CN115157219A - Five-degree-of-freedom super-large working space hybrid composite processing robot - Google Patents
Five-degree-of-freedom super-large working space hybrid composite processing robot Download PDFInfo
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- CN115157219A CN115157219A CN202210872555.XA CN202210872555A CN115157219A CN 115157219 A CN115157219 A CN 115157219A CN 202210872555 A CN202210872555 A CN 202210872555A CN 115157219 A CN115157219 A CN 115157219A
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- 239000002131 composite material Substances 0.000 title claims abstract description 18
- 239000012636 effector Substances 0.000 claims abstract description 17
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000003754 machining Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004372 laser cladding Methods 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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Abstract
The invention relates to a five-degree-of-freedom ultra-large working space hybrid composite processing robot, which belongs to the technical field of robots and comprises a rack, a movable platform, an end effector, three driving motors, two telescopic rods with driving functions, a first branch, a second branch, a third branch, a fourth branch and a fifth branch, wherein the first branch, the second branch and the third branch are arranged between the rack and the movable platform in parallel, the fourth branch and the fifth branch are arranged between a sliding table and the end effector in parallel, the second branch and the third branch are completely the same in structure and are symmetrically arranged, and the fourth branch and the fifth branch are completely the same in structure and are symmetrically arranged. The five-branch parallel mechanism is adopted to realize five-degree-of-freedom motion, the branches are connected with the rack through the sliding rails, the structure is compact, the manufacturing cost is low, and meanwhile, the five-branch parallel mechanism has high rigidity and an ultra-large working space and has a good application prospect in the aerospace field.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a five-degree-of-freedom super-large working space hybrid composite processing robot.
Background
In recent years, in the fields of aerospace manufacturing, automobile manufacturing, large ship processing and manufacturing and the like, one robot can complete various processing tasks such as laser processing, cutting processing, friction stir welding and the like by replacing different end working heads, and the robot is called as a composite processing robot.
At present, gantry type and cantilever type are mostly adopted by the composite processing robot. Although the gantry type processing robot has high precision, moving parts are heavy, the occupied area is large, the inertia is large, the flexibility is poor, the moving speed is low, and the manufacturing cost is high; compared with a gantry robot, the cantilever type processing robot has the advantages of compact structure and high flexibility, but has the defects of poor rigidity and low processing precision due to the adoption of a serial mechanism.
There are a few parallel robots in the existing literature to perform complex machining tasks. Chinese patent (CN 108858142A) proposes a five-degree-of-freedom parallel robot, which can realize the welding, laser processing and other work of complex curved surfaces, but the structure has small working space and easy interference of rod pieces; chinese patent (CN 101497193A) proposes a three-branch five-degree-of-freedom series-parallel laser processing robot, which adopts a three-branch three-degree-of-freedom parallel mechanism and a two-degree-of-freedom a/C swing angle head to realize five-axis motion, but its moving platform is equipped with a rotating head of a series mechanism with a large weight, so that the rod member has large inertia and insufficient speed. The existing parallel type composite processing robot scheme has the advantages of very small working space, easy interference of rod pieces, large inertia of the rod pieces, insufficient speed, no combination of the advantages of a gantry type machine tool and a serial robot, and incapability of meeting the composite processing requirements of large-size thin-wall structural parts in the fields of aerospace and the like.
Disclosure of Invention
The technical scheme adopted for realizing the purpose of the invention is as follows: a series-parallel combined machining robot with five degrees of freedom and an ultra-large working space belongs to the technical field of robots; the device comprises a rack, a movable platform, an end effector, three driving motors, two telescopic rods with driving functions, a first branch, a second branch, a third branch, a fourth branch and a fifth branch, wherein the first branch, the second branch and the third branch are arranged between the rack and the movable platform in parallel, and the fourth branch and the fifth branch are arranged between a sliding block and the end effector in parallel; the third branch and the second branch are completely the same in structure and are symmetrically distributed, and the fifth branch and the fourth branch are completely the same in structure and are symmetrically distributed; the method is characterized in that: the first branch is sequentially connected with a guide rail I, a slide block I and a four-universal hinge parallelogram mechanism from the rack to the movable platform; the first guide rail is fixedly arranged at the top of the rack along the central axis of the rack, the first slide block is connected with the first guide rail through the first sliding pair, the first T-shaped part of the parallelogram mechanism of the four-universal hinge mechanism is fixed on the first slide block, the fourth connecting rod of the parallelogram mechanism of the four-universal hinge mechanism is connected with the movable platform through the sixth rotating pair, and the sixth axis of the rotating pair is parallel to the movable platform; the four-universal hinge parallelogram mechanism is replaced by a four-spherical hinge parallelogram mechanism;
the second branch is sequentially connected with a second guide rail, a second sliding block and a sixth connecting rod from the rack to the movable platform; the second guide rail is fixedly arranged on the right side of the rack along the central axis of the rack, the second sliding block is connected with the second guide rail through a second sliding pair, and the sixth connecting rod is connected with the second sliding block through a seventh rotating pair and an eighth rotating pair; the connecting rod six is connected with the movable platform through the revolute pair nine and the revolute pair ten; the seventh rotating pair is intersected with the eighth rotating pair in axial line; the axes of the nine revolute pairs are intersected with the axes of the ten revolute pairs;
the fourth branch is connected with a connecting rod ten from the second sliding table to the end effector; the connecting rod eleven is connected with the sliding block II through a revolute pair eleven, a revolute pair twelve and a revolute pair thirteen; the connecting rod ten is connected with the end effector through a revolute pair fourteen and a revolute pair fifteen; the axes of the eleventh revolute pair, the twelfth revolute pair and the thirteenth revolute pair are intersected; the axes of the fourteen revolute pairs and the fifteen revolute pairs are vertically intersected; the eleven revolute pair, the twelve revolute pair and the thirteen revolute pair are replaced by ball pairs;
the end effector is connected with the movable platform through a revolute pair sixteen and a revolute pair seventeen; the axes of the revolute pair sixteen and the revolute pair seventeen are vertically intersected;
the branch guide rails are parallel to each other, a first motor is mounted on a first sliding block of the first branch, and a first moving pair of the first branch is a driving pair; a second motor is arranged on the second sliding block of the second branch, and a second driving pair is arranged on the second moving pair of the second branch; the third branch and the second branch have the same driving mode; the connecting rod ten of the fourth branch is a telescopic rod with a linear drive; the fifth branch and the fourth branch have the same drive pattern.
The technical scheme of the embodiment of the invention has the following beneficial effects: the invention provides a three-movement two-rotation ultra-large working space combined machining robot which is a parallel structure with few branches and can output three movements and two rotations. The robot has the important advantages of less joint rotation limitation, large working space and the advantages of a gantry type processing robot compared with other composite processing robots; a multi-joint coupling motion structure is adopted, so that the flexibility of a serial processing robot is realized; all the drives are close to the base, the tail end is light in weight, and the movement performance is excellent; the movable platform can be connected with various machining heads including a laser head, so that composite machining can be realized, and the machining precision of the complex curved surface of the large workpiece can be ensured.
Drawings
Fig. 1 is a schematic structural diagram of a five-degree-of-freedom ultra-large working space hybrid composite processing robot in example 1 of the present invention.
The device comprises a machine frame 1, a machining platform 2, a workpiece 3, an end effector 4, an end turntable 5, a U-shaped frame 6, a movable platform 7, a motor I, a motor II, a motor III, a rack linear slide block M1, a rack linear slide block M2, a rack linear slide block M3, a rack linear slide block H1, a slide block H2, a slide block H3, a first branch I, a second branch II, a third branch III, a fourth branch IV, a fifth branch V and a parallelogram mechanism with a universal hinge P.
Fig. 2 is a schematic diagram of a first branch structure of a five-degree-of-freedom ultra-large working space laser processing robot in example 1 of the present invention.
