CN1313248C - Parallel mechanism of formed by circular pair, circular pair and spherical pair - Google Patents
Parallel mechanism of formed by circular pair, circular pair and spherical pair Download PDFInfo
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- CN1313248C CN1313248C CNB2004100737122A CN200410073712A CN1313248C CN 1313248 C CN1313248 C CN 1313248C CN B2004100737122 A CNB2004100737122 A CN B2004100737122A CN 200410073712 A CN200410073712 A CN 200410073712A CN 1313248 C CN1313248 C CN 1313248C
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Abstract
The present invention relates to a parallel mechanism composed of cylindrical pairs, cylindrical pairs and spherical pairs, which is formed by a still platform, a movable platform and a plurality of kinematic links connected between the still platform and the movable platform, the kinematic links are all composed of cylindrical pairs C, cylindrical pairs C and spherical pairs S, namely that the parallel mechanism is a 6-CCS, a 6-SCC or a 3-CCS parallel mechanism. The present invention put forward aimed at the improvement of a structure of a traditional parallel mechanism, and has the essence that kinematic links used for controlling the distance between two points in the traditional parallel mechanism is changed into kinematic links used for controlling the distance between a point to a straight line or controlling the distance between the point to a plane surface for regulating positions of two rigid bodies and postures of the two rigid bodies. The parallel mechanism has the advantages of novel structure, simple normal solution, flexible activation position selection, easy control and large workspace. The parallel mechanism can mutate and reconstruct various kinematic links of other kinematic pairs for forming various structural styles. The present invention is a parallel mechanism which has wide latent application prospects of multiple field, such as position activation and regulation, mechanical processing, sensors, etc.
Description
Technical field
The present invention relates to a kind of parallel institution, exactly, relate to a kind of parallel institution that constitutes by cylindrical pair, cylindrical pair and spherical pair, belong to executing agency, position and attitude governor motion, robot, lathe, power or position sensor in the mechanical system or the parallel institution technical field in detection and the measurement mechanism.
Background technology
Nineteen sixty-five Stewart proposes a kind of space parallel mechanism of novel 6DOF, and it is by two platforms and 6 parallel connections, telescopic rod members are formed up and down.Traditional Stewart parallel institution is made of 6 SPS kinematic chains, promptly each kinematic chain by two spherical pairs (S) at two ends and in the middle of being positioned at, by a length flexible variable, formed as the sliding pair (P) that drives.Connect up and down each SPS kinematic chain of two dynamic and static platforms in this traditional Stewart parallel institution and in fact all be by controlling the distance between the two spherical pair central points on the dynamic and static platform, and then realize Position Control.From the formation of kinematic pair, each kinematic chain in this tradition parallel institution all is made up of S, P, S kinematic pair.Free degree number is 3+1+3=7.If remove one of them around the isolated degree of freedom that straight line rotates, change TPS kinematic chain (T is hook hinge or claims universal joint) into, total free degree number is 6.In fact, present many parallel institutions all are designed to the 6-TPS kinematic chain.In theory, the kinematic chain by R (revolute pair), P (sliding pair), C (cylindrical pair) and S (spherical pair) form the six-freedom degree of arranging arbitrarily can constitute the parallel institution with definite motion.Problem is how to make this parallel institution have tangible advantage just to be of practical significance.
Through surplus 30 years update and develop, parallel institution obtained extensive use in fields such as lathe, robot mechanism, micromotion mechanism, sensors at present.But there are some intrinsic shortcomings in traditional Stewart parallel institution.Such as ball pivot is made more complicated, and kind changes fewer, and the position normal solution is problem such as difficulty relatively.So-called position normal solution be exactly in known each kinematic chain the distance between two ball pivots find the solution the position and the attitude of moving platform as input driving amount.This problem once had the time of more than ten years not achieve a solution, and was a quite problem of difficulty, so domestic and international many insiders have carried out years of researches and exploitation to this.
Summary of the invention
In view of this, the purpose of this invention is to provide a kind of parallel institution that is made of cylindrical pair, cylindrical pair and spherical pair, this parallel institution adopts 6-CCS or 6-SCC or 3-CCS kinematic chain to form, and it is big to have a working space, and activation point is selected characteristics such as flexible.In addition, the parallel institution after the variation of this parallel institution or the equivalence conversion has also that normal solution is simple, control is easy to advantage, therefore has potential wide application prospect.
In order to achieve the above object, the invention provides a kind of parallel institution that constitutes by cylindrical pair, cylindrical pair and spherical pair, form by silent flatform, moving platform and a plurality of kinematic chains of being connected between these two platforms; It is characterized in that: described kinematic chain is 6, all form by the first cylindrical pair C, the second cylindrical pair C and spherical pair S, kinematic pair ordering in these 6 kinematic chains is that the first cylindrical pair C connects silent flatform, spherical pair S connects moving platform, and the other end of this first cylindrical pair C and the other end of spherical pair S are connected by the second cylindrical pair C between the two; Promptly this parallel institution is the parallel institution of 6 CCS kinematic chains.
Described 6 kinematic chains are divided into three groups, and every group has two kinematic chains parallel to each other, and orthogonal or near vertical between three groups of kinematic chains, can realize mutually perpendicular three change in coordinate axis direction decoupling zeros or approximate decoupling zero.
Described 6 spherical pairs that are connected with moving platform can be positioned at same plane.
6 kinematic chains in the parallel institution of described 6 CCS kinematic chains all have only one to drive secondary: or be positioned at the second middle cylindrical pair C, or be positioned at the first cylindrical pair C on the silent flatform.
The locus of two cylindrical pair CC in described 6 CCS kinematic chains is to intersect vertically, or vertically non-intersect, and promptly both mutual alignments form the spatial vertical different surface beeline.
In order to achieve the above object, the present invention also provides a kind of parallel institution that is made of cylindrical pair, cylindrical pair and spherical pair, is made up of silent flatform, moving platform and a plurality of kinematic chains of being connected between these two platforms; It is characterized in that: described kinematic chain is 6: all be made up of the first cylindrical pair C, the second cylindrical pair C and Hooke's hinge T, kinematic pair ordering in these 6 kinematic chains is that the first cylindrical pair C connects silent flatform, Hooke's hinge T connects moving platform, and the other end of this first cylindrical pair C and the other end of Hooke's hinge T are connected by the second cylindrical pair C between the two; Promptly this parallel institution is the parallel institution of 6 CCT kinematic chains.
In traditional Stewart parallel institution, the distance that connects each kinematic chain SPS quiet, moving platform and in fact all be on quiet by controlling, moving two platforms between two spherical pair central points realizes Position Control.The present invention improves the structural principle of traditional Stewart parallel institution and a kind of 6-CCS or the 6-SCC parallel institution released a little, parallel institution of the present invention is made of 6-CCS or 6-SCC or 3-CCS kinematic chain, its essence is that the kinematic chain of distance of control point-to-point transmission in traditional Stewart parallel institution is changed into the control point to be constituted to the kinematic chain of the distance between straight line, be used for realizing two between rigid body the position and the adjusting of attitude.Through the equivalent deformation of kinematic chain, the present invention also can change into the control point to interplanar distance, so realize two between rigid body the position and the adjusting of attitude.Parallel institution of the present invention has advantages such as novel structure, normal solution is simple, activation point is selected flexibly, control is easy, working space is big.This parallel institution can adopt the multiple different motion chain of other kinematic pair to make a variation transformation and constitute multiple different structure type, also can be designed to mutually perpendicular three change in coordinate axis direction quadratures or nearly orthogonal, can also or replace the revolute pair R of cylindrical pair C to intersect vertically or vertical non-intersect with two cylindrical pair CC in the kinematic chain with being combined to form of sliding pair P, be that both mutual alignments formation spatial vertical different surface beelines are expanded its space operation stroke, in addition, the characteristics that have three decoupler shafts or approximate decoupling zero.Therefore the present invention a kind ofly has the parallel institution of potential application foreground widely in many fields such as position driving and adjusting, machining, sensors.
