, which comprises a plurality of stages of platforms connected in sequence, wherein the first stage of platform is a static platform 1, and the rest of platforms are dynamic platforms. Wherein, each two adjacent stages are connected in parallel through a rigid rod 5. Specifically, a support 7 is arranged on the upper stage platform, and the support 7 is fixed on the upper stage platform in a welding or screw mode; one end of the rigid rod 5 is connected to the adjacent lower movable platform, the other end of the rigid rod is connected to the spherical hinge 6, and the spherical hinge 6 is connected with the support 7 on the upper platform, so that the connection between the adjacent two stages of platforms is completed. By analogy, every two adjacent stages of platforms are connected through the combination of the rigid rod 5, the support 7 and the spherical hinge 6, so that the parallel connection of the multi-stage platforms can be completed. A shape memory alloy part 8 is arranged between each two adjacent stages; one end of the shape memory alloy member 8 is connected to the upper stage platform, and the other end is connected to the lower stage platform. A circuit board 9 is arranged on each stage of movable platform, is connected with the corresponding shape memory alloy component 8 and is used for electrifying the shape memory alloy component 8; the temperature of the shape memory alloy part 8 is increased after being electrified, so that contraction force is generated, and the corresponding movable platform is driven to move.
The number of the multistage platforms in the present invention can be set according to actual requirements, and the specific number thereof does not limit the present invention. For convenience of description, the invention is described by taking a four-stage platform parallel structure as an example.
As shown in fig. 1, the multilayer parallel mechanism includes four stages of platforms, the four stages of platforms are sequentially connected through the combination of the rigid rod 5, the support 7 and the spherical hinge 6, wherein, the leftmost stage of the platform shown in fig. 1 is a static platform 1, the rest three stages of platforms are dynamic platforms, namely a first dynamic platform 2, a second dynamic platform 3 and a third dynamic platform 4, which are sequentially connected, and the first dynamic platform 2 is connected with the static platform 1. The static platform 1 is kept static, and the other three platforms move under the drive of the corresponding shape memory alloy parts 8 respectively.
And a rigid rod 5 between every two stages of platforms plays a role in supporting and limiting the translation freedom degree of the platforms. The rigid rod 5 has stronger supporting force, so that a structure with multiple stages of platforms connected in parallel can be realized. The motion between the stages can affect each other, thereby generating a coupling phenomenon. Therefore, the movement of the first movable platform 2 affects the positions of the second movable platform 3 and the third movable platform 4, and the movement of the second movable platform 3 also affects the position of the third movable platform 4. Because the platforms at all levels are provided with the supports 7, the levels of the platforms can be increased to adapt to various working requirements. That is, the multi-stage platform of the present invention is not limited to the four-stage platform, and the stages can be expanded according to actual requirements.
In some embodiments, the number of the rigid rods 5 between each two stages of the platform is multiple, and the plurality of rigid rods 5 are arranged symmetrically. Preferably, the number of rigid rods 5 is set to four. Four rigid rods 5 are located at four opposite corners of the corresponding platform, respectively. Specifically, a support 7 is provided at each of four opposite corners of each platform, the support 7 is connected to one end of the rigid rod 5 by a spherical hinge 6, and the other end of the rigid rod 5 is connected to the lower platform.
The shape memory alloy part 8 is a driving part in the multistage parallel mechanism of the invention, and can generate a contraction force after being electrified so as to drive the corresponding movable platform to move. In the initial state, the shape memory alloy member 8 is in a normal temperature state, and the stages are kept parallel to each other. The shape memory alloy part 8 is heated after being electrified, so that contraction force is generated, and the pose of a movable platform in the multi-stage platform is changed. After the operation is completed, the temperature of the shape memory alloy member 8 is gradually decreased, and the length thereof is gradually restored to the temperature before the temperature is increased. Therefore, the multistage parallel mechanism can automatically return to the initial state after the work is finished.
The number of the shape memory alloy members 8 may be one or more. In some embodiments, the number of shape memory alloy members 8 is three. In some embodiments, multiple sets of shape memory alloy members 8 may be disposed between each adjacent two-stage platform, for example, a set of shape memory alloy members 8 including three shape memory alloy members 8, each set being disposed at a different orientation of the platform. Multiple sets of shape memory alloy members 8 may be in a symmetrical state, for example, four sets of shape memory alloy members 8 are provided, the four sets of shape memory alloy members 8 being in four directions of symmetry of the platform, respectively, to further enhance the driving force. The number of the shape memory alloy members 8 and the distribution positions thereof may be determined according to actual needs, and do not limit the present invention.
During use, the stages are initially kept parallel. The same order, same direction three shape memory alloy elements 8 may be controlled simultaneously, which acts to increase the driving force. While the shape memory alloy elements 8 at different stages and in different directions are independently actuated. For example, only the shape memory alloy member 8 between the stationary platen 1 and the first movable platen 2 is controlled to be energized, and the shape memory alloy members 8 between the other stages of the platens are controlled not to be energized. Thus, the multi-stage parallel mechanism can be attitude-controlled by controlling the current on the circuit board 9. Due to more stages, the multi-stage parallel mechanism can support more complex postures and motions.