The three-dimensional universal joint comprises a T1-T-shaped part I, an L1-connecting rod I, an L2-connecting rod II, an L3-connecting rod III, an L4-connecting rod IV, an R1-revolute pair I, an R2-revolute pair II, an R3-revolute pair III, an R4-revolute pair IV, an R5-revolute pair V, an R6-revolute pair VI, an R16-revolute pair sixteen, an R17-revolute pair seventeen, a U1-universal hinge I, a U2-universal hinge II, a U3-universal hinge III, a U4-universal hinge IV and a U8-universal hinge VIII.
Fig. 3 is a schematic diagram of a second and a fourth branch structure of a five-degree-of-freedom ultra-large working space laser processing robot in example 1 of the present invention.
T2-T-shaped piece two, L5-connecting rod five, L6-connecting rod six, L7-connecting rod seven, L8-connecting rod eight, L9-connecting rod nine, L10-connecting rod ten, L11-connecting rod eleven, R7-revolute pair seven, R8-revolute pair eight, R9-revolute pair nine, R10-revolute pair ten, R11-revolute pair eleven, R12-revolute pair twelve, R13-revolute pair thirteen, R14-revolute pair fourteen, R15-revolute pair fifteen, U5-universal hinge five, U6-universal hinge six, U7-universal hinge seven and S1-composite spherical hinge one.
Fig. 4 is a schematic view of the meshing between a rack of a rack slide rail and a gear of a slide block in a five-degree-of-freedom ultra-large working space hybrid machining robot according to example 1 of the present invention.
C1-gear, C2-rack, H1-first slide block and W1-grooved wheel.
Detailed Description
The revolute pair axis described in the following examples of implementation refers to the centre line around which the revolute pair rotates. The "up," "down," "left," "right," and "horizontal" orientations are intended to be based on the orientation of the figure(s) and are used for convenience in describing the invention and for simplicity in description, but do not indicate or imply that the elements so referred to must have a particular orientation.
The invention discloses a hybrid composite processing robot with five-degree-of-freedom and ultra-large working space, which is described in detail in combination with the attached drawings and examples as follows:
the invention provides a five-degree-of-freedom ultra-large working space hybrid composite processing robot, which is structurally shown in figure 1 and comprises a rack 1, a movable platform 7, a U-shaped frame 6, a tail end rotary table 5, a tail end actuator 4, three driving motors, a first branch I, a second branch II and a third branch III which are arranged between the rack 1 and the movable platform 7 in parallel, a fourth branch IV, a fifth branch V and a P-four universal hinge parallelogram mechanism, wherein the fourth branch IV, the fifth branch V and the P-four universal hinge parallelogram mechanism are arranged between a sliding block and the tail end actuator 4 in parallel.
The first branch I is sequentially connected with a guide rail I M1, a sliding block I H1 and a four-universal-hinge parallelogram mechanism P from the rack 1 to the movable platform 7; the four-universal hinge parallelogram mechanism P consists of a T-shaped part I T1, a connecting rod I L1, a connecting rod II L2, a connecting rod III L3 and a connecting rod IV L4; the guide rail I M1 is fixedly arranged at the top of the rack along the central axis of the rack, the slide block I H1 is connected with the guide rail I M1 through a moving pair I P1, the slide block I H1 is arranged on the guide rail I M1 through a grooved pulley W1 while a gear C1 is meshed with a rack C2, a T-shaped part I T1 of a parallelogram mechanism P of the four-universal hinge mechanism is fixed on the slide block I H1, a connecting rod I L1 is connected with the T-shaped part I T1 through a rotating pair I R1, a connecting rod II L2 is connected with a connecting rod I L1 through a rotating pair II R2, a connecting rod III L3 is connected with the connecting rod I L1 through a rotating pair III R3, a connecting rod IV 4 is connected with a connecting rod II L2 through a rotating pair IV R4, a connecting rod IV L4 is connected with the connecting rod III L3 through a rotating pair V R5, and the movable platform 7 is connected with the connecting rod IV L4 through a rotating pair VI R6; the axis of a first revolute pair R1 connected with a first T1 of the connecting rod I is parallel to a plane of a first M1 of the sliding block, the axis of a second revolute pair R2 connected with a first L1 of the connecting rod II 2 is parallel to the axis of a third revolute pair R3 connected with a third L3 of the connecting rod I1, the axes of the first revolute pair R2 and the second revolute pair L2 are perpendicular to and intersected with the axis of the first revolute pair R1, the axis of a fourth revolute pair R4 connected with the second L2 of the connecting rod II 4 is parallel to the axis of a fifth revolute pair R5 connected with the fourth L4 of the connecting rod L4 and the axis of the fifth revolute pair R5, the central axis of the second L2 is parallel to the central axis of the third L3 of the connecting rod, the first revolute pair R1 and the second revolute pair R2 form a first universal joint U1, the first revolute pair R1 and the third R3 form a universal joint, and the universal joint of the fourth revolute pair R4 and the universal joint U4 forms a universal joint with the fourth revolute pair R4 and the universal joint.
The second branch II is sequentially connected with a guide rail II M2, a slide block II H2, a T-shaped part II T2, a connecting rod five L5, a connecting rod six L6 and a connecting rod seven L7 from the rack 1 to the movable platform 7; the second guide rail M2 is fixedly arranged on the right side of the rack 1 along the central axis of the rack, the second sliding block H2 is arranged on the second guide rail M2 through a grooved pulley W1 while a gear C1 is meshed with a rack C2, the second T-shaped part T2 is fixedly connected with the second sliding block H2, the fifth connecting rod L5 is connected with the second T-shaped part T2 through a revolute pair seven R7, the sixth connecting rod L6 is connected with the fifth connecting rod L5 through a revolute pair eight R8, the seventh connecting rod L7 is connected with the sixth connecting rod L6 through a revolute pair nine R9, and the movable platform 7 is connected with the seventh connecting rod L7 through a revolute pair ten R10; the axis of a revolute pair seven R7 connected with the connecting rod five L5 by the T-shaped platform two T2 is parallel to the plane of the sliding block two H2, the axis of a revolute pair eight R8 connected with the connecting rod six L6 by the connecting rod five L5 is intersected with the axis of the revolute pair seven R7 by an included angle of 45 degrees, the revolute pair seven R7 and the revolute pair eight R8 form a universal hinge five U5, the axis of a revolute pair nine R9 connected with the connecting rod seven L7 by the connecting rod six L6 is parallel to the axis of the revolute pair eight R8, the axis of a revolute pair ten R10 connected with the moving platform 7 by the connecting rod seven L7 is intersected with the axis of the revolute pair nine R9 by an included angle of parallel to the axis of the revolute pair seven R7, and the revolute pair nine R9 and the revolute pair ten R10 form a universal hinge six U6;
the third branch III and the second branch II are identical in structure and are arranged on the left side of the rack along the central axis of the rack.
The fourth branch IV is sequentially connected with a guide rail II M2, a slide block II H2, a connecting rod eight L8, a connecting rod nine L9, a connecting rod ten L10 and a connecting rod eleven L11 from the slide block II H2 to the end effector 4; the connecting rod eight L8 is connected with the sliding block II H2 through a revolute pair eleven R11, the connecting rod nine L9 is connected with the connecting rod eight L8 through a revolute pair twelve R12, the connecting rod eleven L10 is connected with the connecting rod nine L9 through a revolute pair thirteen R13, the connecting rod eleven L11 is connected with the connecting rod eleven L10 through a revolute pair fourteen R14, and the movable platform 7 is connected with the connecting rod eleven L11 through a revolute pair fifteen R15; the axis of a revolute pair eleven R11 connected with the second slider H2 through the connecting rod octal 8 is perpendicular to the plane of the second slider H2, the axis of a revolute pair dodecaR 12 connected with the connecting rod octal 8 through the connecting rod nonal 9 is intersected with the axis of a revolute pair eleven R11 through the connecting rod nonal 10, the axis of a revolute pair tridecR 13 connected with the connecting rod nonal 9 is intersected with the axis of a revolute pair dodecaR 12 through the connecting rod nonal 9 and is intersected with the axis of the revolute pair dodecaR 12 through the connecting rod nonal 11, the revolute pair eleven R12 and the revolute pair tridecR 13 form a composite spherical hinge S1, a revolute pair tetradecR 14 connected with the connecting rod eleven L11 through the connecting rod eleven L10 is perpendicular to and is intersected with the axis of the revolute pair tridecR 13, the axis of a revolute pair pentadecaR 15 connected with the connecting rod eleven L11 through the end effector 4 is perpendicular to the axis of the revolute pair tetradecR 14, and is intersected with the axis of the revolute pair tetradecR 14, and the revolute pair pentadecaR 15 form a universal hinge U7;
the fifth branch V and the fourth branch IV have the same structure and are arranged on the left side of the rack along the central axis of the rack;
the end effector 4 and the movable platform 7 are sequentially connected with a U-shaped frame 6 and an end rotary table 5, the U-shaped frame 6 is fixedly connected with the movable platform 7, the end rotary table 5 is connected with the U-shaped frame 6 through a revolute pair sixteen R16, and the end effector 4 is connected with the end rotary table 5 through a revolute pair seventeen R17; the end face of the movable platform is vertical to the ground horizontal plane, the U-shaped frame 6 is fixedly arranged on the movable platform 7, the axis of a revolute pair sixteen R16 connected with the U-shaped frame 6 by the tail end turntable 5 is vertical to the end face of the movable platform, the axis of a revolute pair seventeen R17 connected with the tail end turntable 5 by the tail end actuator 4 is vertical to the axis of the revolute pair sixteen R16, and the revolute pair sixteen R16 and the revolute pair seventeen R17 form a universal hinge eight U8; a first motor a is mounted on a first sliding block M1 of the first branch I, and a first moving pair P1 of the first branch I is a driving pair; a second motor b is arranged on a second sliding block M2 of the second branch II, and a second moving pair P2 of the second branch II is a driving pair; the third branch and the second branch have the same driving mode; the connecting rod ten of the fourth branch IV is a telescopic rod with a linear drive; the fifth branch and the fourth branch have the same driving mode; the end effector is a laser cutting head, a laser welding head, a laser perforating head, a laser cladding head and the like, and is determined according to a processing technology; the connecting rod ten L10 is a telescopic rod with a linear drive; the workpiece 3 is fixed on the processing platform 2.
Claims (3)
1. A five-degree-of-freedom super-large working space hybrid composite processing robot is characterized in that: the device comprises a rack, a movable platform, an end effector, three driving motors, two telescopic rods with drives, a first branch, a second branch, a third branch, a fourth branch and a fifth branch, wherein the first branch, the second branch and the third branch are arranged between the rack and the movable platform in parallel; the third branch and the second branch are completely the same in structure and are symmetrically distributed, and the fifth branch and the fourth branch are completely the same in structure and are symmetrically distributed; the first branch is sequentially connected with a guide rail I, a slide block I and a four-universal hinge parallelogram mechanism from the rack to the movable platform; the first guide rail is fixedly arranged at the top of the rack along the central axis of the rack, the first slide block is connected with the first guide rail through the first sliding pair, the first T-shaped part of the parallelogram mechanism of the four-universal hinge mechanism is fixed on the first slide block, the fourth connecting rod of the parallelogram mechanism of the four-universal hinge mechanism is connected with the movable platform through the sixth rotating pair, and the sixth axis of the rotating pair is parallel to the movable platform;
the second branch is sequentially connected with a second guide rail, a second sliding block and a sixth connecting rod from the rack to the movable platform; the second guide rail is fixedly arranged on the right side of the rack along the central axis of the rack, the second sliding block is connected with the second guide rail through a second sliding pair, and the sixth connecting rod is connected with the second sliding block through a seventh rotating pair and an eighth rotating pair; the connecting rod six is connected with the movable platform through the revolute pair nine and the revolute pair ten; the seventh rotating pair is intersected with the eighth rotating pair in axial line; the axes of the nine revolute pairs are intersected with the axes of the ten revolute pairs;
the fourth branch is connected with a connecting rod ten from the second sliding table to the end effector; the connecting rod eleven is connected with the sliding block II through the revolute pair eleven, the revolute pair twelve and the revolute pair thirteen; the connecting rod eleven is connected with the end effector through a revolute pair fourteen and a revolute pair fifteen; the axes of the first revolute pair, the second revolute pair and the thirteenth revolute pair are intersected; the axes of the fourteen revolute pairs and the fifteen revolute pairs are vertically intersected;
the end effector is connected with the movable platform through a revolute pair sixteen and a revolute pair seventeen; the axes of the revolute pair sixteen and the revolute pair seventeen are vertically intersected;
the branch guide rails are parallel to each other, a first motor is mounted on a first sliding block of the first branch, and a first moving pair of the first branch is a driving pair; a second motor is arranged on the second sliding block of the second branch, and a second driving pair is arranged on the second moving pair of the second branch; the third branch and the second branch have the same driving mode; the connecting rod ten of the fourth branch is a telescopic rod with a linear drive; the fifth branch and the fourth branch have the same driving manner.
2. The five-degree-of-freedom ultra-large working space hybrid composite processing robot as claimed in claim 1, wherein: the four-universal hinge parallelogram mechanism is replaced by a four-spherical hinge parallelogram mechanism.
3. The five-degree-of-freedom ultra-large working space hybrid composite processing robot as claimed in claim 1, wherein: and the eleventh rotating pair, the twelfth rotating pair and the thirteenth rotating pair are replaced by ball pairs.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210872555.XA CN115157219B (en) | 2022-07-21 | 2022-07-21 | Five-degree-of-freedom super-large working space hybrid composite machining robot |
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| CN202210872555.XA CN115157219B (en) | 2022-07-21 | 2022-07-21 | Five-degree-of-freedom super-large working space hybrid composite machining robot |
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| CN115157219A true CN115157219A (en) | 2022-10-11 |
| CN115157219B CN115157219B (en) | 2024-05-10 |
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| US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
| WO2002049811A1 (en) * | 2000-12-20 | 2002-06-27 | Maschinenfabrik Reichenbacher Gmbh | Device for the translatory positioning of a platform |
| US20110113918A1 (en) * | 2009-11-18 | 2011-05-19 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Translational branch joint and parallel robot utilizing the same |
| CN108908292A (en) * | 2018-06-04 | 2018-11-30 | 中北大学 | A kind of mixed connection decoupling lathe that two turn of three shifting can be achieved |
| CN110653798A (en) * | 2019-09-25 | 2020-01-07 | 中国地质大学（武汉） | Three-branch three-movement two-rotation non-overconstrained parallel robot |
| WO2021191054A1 (en) * | 2020-03-23 | 2021-09-30 | Universita' Degli Studi Di Ferrara | Translational parallel mechanism |
-
2022
- 2022-07-21 CN CN202210872555.XA patent/CN115157219B/en active Active
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| US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
| WO2002049811A1 (en) * | 2000-12-20 | 2002-06-27 | Maschinenfabrik Reichenbacher Gmbh | Device for the translatory positioning of a platform |
| US20110113918A1 (en) * | 2009-11-18 | 2011-05-19 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Translational branch joint and parallel robot utilizing the same |
| CN108908292A (en) * | 2018-06-04 | 2018-11-30 | 中北大学 | A kind of mixed connection decoupling lathe that two turn of three shifting can be achieved |
| CN110653798A (en) * | 2019-09-25 | 2020-01-07 | 中国地质大学（武汉） | Three-branch three-movement two-rotation non-overconstrained parallel robot |
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Non-Patent Citations (1)
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| 曹浩峰;曹毅;陈海;秦友蕾;丁锐;: "3T2R混联机构运动学性能分析", 东华大学学报(自然科学版), no. 06, 15 December 2016 (2016-12-15) * |
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| CN115157219B (en) | 2024-05-10 |
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