Description of drawings
Fig. 1 is the structural representation of the CCS kinematic chain member of the present invention's employing;
Fig. 2 is the structural representation of the CCT kinematic chain member of the present invention's employing;
Fig. 3 is the structural representation of the CPS kinematic chain member of the present invention's employing;
Fig. 4 is the structural representation that two cylindrical pairs form the vertical CCS kinematic chain of space antarafacial;
Fig. 5 is the structural representation that two cylindrical pairs form the vertical CCT kinematic chain of space antarafacial;
Fig. 6 is the structural representation that cylindrical pair and sliding pair form the vertical CPS kinematic chain of space antarafacial;
Fig. 7 (A), (B) are respectively the revolute pair R that can replace cylindrical pair C and two kinds of various combination structural representations of sliding pair P;
Fig. 8 is the structural representation of PRCT kinematic chain;
Fig. 9 is the structural representation of RPCT kinematic chain;
Figure 10 is the structural representation of PRCS kinematic chain;
Figure 11 is the structural representation of RPCS kinematic chain;
Figure 12 adopts the structural representation of the parallel institution of 6-CCS kinematic chain composition for the present invention;
Figure 13 adopts the structural representation of the parallel institution of 6-SCC kinematic chain composition for the present invention;
Figure 14 is the structural representation of the parallel institution of the present invention of employing 6-PRCS kinematic chain composition;
Figure 15 is the structural representation of the parallel institution of the present invention of employing 6-RPCS kinematic chain composition;
Figure 16 is for adopting the 6-PRCS kinematic chain and serving as the structural representation that drives secondary parallel institution of the present invention with the revolute pair R of centre;
The spherical pair that Figure 17 adopts the 6-CCS kinematic chain to form for the present invention is positioned at the structural representation of conplane parallel institution;
Figure 18 is positioned at the structural representation of conplane parallel institution for the present invention adopts 6-PRCS kinematic chain and spherical pair;
Figure 19 is positioned at the structural representation of conplane parallel institution for the present invention adopts 6-RPCS kinematic chain and spherical pair.
Figure 20 is the structural representation that the present invention adopts the another kind of parallel institution of 3-CCS kinematic chain composition; Wherein Wai Ce cylindrical pair C and middle cylindrical pair C conduct simultaneously drive secondary.
The specific embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, each member of the present invention and overall structure are described in further detail respectively below in conjunction with accompanying drawing.
Form from the structure of kinematic chain, each kinematic chain in traditional parallel institution all is made up of the SPS kinematic chain that spherical pair S, sliding pair P and spherical pair S form, and its free degree number is 3+1+3=7.If remove an isolated degree of freedom that rotates around straight line in the spherical pair, change TPS kinematic chain (T is hook hinge or universal joint) into, total free degree number is 6.In fact a lot of parallel institutions also are to be designed to the 6TPS kinematic chain.In theory, the kinematic chain by R, P, C, S form the six-freedom degree of arranging arbitrarily can constitute the parallel institution with definite motion.Problem is how to make this mechanism have tangible advantage just can to have significant practical applications and be worth.
The present invention is a kind of parallel institution that is made of cylindrical pair and spherical pair, is made up of silent flatform, moving platform and 6 kinematic chains being connected between these two platforms; These 6 kinematic chains are the kinematic chain for being made up of cylindrical pair C, cylindrical pair C and spherical pair S all, and promptly this parallel institution is the 6-CCS parallel institution.
Introduce main member of the present invention below earlier: the CCS kinematic chain, promptly each kinematic chain is that cylindrical pair C, cylindrical pair C, spherical pair S form (referring to Fig. 1).Wherein spherical pair S and middle cylindrical pair C between the two member have one around the isolated degree of freedom that self rotates, this isolated degree of freedom is to the not influence of mass motion of mechanism.If remove this isolated degree of freedom, the CCS kinematic chain can equivalence be converted to CCT kinematic chain (referring to Fig. 2) or CPS kinematic chain (referring to Fig. 3).So between Fig. 1, Fig. 2, three kinematic chains shown in Figure 3 is equivalent.But the spherical pair central point of three kinds of kinematic chains of Fig. 1～shown in Figure 3 can not be too big to the variable in distance between the cylindrical pair axis of a determining deviation with interval, makes the working space of parallel institution of this structure will be subjected to certain limitation.If the central axis of two cylindrical pairs (or one of them sliding pair) is changed into vertical antarafacial by orthogonal intersecting, just can overcome this travel limits, make that working space obtains enlarging.Fig. 4, Fig. 5, Fig. 6 form schematic diagram (wherein two cylindrical pairs among Fig. 4,5,6 are space antarafacial plumbness) to the center line of two cylindrical pairs (or sliding pair) of kinematic chain among Fig. 1, Fig. 2, Fig. 3 by the orthogonal structure that transform as behind the vertical antarafacial that intersects.
Another variation is the combination that can both equivalence be converted to a revolute pair R and a sliding pair P as each cylindrical pair C of kinematic chain: i.e. RP kinematic chain or PR kinematic chain (referring to Fig. 7).Zhuan Huan purpose is to drive pair in order to add in kinematic chain easily like this.At present, drive pair and normally adopt revolute pair R, for example utilize decelerator of a driven by motor as drive source, this is most economical drive source; Certainly, also can adopt sliding pair P secondary, for example utilize slide bar of a Driven by Hydraulic Cylinder to move back and forth as driving.Therefore, basic building block in the parallel institution of the present invention is CCS kinematic chain or SCC kinematic chain, but, also can be through CPS kinematic chain (referring to Fig. 3 and Fig. 6), CCT kinematic chain (referring to Fig. 2 and Fig. 5), PRCT kinematic chain (referring to Fig. 8), RPCT kinematic chain (referring to Fig. 9), PRCS kinematic chain (referring to Figure 10) and RPCS kinematic chain (referring to Figure 11) etc. after the equivalence conversion.
Referring to Figure 12, the present invention a kind ofly adopts 6 to be the parallel institutions that cylindrical pair C, cylindrical pair C and spherical pair S kinematic chain constitute, and is made up of silent flatform A, moving platform B and 6 kinematic chains being connected between these two platforms; Wherein silent flatform A is positioned at the outside as frame.Middle square is represented moving platform B.6 CCS kinematic chains connect silent flatform A and moving platform B respectively.Kinematic pair ordering in these 6 kinematic chains is that cylindrical pair C connects silent flatform A, and spherical pair S connects moving platform B, and this cylindrical pair C links to each other by a cylindrical pair C between the two with spherical pair S.A member (being kinematic chain outer side center cylinder among the figure) that promptly constitutes cylindrical pair C is connected in silent flatform (frame) above the A, and a member (being spherical crown among the figure) that constitutes spherical pair S is connected in above the moving platform B.Its drive source can adopt and be positioned at the middle cylindrical pair C of kinematic chain, also can adopt the cylindrical pair C that is connected in above the frame, for example uses a Driven by Hydraulic Cylinder slide bar.These 6 kinematic chains are divided into 3 groups, and every group of two kinematic chains are parallel to X, Y, Z axle respectively, orthogonal or near normal between three groups.Have three one-movement-freedom-degrees and three rotational freedoms for moving platform B like this, totally 6 frees degree can be accomplished decoupling zero or approximate decoupling zero.For example drive the wherein secondary C of intermediate cylindrical of two kinematic chains 1,2, moving platform B is rotated: when these two kinematic chains are when driving in the same way with speed along the X-axis translation or around Y-axis, do translational motion,, rotate when these two kinematic chains are during with fast reverse drive.Rotation of every group of two kinematic chain control moving platform B and one move in other words.Certainly this is the situation when working space is positioned at positive center; When working space during, between each motion coupling is arranged away from the center.If adopt two cylindrical pairs shown in Figure 4 to form the vertical CCS kinematic chain of space antarafacial, then the varied journey system scope of secondary C of intermediate cylindrical wants big, and working space also can correspondingly enlarge.
If spherical pair S is connected on the silent flatform A, cylindrical pair C is connected on the moving platform B.As shown in figure 13, just constituted the 6-SCC parallel institution.In this case, the cylindrical pair C that general selection is positioned in the middle of the kinematic chain is secondary as driving, rather than drives the cylindrical pair C on the moving platform B.Because moving platform B moves, it is normally ill-considered that drive source is installed above.As Figure 12, the 6-SCC kinematic chain member of this parallel institution still is divided into three groups, and orthogonal or near normal between each group is accomplished the mutual decoupling zero of motion or the approximate decoupling zero of mutually perpendicular three reference axis.
For parallel institution shown in Figure 12, it drives pair also can elect the cylindrical pair C that is positioned on the silent flatform A as, for example directly drives the hydraulic cylinder on the silent flatform A.
Again referring to shown in Figure 1, when the axial location of the cylindrical pair C1 that is positioned at the outside is determined, and slide displacement is given, when only being left to center on the rotation of C1 axis, both can rotate around the axis of the cylindrical pair C1 outside it at the center of spherical pair S, also can move back and forth, be equivalent to move radially, so the central motion track of spherical pair S just constitutes a plane along the cylindrical pair C1 in its outside along the axis of the cylindrical pair C2 in the middle of it.This kinematic chain constraint is equivalent to a point and falls in one plane.This constraining in when finding the solution, its constraint equation is much simple relatively.And traditional SPS kinematic chain therebetween kinematic pair (being sliding pair P) give regularly, the kinematic chain constraint is equivalent to a point and drops on the sphere, its constraint equation is more complex.Therefore, the position normal solution of the parallel institution be made up of the 6-CCS kinematic chain of the present invention is also simpler relatively.
Referring to Figure 14 and the parallel institution of forming by 6-PRCS and 6-RPCS kinematic chain shown in Figure 15, they have identical characteristics with Figure 12 and parallel institution shown in Figure 13, just adopt the combining structure of revolute pair R and sliding pair P to replace an original cylindrical pair C.What the member in these two parallel institutions adopted is Figure 10 and PRCS kinematic chain and RPCS kinematic chain shown in Figure 11.Parallel institution wherein shown in Figure 14 generally adopts sliding pair P on the silent flatform as drive source.Parallel institution shown in Figure 15 generally adopts revolute pair R on the silent flatform as drive source.Behind sliding pair P or revolute pair R setting near outboard end, the track of spherical pair S all is a plane, and its kinematic chain constraint still is equivalent to be positioned at a point on the plane, and its position normal solution also is fairly simple.In addition, in Figure 15, because the restriction of sliding pair P, working space is less, and the structure that changes Figure 16 into can increase working space, just has not been connected with silent flatform but drive secondary R.In a word, the parallel institution of Figure 12, Figure 13, Figure 14, Figure 15, Figure 16 all to be the present invention be made up of 6-CCS, 6-SCC, 6-PRCS, 6-RPCS kinematic chain three quadratures or nearly orthogonal.
In the parallel institution as Figure 12 of the present invention, also can all be arranged in 6 spherical pair S on the same plane, its structural shape is simple (referring to Figure 17) a little, and outside fixture is silent flatform A among the figure, and middle annulus is moving platform B; But this moment, orthogonality did not just have, and the motion coupling occurred.Also can copy processing for Figure 14 and parallel institution shown in Figure 15, be about to 6 spherical pair S and all be arranged on the same plane improved structure such as Figure 18 and shown in Figure 19 according to this principle.Below their silent flatform A is positioned at, above moving platform annulus B is positioned at.
The various parallel institutions of introducing previously all are that each kinematic chain has only one to drive pair, drive pair if each kinematic chain has two, then can construct parallel institution as shown in figure 20.Have only 3 CCS kinematic chains in this mechanism, still, six cylindrical pair C of this parallel institution drive pair, and the structure of this parallel institution is simpler, has good application prospects.
Claims (6)
1, a kind of parallel institution that is made of cylindrical pair, cylindrical pair and spherical pair is made up of silent flatform, moving platform and a plurality of kinematic chains of being connected between these two platforms; It is characterized in that: described kinematic chain is 6, all form by the first cylindrical pair C, the second cylindrical pair C and spherical pair S, kinematic pair ordering in these 6 kinematic chains is that the first cylindrical pair C connects silent flatform, spherical pair S connects moving platform, and the other end of this first cylindrical pair C and the other end of spherical pair S are connected by the second cylindrical pair C between the two; Promptly this parallel institution is the parallel institution of 6 CCS kinematic chains.
2, the parallel institution that constitutes by cylindrical pair, cylindrical pair and spherical pair according to claim 1, it is characterized in that: described 6 kinematic chains are divided into three groups, every group has two kinematic chains parallel to each other, and orthogonal or approaching vertical between three groups of kinematic chains, can realize mutually perpendicular three change in coordinate axis direction decoupling zeros or approximate decoupling zero.
3, the parallel institution that is made of cylindrical pair, cylindrical pair and spherical pair according to claim 1 is characterized in that: described 6 spherical pairs that are connected with moving platform can be positioned at same plane.
4, the parallel institution that constitutes by cylindrical pair, cylindrical pair and spherical pair according to claim 1, it is characterized in that: 6 kinematic chains in the parallel institution of described 6 CCS kinematic chains all have only one to drive secondary: or be positioned at the second middle cylindrical pair C, or be positioned at the first cylindrical pair C on the silent flatform.
5, the parallel institution that constitutes by cylindrical pair, cylindrical pair and spherical pair according to claim 1, it is characterized in that: the locus of two cylindrical pair CC in described 6 CCS kinematic chains is to intersect vertically, or vertically non-intersect, promptly both mutual alignments form the spatial vertical different surface beeline.
6, a kind of parallel institution that is made of cylindrical pair, cylindrical pair and spherical pair is made up of silent flatform, moving platform and a plurality of kinematic chains of being connected between these two platforms; It is characterized in that: described kinematic chain is 6: all be made up of the first cylindrical pair C, the second cylindrical pair C and Hooke's hinge T, kinematic pair ordering in these 6 kinematic chains is that the first cylindrical pair C connects silent flatform, Hooke's hinge T connects moving platform, and the other end of this first cylindrical pair C and the other end of Hooke's hinge T are connected by the second cylindrical pair C between the two; Promptly this parallel institution is the parallel institution of 6 CCT kinematic chains.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004100737122A CN1313248C (en) | 2004-09-02 | 2004-09-02 | Parallel mechanism of formed by circular pair, circular pair and spherical pair |
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| CNB2004100737122A CN1313248C (en) | 2004-09-02 | 2004-09-02 | Parallel mechanism of formed by circular pair, circular pair and spherical pair |
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| CNB2006101093456A Division CN100406209C (en) | 2004-09-02 | 2004-09-02 | Parallel connection mechanism constituted of circular pair, circular pair and spherical pair |
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| CN1598389A CN1598389A (en) | 2005-03-23 |
| CN1313248C true CN1313248C (en) | 2007-05-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101221273B (en) * | 2008-01-30 | 2010-06-23 | 哈尔滨工业大学 | Parallel type macro-micro-driven high-precision heavy-caliber optical grating split joint device |
| CN111014022B (en) * | 2019-12-13 | 2020-12-08 | 通城县百丈潭茶业有限责任公司 | Tea processing equipment |
| CN113464289B (en) * | 2021-06-21 | 2022-05-24 | 中国科学院数学与系统科学研究院 | Air-fuel ratio control method for electronic fuel injection engine |
| CN113894157B (en) * | 2021-10-22 | 2022-07-19 | 燕山大学 | Upper and lower roller full-drive type 4SPeS + SPS + C type parallel plate strip rolling mill |
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| CN1261018A (en) * | 1999-11-03 | 2000-07-26 | 燕山大学 | Machine-tool with 6-freedom virtual axle |
| CN1267581A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation |
| JP2001254798A (en) * | 2000-03-08 | 2001-09-21 | Natl Inst Of Advanced Industrial Science & Technology Meti | Multi-degree-of-freedom driving mechanism by parallel mechanism |
| US6330837B1 (en) * | 1997-08-28 | 2001-12-18 | Microdexterity Systems, Inc. | Parallel mechanism |
| CN1095417C (en) * | 2000-03-09 | 2002-12-04 | 北京邮电大学 | Six-freedom parallel mechanism with triaxial nearly orthogonal |
| CN1442274A (en) * | 2003-02-06 | 2003-09-17 | 燕山大学 | 3-2-1 structure six freedom orthogonal parallel connection machine tool |
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- 2004-09-02 CN CNB2004100737122A patent/CN1313248C/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6330837B1 (en) * | 1997-08-28 | 2001-12-18 | Microdexterity Systems, Inc. | Parallel mechanism |
| CN1261018A (en) * | 1999-11-03 | 2000-07-26 | 燕山大学 | Machine-tool with 6-freedom virtual axle |
| JP2001254798A (en) * | 2000-03-08 | 2001-09-21 | Natl Inst Of Advanced Industrial Science & Technology Meti | Multi-degree-of-freedom driving mechanism by parallel mechanism |
| CN1095417C (en) * | 2000-03-09 | 2002-12-04 | 北京邮电大学 | Six-freedom parallel mechanism with triaxial nearly orthogonal |
| CN1267581A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation |
| CN1442274A (en) * | 2003-02-06 | 2003-09-17 | 燕山大学 | 3-2-1 structure six freedom orthogonal parallel connection machine tool |
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