In consideration of different bending moments borne by the platforms at all levels, the platforms at all levels can be set to different sizes. In some embodiments, the size of the static platform 1 is the largest, and starting from the static platform 1, the size of the following platforms becomes smaller, for example, as shown in fig. 1, the size of the static platform 1 is larger than that of the first movable platform 2, the size of the first movable platform 2 is larger than that of the second movable platform 3, and the size of the second movable platform 3 is larger than that of the third movable platform 4, so that the multi-stage parallel mechanism looks like a tower. In some embodiments, each platform is circular in shape, and the diameters of the platforms become smaller in sequence from the static platform 1.
The multistage parallel mechanism provided by the invention is driven by the shape memory alloy part 8, and platforms at all stages are connected by the combination of the rigid rod 5, the spherical hinge 6 and the support 7, so that the driving scheme is simple to control, the deformation is rapid, the precision is higher, and the weight is lighter. These advantages make it possible to satisfy many work scenarios where the flexible arm has weight requirements. The parallel driving system of the chopped shape memory alloy can ensure that the mechanism can complete more complex motions and poses, so the mechanism can be applied to the fields of medical robots, processing robots and the like.
The invention adopts a multi-stage parallel mechanism, replaces a single movable platform with multi-stage platforms, adopts independent driving modes for all the platforms, can finish more and more complex and precise operations, has stronger flexibility and simple control, and is suitable for various working environments.
The driving mode of transmission, its drive structure is complicated, and is bulky, produces electromagnetic interference easily and the precision is also not especially high. The shape memory alloy as a novel intelligent material has excellent physical and chemical properties and is widely accepted and applied in various fields. The invention adopts the shape memory alloy for driving, has the advantages of light weight, small volume, simple control and the like, can provide millimeter-grade accurate output and can help the actuating mechanism to better realize accurate control and high-precision positioning.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concept. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (8)
1. A multistage parallel mechanism of shape memory alloy, comprising:
the system comprises multiple stages of platforms which are connected in sequence, wherein the first stage of the multiple stages of platforms is a static platform, and the rest of the multiple stages of platforms are movable platforms; a circuit board is arranged on the movable platform;
a plurality of supports, a plurality of ball joints, a plurality of rigid rods, shape memory alloy components disposed between each two adjacent stages of the platform, wherein:
the plurality of supports are respectively arranged on the upper stage platform of each two adjacent stages of platforms;
the plurality of spherical hinges are respectively connected with the corresponding support;
one end of the rigid rod is connected with the corresponding spherical hinge, and the other end of the rigid rod is connected to the lower platform;
one end of the shape memory alloy component is connected with the upper stage platform, the other end of the shape memory alloy component is connected with the lower stage platform, and the shape memory alloy component is connected with the circuit board on the corresponding movable platform;
the shape memory alloy components are configured to be electrified under the control of the corresponding circuit boards so as to drive the corresponding lower platforms to move;
the plurality of rigid rods are symmetrically arranged;
the number of the plurality of supports is 4, and the supports are respectively arranged at four opposite angles of the superior platform; the number of the rigid rods is 4, and the rigid rods are respectively connected with the corresponding supports through the corresponding spherical hinges.
2. The multi-stage parallel mechanism according to claim 1, wherein the number of the shape memory alloy members between the adjacent two stages is plural.
3. The multi-stage parallel mechanism according to claim 2, wherein a plurality of sets of the shape memory alloy members are disposed between the adjacent two stages, and the number of the shape memory alloy members in each set is plural.
4. The multi-stage parallel mechanism according to claim 3, wherein the shape memory alloy members between adjacent stages are configured to be simultaneously controllable by the corresponding circuit boards.
5. The multiple stage parallel mechanism of claim 3, wherein the shape memory alloy elements between the stages of different stages are configured to be independently controllable.
6. The multi-stage parallel mechanism of claim 1, wherein each of the multi-stage platforms is approximately disc-shaped.
7. The multi-stage parallel mechanism of claim 6, wherein each of the stages has a different diameter, wherein the diameter of the stationary stage is the largest and the diameters of the remaining stages are successively smaller.
