CN114337162A - Three-freedom-degree motor - Google Patents
Three-freedom-degree motor Download PDFInfo
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- CN114337162A CN114337162A CN202111668507.0A CN202111668507A CN114337162A CN 114337162 A CN114337162 A CN 114337162A CN 202111668507 A CN202111668507 A CN 202111668507A CN 114337162 A CN114337162 A CN 114337162A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/64—Electric machine technologies in electromobility
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Abstract
A three-degree-of-freedom motor relates to a motor. The invention aims to solve the problem that the motion precision of the existing three-degree-of-freedom motor is influenced by unnecessary friction resistance and abrasion during motion. The invention comprises an A-axis system (100), a B-axis system (200) and a C-axis system (300), wherein the A-axis system (100) swings around the axis thereof, the B-axis system (200) is arranged on the radial direction of the A-axis system (100) and drives the A-axis system (100) to swing along the radial direction thereof under the condition that the A-axis system (100) swings around the axis thereof, the C-axis system (300) is arranged on the B-axis system (200), and the C-axis system (300) drives the A-axis system (100) and the B-axis system (200) to realize complete circular motion. The three rotational degrees of freedom of the space are decomposed and are respectively realized by different moving parts, so that the three rotational degrees of freedom are not mutually coupled, and the aim of motion decoupling is fulfilled. The invention is used in a driving environment.
Description
Technical Field
The invention relates to a motor, in particular to a three-degree-of-freedom motor, and belongs to the technical field of motors.
Background
With the continuous development of science and technology, higher requirements are put forward on source power devices in various fields. In the occasions requiring multi-degree-of-freedom control, such as robots, industrial mechanical arms and the like, a plurality of motors are often required to realize the movement with different degrees of freedom, three-degree-of-freedom motors can well integrate three rotational degrees of freedom on the same motor, and the three-degree-of-freedom motor is directly used as a driving device, so that the use number of the traditional motors can be effectively reduced, the size of the whole equipment is reduced, the weight of the whole equipment is reduced, and the loss of movement precision caused by power transmission is fundamentally reduced.
The existing three-degree-of-freedom motor is realized by adopting a spherical structure in theory, direct contact sliding friction exists between a rotor and a stator mostly, and unnecessary friction resistance and abrasion are brought during movement, so that the movement precision of the motor is influenced. Because the stator or the rotor adopts a spherical structure, the processing difficulty is high, and the engineering application is not easy.
Therefore, the existing three-degree-of-freedom motor has the problems of unnecessary friction resistance and abrasion during movement and influence on the movement precision.
Disclosure of Invention
The invention aims to solve the problem that the motion precision of the existing three-degree-of-freedom motor is influenced by unnecessary friction resistance and abrasion during motion. Based on this background, the present invention is directed to a three-degree-of-freedom motor, which realizes the motion requirements of three degrees of freedom of the motor by controlling the spatial angular positions of the three rotational degrees of freedom of the motor rotating member.
The technical scheme of the invention is as follows: a three-degree-of-freedom motor comprises an A-axis system 100, a B-axis system 200 and a C-axis system 300, wherein the A-axis system 100 swings around the axis of the A-axis system, the B-axis system 200 is installed in the radial direction of the A-axis system 100 and drives the A-axis system 100 to swing along the radial direction under the condition that the A-axis system 100 swings around the axis of the A-axis system, the C-axis system 300 is installed on the B-axis system 200, and the C-axis system 300 drives the A-axis system 100 and the B-axis system 200 to realize complete circular motion.
The A-axis system 100 comprises an A-axis rotor 1, an A-axis stator 2, an A-axis stator winding 3, an A-axis bearing 4, an A-axis stator shell 5, an A-axis stator shell cover 6 and an A-axis limiting block 7, wherein the A-axis stator 2 is installed on the A-axis rotor 1, the A-axis stator winding 3 and the A-axis limiting block 7 are installed on the A-axis stator 2, the A-axis bearing 4 is installed on the A-axis rotor 1, the A-axis stator shell 5 is installed on a B-axis rotor 8 of the B-axis system 200, and the A-axis stator shell cover 6 is installed on the A-axis stator shell 5.
The A-axis stator shell 5 is mounted on the B-axis rotor 8 of the B-axis system 200 in a gluing, riveting and screwing mode.
Wherein the a-axis stator housing 5 is integrated with the B-axis rotor 8 of the B-axis system 200.
The B-axis system 200 comprises a B-axis rotor 8, a B-axis stator 9, a B-axis stator winding 10, a B-axis bearing 11, a B-axis stator casing 12, a B-axis stator casing cover 13 and a B-axis limiting block 14, wherein the B-axis rotor 8 is installed on the A-axis stator casing cover 6 of the A-axis system 100, the B-axis bearing 11 is installed on a B-axis bearing installation step 5B on the outer side wall of the A-axis stator casing 5, the B-axis stator winding 10 and the B-axis limiting block 14 are installed on the B-axis stator 9, the B-axis stator casing 12 is installed on the B-axis stator 9, and the B-axis stator casing cover 13 is installed on the B-axis stator casing 12.
The B-axis stator shell cover 13 is mounted on the B-axis stator shell 12 in a gluing, riveting and screwing mode.
The B-axis stator 9 includes stator teeth 9a and a stator yoke 9B, and the stator yoke 9B is mounted on the stator teeth 9 a.
Wherein, the C-axis system 300 comprises a C-axis left half rotor 15, a C-axis right half rotor 16, a C-axis rotor upper end cover 17, a C-axis rotor lower end cover 18, a C-axis stator 19, a C-axis stator winding 20, a C-axis upper bearing 21, a C-axis lower bearing 22, a connecting screw 23 and accessory parts, the C-axis left half rotor 15 and the C-axis right half rotor 16 are installed on the B-axis stator shell 12, the C-axis left half rotor 15 and the C-axis right half rotor 16 are fastened together through the connecting screw 23, a slip ring 26 in the accessory parts is installed on a slip ring installation groove 18B on the C-axis rotor lower end cover 18, a bowl-shaped seal 30 in the accessory parts is installed on the C-axis rotor upper end cover 17, the C-axis upper bearing 21 is installed on a C-axis upper bearing installation step 17a arranged on the C-axis rotor upper end cover 17 in an interference mode, the C-axis lower bearing 22 is installed on a C-axis lower bearing installation step 18C arranged on the C-axis rotor lower end cover 18 in an interference mode, the C-axis rotor upper end cover 17 and the C-axis rotor lower end cover 18 are mounted on the C-axis left half rotor 15 and the C-axis right half rotor 16, and the C-axis stator winding 20 is assembled on the C-axis stator 19.
The auxiliary parts comprise a motor upper end cover 24, a motor lower end cover 25, a slip ring 26, lead-out wires 27, a rear cover 28, a wiring plug 29 and a bowl-shaped seal 30, wherein the lead-out wires 27 comprise a slip ring stator lead-out wire 27C and a C-axis stator winding lead-out wire 27 d; the rotor portion of the C-axis system 300 of the on-axis bearing 21 is mounted on the motor upper end cap 24, the motor lower end cap 25 is assembled to the C-axis stator 19, the slip ring stator lead-out 27C on the slip ring 26 and the C-axis stator winding lead-out 27d are connected to the terminal plug 29, the terminal plug 29 is fixed to the rear cap 28, the rear cap 28 is assembled to the motor lower end cap 25, and the bowl-shaped seal 30 is assembled to the C-axis rotor upper end cap 17.
Wherein, the rear cover 28 is mounted on the motor lower end cover 25 by gluing, riveting or screwing, or the rear cover 28 and the motor lower end cover 25 are integrated.
Compared with the prior art, the invention has the following effects:
1. the three degrees of freedom of the invention are not mutually coupled, thus realizing the purpose of motion decoupling;
2. the invention integrates the motion of three degrees of freedom into the same motor, and can effectively reduce the use amount of the traditional motor, reduce the volume of the whole equipment and lighten the weight of the whole equipment when being applied to the multi-degree-of-freedom motion occasion;
3. the invention has small volume, compact structure and high integration degree;
4. compared with a spherical structure, the spherical structure has low processing difficulty and is easy for engineering application.
5. The invention decomposes the three rotational degrees of freedom of the space, and is respectively realized by different moving parts, so that the three rotational degrees of freedom are not mutually coupled, and the aim of motion decoupling is realized.
Drawings
Fig. 1 is a schematic view of a motor structure of the present invention, fig. 2 is a sectional view of the motor structure, fig. 3 is a sectional view of fig. 2 at B-B, fig. 4 is a sectional view of fig. 2 at C-C, fig. 5 is an assembly view of A, B shaft system parts, and fig. 6 is an exploded assembly view of the motor.
Detailed Description
The technical scheme of the invention is not limited to the specific embodiments listed below, and any reasonable combination of the specific embodiments is included.
The invention will be described in further detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation is given, but the scope of the present invention is not limited to the following embodiments.
The purpose of the invention is realized by the following technical scheme: for clearer representation, names of three orthogonal rotating shafts in space are defined, generally named as an A shaft, a B shaft and a C shaft, the motor structure sketch of the invention is shown in figure 1, the A shaft system and the B shaft system can swing within a certain range, and the C shaft system can realize complete circular motion. The motor consists of an A-axis system, a B-axis system, a C-axis system and other accessory parts.
The A-axis stator winding and the B-axis stator winding are connected with the slip ring through the outgoing lines, and when each axis moves, an electric circuit can be normally conducted without movement interference.
The motor driving system respectively controls the motor A-axis system, the motor B-axis system and the motor C-axis system to realize three-degree-of-freedom motion.
The specific embodiment is as follows: as shown in fig. 1 to 6, the a-axis system 100 includes a motor rotor 1, an a-axis stator 2, an a-axis stator winding 3, an a-axis bearing 4, an a-axis stator housing 5, an a-axis stator housing cover 6, and an a-axis stopper 7.
The motor rotor 1 is provided with an output shaft 1a, an A-shaft rotor 1b and an A-shaft bearing mounting step 1c structure, wherein the cylindrical surface of the A-shaft rotor 1b is provided with magnetic poles, and certain shapes and numbers are only schematically drawn in the figure.
The a-axis stator 2 has a stator tooth 2a and stator yoke 2b structure, and the stator tooth 2a is only schematically illustrated in a certain shape and number in the drawing.
The A-axis stator shell 5 has a structure of an A-axis bearing seat 5a and a B-axis bearing mounting step 5B.
The A-axis stator cover 6 has an A-axis bearing seat 6a structure.
For the a-axis system 100, first, the a-axis stator housing 5 and the B-axis rotor 8 may be connected together by, but not limited to, gluing, riveting, screwing, or the like, or integrally formed with the B-axis rotor 8, the a-axis stator housing cover 6 and another B-axis rotor 8 may be connected together by, but not limited to, gluing, riveting, screwing, or the like, or integrally formed with the B-axis rotor 8, and the inner ring of the a-axis bearing 4 is mounted on the a-axis bearing mounting step 1c by interference. Then, the A-axis stator winding 3 and the A-axis limiting block 7 are assembled on the A-axis stator 2, then the A-axis stator winding and the A-axis limiting block are assembled in the A-axis stator shell 5 together, and then the motor rotor 1 provided with the A-axis bearing 4 is assembled in the A-axis stator shell 5 together. Finally, the a-axis stator housing cover 6 is assembled to the a-axis stator housing 5 and may be attached together by, but not limited to, gluing, riveting, screws, etc. The a-axis system 100 is assembled.
The B-axis system comprises a B-axis rotor 8, a B-axis stator 9, a B-axis stator winding 10, a B-axis bearing 11, a B-axis stator shell 12, a B-axis stator shell cover 13 and a B-axis limiting block 14.
The cylindrical surface of the B-axis rotor 8 has magnetic poles, of which only certain shapes and numbers are schematically shown in the figure.
The B-axis stator 9 has a stator tooth 9a and stator yoke 9B structure, and the stator tooth 9a is only schematically illustrated in a certain shape and number in the drawing.
The B-axis stator housing 12 has a B-axis bearing housing 12a structure.
The B-axis stator cover 13 has a B-axis bearing housing 13a structure.
For the B-axis system 200, first, the inner race of the B-axis bearing 11 is fitted to the B-axis bearing fitting step 5B by interference. Then, the B-axis stator winding 10 and the B-axis stopper 14 are assembled on the B-axis stator 9, and then are assembled in the B-axis stator shell 12 together, and then the A-axis system 100 provided with the B-axis bearing 11 is assembled in the B-axis stator shell 12 together. Finally, the B-axis stator housing cover 13 is assembled to the B-axis stator housing 12 and may be attached by, but not limited to, gluing, riveting, screws, etc. The B-axis system 200 with the a-axis system 100 assembled is assembled.
The C-axis system 300 comprises a C-axis left half rotor 15, a C-axis right half rotor 16, a C-axis rotor upper end cover 17, a C-axis rotor lower end cover 18, a C-axis stator 19, a C-axis stator winding 20, a C-axis upper bearing 21, a C-axis lower bearing 22 and a connecting screw 23.
The C-axis left half rotor 15 is provided with a B-axis stator shell mounting seat 15a and a connecting threaded hole 15B, the cylindrical surface of the C-axis left half rotor 15 is provided with magnetic poles, and certain shapes and numbers are only schematically drawn in the figure.
The C-axis right half rotor 16 is provided with a B-axis stator shell mounting seat 16a and a connecting hole 16B structure, and the cylindrical surface of the C-axis right half rotor 16 is provided with magnetic poles, and a certain shape and number are only schematically drawn in the figure.
The C-axis rotor upper end cap 17 has a C-axis upper bearing mounting step 17a configuration.
The lower end cover 18 of the C-axis rotor has a lead hole 18a, a slip ring mounting groove 18b and a lower bearing mounting step 18C structure of the C-axis.
The C-axis stator 19 has a stator tooth 19a and a stator yoke 19b, and the stator tooth 19a is only schematically illustrated in a certain shape and number in the drawing.
Other accessory parts comprise a motor upper end cover 24, a motor lower end cover 25, a slip ring 26, a lead-out wire 27, a rear cover 28, a wiring plug 29 and a bowl-shaped seal 30.
The motor upper end cover 24 has a bearing mounting seat 24a structure.
The motor lower end cover 25 has a bearing mounting seat 25a and a lead hole 25b structure.
The slip ring 26 has a conductive ring 26a and a slip ring stator 26b configuration.
The lead wires 27 have a structure of a-axis stator winding lead wires 27a, B-axis stator winding lead wires 27B, slip ring stator lead wires 27C, and C-axis stator winding lead wires 27 d.
For the C-axis system 300, first, the C-axis left rotor half 15 and the C-axis right rotor half 16 are assembled to the B-axis stator case 12, and the C-axis left rotor half 15 and the C-axis right rotor half 16 are fastened together by the connection screws 23. Then, the conducting rings 26a are assembled to the slip ring mounting groove 18B, the a-axis stator winding lead wires 27a and the B-axis stator winding lead wires 27B are passed through the lead holes 18a, and connected to the corresponding conducting rings 26a by cold pressing or welding. The bowl-shaped seal 30 is assembled on the C-axis rotor upper end cover 17, the C-axis upper bearing 21 is mounted on the C-axis upper bearing mounting step 17a in an interference manner, and the C-axis lower bearing 22 is mounted on the C-axis lower bearing mounting step 18C in an interference manner. Finally, the C-axis rotor upper end cover 17 and the C-axis rotor lower end cover 18 are assembled to the assembly of the C-axis left half rotor 15 and the C-axis right half rotor 16, and can be connected together by means of, but not limited to, gluing, riveting, screws, and the like. The rotor portion of the C-axis system 300 with the a-axis system 100 and the B-axis system 200 assembled is assembled.
When the machine is assembled, the C-axis stator winding 20 is assembled on the C-axis stator 19, the rotor part of the C-axis system 300 assembled with the C-axis upper bearing 21 is assembled on the upper end cover 24 of the motor, and the C-axis upper bearing 21 is assembled in the bearing mounting seat 24 a. Then, the whole is assembled on the C-axis stator 19, the C-axis stator winding lead wire 27d passes through the lead hole 25b, and the motor lower end cover 25 is assembled on the C-axis stator 19, so that the C-axis lower bearing 22 is assembled in the bearing mounting seat 25 a. The slip ring stator lead-out wires 27C and the C-axis stator winding lead-out wires 27d are connected to the terminal plug 29, and the terminal plug 29 is fixed to the rear cover 28. The rear cover 28 is assembled to the motor bottom cover 25, and may be connected together by, but not limited to, gluing, riveting, screwing, or may be integrally formed with the motor bottom cover 25. The whole machine is assembled.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A three-freedom motor is characterized in that: the novel swing mechanism comprises an A-axis system (100), a B-axis system (200) and a C-axis system (300), wherein the A-axis system (100) swings around the axis of the A-axis system, the B-axis system (200) is installed on the radial direction of the A-axis system (100), the A-axis system (100) is driven to swing along the radial direction of the A-axis system under the condition that the A-axis system (100) swings around the axis of the A-axis system, the C-axis system (300) is installed on the B-axis system (200), and the C-axis system (300) drives the A-axis system (100) and the B-axis system (200) to realize complete circular motion.
2. A three-freedom motor is characterized in that: the A-axis system (100) comprises an A-axis rotor (1), an A-axis stator (2), an A-axis stator winding (3), an A-axis bearing (4), an A-axis stator shell (5), an A-axis stator shell cover (6) and an A-axis limiting block (7),
the A-axis stator (2) is installed on the A-axis rotor (1), an A-axis stator winding (3) and an A-axis limiting block (7) are installed on the A-axis stator (2), an A-axis bearing (4) is installed on the A-axis rotor (1), an A-axis stator shell (5) is installed on a B-axis rotor (8) of a B-axis system (200), and an A-axis stator shell cover (6) is installed on the A-axis stator shell (5).
3. A three-degree-of-freedom motor according to claim 2, characterized in that: the A-axis stator shell (5) is arranged on a B-axis rotor (8) of the B-axis system (200) in a gluing, riveting and screw mode.
4. A three-degree-of-freedom motor according to claim 2, characterized in that: the A-axis stator shell (5) is integrated with the B-axis rotor (8) of the B-axis system (200).
5. A three degree-of-freedom motor according to claim 1 or 2, characterized in that: the B-axis system (200) comprises a B-axis rotor (8), a B-axis stator (9), a B-axis stator winding (10), a B-axis bearing (11), a B-axis stator shell (12), a B-axis stator shell cover (13) and a B-axis limiting block (14),
a shaft B rotor (8) is arranged on a shaft A stator shell cover (6) of a shaft A system (100), a shaft B bearing (11) is arranged on a shaft B bearing mounting step (5B) on the outer side wall of the shaft A stator shell (5), a shaft B stator winding (10) and a shaft B limiting block (14) are arranged on a shaft B stator (9), a shaft B stator shell (12) is arranged on the shaft B stator (9), and a shaft B stator shell cover (13) is arranged on the shaft B stator shell (12).
6. The three-degree-of-freedom motor according to claim 5, characterized in that: the B-axis stator shell cover (13) is arranged on the B-axis stator shell (12) in a gluing, riveting and screw mode.
7. The three-degree-of-freedom motor according to claim 6, characterized in that: the B-axis stator (9) comprises stator teeth (9a) and a stator yoke (9B), and the stator yoke (9B) is mounted on the stator teeth (9 a).
8. A three degree-of-freedom motor as claimed in claim 1, 2 or 5, characterized in that: the C-axis system (300) comprises a C-axis left half rotor (15), a C-axis right half rotor (16), a C-axis rotor upper end cover (17), a C-axis rotor lower end cover (18), a C-axis stator (19), a C-axis stator winding (20), a C-axis upper bearing (21), a C-axis lower bearing (22), a connecting screw (23) and accessory parts,
the C-axis left half rotor (15) and the C-axis right half rotor (16) are arranged on the B-axis stator shell (12), the C-axis left half rotor (15) and the C-axis right half rotor (16) are fastened together through a connecting screw (23),
a slip ring (26) in accessory parts is arranged on a slip ring mounting groove (18b) on a C-axis rotor lower end cover (18), a bowl-shaped seal (30) in the accessory parts is arranged on a C-axis rotor upper end cover (17), a C-axis upper bearing (21) is arranged on a C-axis upper bearing mounting step (17a) arranged on the C-axis rotor upper end cover (17) in an interference mode, a C-axis lower bearing (22) is arranged on a C-axis lower bearing mounting step (18C) arranged on the C-axis rotor lower end cover (18) in an interference mode, the C-axis rotor upper end cover (17) and the C-axis rotor lower end cover (18) are arranged on a C-axis left half rotor (15) and a C-axis right half rotor (16), and a C-axis stator winding (20) is assembled on a C-axis stator (19).
9. The three-degree-of-freedom motor according to claim 7, characterized in that: the accessory parts comprise a motor upper end cover (24), a motor lower end cover (25), a slip ring (26), a lead-out wire (27), a rear cover (28), a wiring plug (29) and a bowl-shaped seal (30),
the lead wires (27) comprise slip ring stator lead wires (27C) and C-axis stator winding lead wires (27 d);
the rotor part of a C-axis system (300) of a C-axis upper bearing (21) is arranged on an upper end cover (24) of a motor, a lower end cover (25) of the motor is assembled on a C-axis stator (19), a slip ring stator lead-out wire (27C) and a C-axis stator winding lead-out wire (27d) on a slip ring (26) are connected to a wiring plug (29), the wiring plug (29) is fixed on a rear cover (28), the rear cover (28) is assembled on the lower end cover (25) of the motor, and a bowl-shaped seal (30) is assembled on an upper end cover (17) of the C-axis stator.
10. A three-degree-of-freedom motor according to claim 9, characterized in that: the rear cover (28) is arranged on the lower end cover (25) of the motor in a gluing, riveting or screw mode, or the rear cover (28) and the lower end cover (25) of the motor are integrated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111668507.0A CN114337162B (en) | 2021-12-31 | 2021-12-31 | Three-degree-of-freedom motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111668507.0A CN114337162B (en) | 2021-12-31 | 2021-12-31 | Three-degree-of-freedom motor |
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| CN114337162A true CN114337162A (en) | 2022-04-12 |
| CN114337162B CN114337162B (en) | 2023-05-12 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102480253A (en) * | 2011-04-13 | 2012-05-30 | 河北科技大学 | Permanent-magnet rotor deflection-type three-degree-of-freedom motion motor |
| KR20180092489A (en) * | 2017-02-09 | 2018-08-20 | (주)이노시뮬레이션 | Multi-dof motion platform |
| CN108462346A (en) * | 2018-02-09 | 2018-08-28 | 河北科技大学 | A kind of hybrid-driven three-degree-of-freedom motion motor |
| CN109921588A (en) * | 2019-03-20 | 2019-06-21 | 河北科技大学 | A kind of high stability three-degree-of-freedom motion motor |
| WO2019138025A1 (en) * | 2018-01-15 | 2019-07-18 | Cognibotics Ab | An industrial robot arm |
-
2021
- 2021-12-31 CN CN202111668507.0A patent/CN114337162B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102480253A (en) * | 2011-04-13 | 2012-05-30 | 河北科技大学 | Permanent-magnet rotor deflection-type three-degree-of-freedom motion motor |
| KR20180092489A (en) * | 2017-02-09 | 2018-08-20 | (주)이노시뮬레이션 | Multi-dof motion platform |
| WO2019138025A1 (en) * | 2018-01-15 | 2019-07-18 | Cognibotics Ab | An industrial robot arm |
| CN108462346A (en) * | 2018-02-09 | 2018-08-28 | 河北科技大学 | A kind of hybrid-driven three-degree-of-freedom motion motor |
| CN109921588A (en) * | 2019-03-20 | 2019-06-21 | 河北科技大学 | A kind of high stability three-degree-of-freedom motion motor |
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| CN114337162B (en) | 2023-05-12 |
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