8. The multi-stage parallel mechanism according to claim 1, wherein the multi-stage stages are parallel to each other in an initial state, the initial state being a state in which the shape memory alloy member is at a normal temperature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110138625.4A CN112917459B (en) | 2021-02-01 | 2021-02-01 | Multistage parallel mechanism of shape memory alloy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110138625.4A CN112917459B (en) | 2021-02-01 | 2021-02-01 | Multistage parallel mechanism of shape memory alloy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112917459A CN112917459A (en) | 2021-06-08 |
| CN112917459B true CN112917459B (en) | 2022-08-23 |
Family
ID=76169277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110138625.4A Active CN112917459B (en) | 2021-02-01 | 2021-02-01 | Multistage parallel mechanism of shape memory alloy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112917459B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000262464A (en) * | 1999-03-17 | 2000-09-26 | Mitsubishi Cable Ind Ltd | Multi-directional bending mechanism, and head oscillating structural body |
| CN102673759A (en) * | 2012-05-07 | 2012-09-19 | 哈尔滨工业大学 | Variable rigidity bionic swinging propulsion unit |
| CN105945915A (en) * | 2016-05-31 | 2016-09-21 | 清华大学 | Rope parallel device based on translation constraint structure |
| CN106903676A (en) * | 2017-04-17 | 2017-06-30 | 北京若贝特智能机器人科技有限公司 | The four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives |
| CN107433623A (en) * | 2017-08-17 | 2017-12-05 | 上海大学 | A kind of four-degree-of-freedom bionic mechanical head based on Wire driven robot |
| CN110116398A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of two rotary freedom parallel robots |
| CN110497390A (en) * | 2019-08-30 | 2019-11-26 | 上海大学 | Restrict spring driving freedom degree parallel connection binocular focusing bionic eye executing agency |
| CN110722540A (en) * | 2019-10-31 | 2020-01-24 | 北京机械设备研究所 | Three-degree-of-freedom platform driven by pneumatic artificial muscles |
| CN112264986A (en) * | 2020-11-03 | 2021-01-26 | 湖北理工学院 | Three-degree-of-freedom decoupling parallel mechanism driven by arc spring |
-
2021
- 2021-02-01 CN CN202110138625.4A patent/CN112917459B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000262464A (en) * | 1999-03-17 | 2000-09-26 | Mitsubishi Cable Ind Ltd | Multi-directional bending mechanism, and head oscillating structural body |
| CN102673759A (en) * | 2012-05-07 | 2012-09-19 | 哈尔滨工业大学 | Variable rigidity bionic swinging propulsion unit |
| CN105945915A (en) * | 2016-05-31 | 2016-09-21 | 清华大学 | Rope parallel device based on translation constraint structure |
| CN106903676A (en) * | 2017-04-17 | 2017-06-30 | 北京若贝特智能机器人科技有限公司 | The four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives |
| CN107433623A (en) * | 2017-08-17 | 2017-12-05 | 上海大学 | A kind of four-degree-of-freedom bionic mechanical head based on Wire driven robot |
| CN110116398A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of two rotary freedom parallel robots |
| CN110497390A (en) * | 2019-08-30 | 2019-11-26 | 上海大学 | Restrict spring driving freedom degree parallel connection binocular focusing bionic eye executing agency |
| CN110722540A (en) * | 2019-10-31 | 2020-01-24 | 北京机械设备研究所 | Three-degree-of-freedom platform driven by pneumatic artificial muscles |
| CN112264986A (en) * | 2020-11-03 | 2021-01-26 | 湖北理工学院 | Three-degree-of-freedom decoupling parallel mechanism driven by arc spring |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112917459A (en) | 2021-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Wang et al. | Design of a novel dual-axis micromanipulator with an asymmetric compliant structure | |
| Robinson et al. | Continuum robots-a state of the art | |
| US6477912B2 (en) | Six-degrees-of-freedom parallel mechanism for micro-positioning work | |
| Cai et al. | Development and control methodologies for 2-DOF micro/nano positioning stage with high out-of-plane payload capacity | |
| Shahinpoor | Kinematics of a parallel‐serial (Hybrid) manipulator | |
| CN109129494B (en) | Parallel micro-compensation device | |
| Zhou et al. | A lightweight and multimotion crawling tensegrity robot driven by twisted artificial muscles | |
| CN111452025A (en) | Reciprocating driving device based on fluid and functional platform | |
| CN112917459B (en) | Multistage parallel mechanism of shape memory alloy | |
| CN107175654A (en) | A kind of structural redundancy parallel institution that there are two rotations two to move | |
| Yen et al. | Optimization design for a compact redundant hybrid parallel kinematic machine | |
| CN214870565U (en) | Flexible arm structure based on memory alloy | |
| Tzorakoleftherakis et al. | Design and implementation of a binary redundant manipulator with cascaded modules | |
| Schmitt et al. | Inverted honeycomb cell as a reinforcement structure for building soft pneumatic linear actuators | |
| Zhu et al. | Eighteen fully symmetrical 5-DoF 3 R 2 T parallel manipulators with better actuating modes | |
| CN113305874B (en) | Three-finger multi-degree-of-freedom dexterous hand mechanism | |
| Elwaleed et al. | A new method for actuating parallel manipulators | |
| Bamberger et al. | A new configuration of a six degrees-of-freedom parallel robot for MEMS fabrication | |
| CN211761540U (en) | Variable-rigidity bionic trunk soft arm with multiple degrees of freedom | |
| CN109889087B (en) | Four-degree-of-freedom piezoelectric objective table and excitation method thereof | |
| Yu et al. | On the design of compliant-based micro-motion manipulators with a nanometer range resolution | |
| CN111085989A (en) | Variable-rigidity bionic trunk soft arm with multiple degrees of freedom | |
| CN108050219B (en) | High-bearing truss type high-flexibility mechanism | |
| Zhang et al. | Type synthesis of uncoupled 2T2R parallel manipulators | |
| CN108161901B (en) | Two-rotation parallel mechanism with high deflection capability |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |