CN1586807A - Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation - Google Patents

Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation Download PDF

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Publication number
CN1586807A
CN1586807A CN 200410069388 CN200410069388A CN1586807A CN 1586807 A CN1586807 A CN 1586807A CN 200410069388 CN200410069388 CN 200410069388 CN 200410069388 A CN200410069388 A CN 200410069388A CN 1586807 A CN1586807 A CN 1586807A
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China
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freedom
parallel
degree
chains
adopt
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CN 200410069388
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Chinese (zh)
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CN1238157C (en
Inventor
韩先国
白志富
陈五一
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Beihang University
Beijing University of Aeronautics and Astronautics
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Beihang University
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints
    • B25J17/0266Two-dimensional joints comprising more than two actuating or connecting rods
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25Movable or adjustable work or tool supports
    • B23Q1/44Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • B25J9/0072Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains

Abstract

The three-freedom redundant parallel mechanism with two rotations and one translation may be used as parallel machine tool structure. The parallel mechanism consists of static platform, dynamic platform and four single-freedom branches. Of the four single-freedom branches, three have their ends connected via ball joint to the dynamic platform and the platform, and the other has two ends connected two the two platforms separately via rotation pair. The mechanism has four input motions, three output motions, dynamic platform capable of realizing 2D translation and 1D rotation, and no unexpected output motion. The redundant driving can raise the precision and rigidity of the parallel mechanism, eliminate mechanism fantasticism, expand the posture space and improve mechanism performance. The mechanism has the advantages of simple structure, easy control, etc. and is suitable for use as the main structure of parallel machine tool with high precision and great posture angle.

Description

A kind of three freedom redundancy parallel mechanism of realizing that bidimensional translation and one dimension rotate
Technical field
The present invention relates to mechanical manufacturing field, is a kind of agent structure that can be used as parallel machine.
Background technology
Parallel machine is a kind of novel numerically controlled processing equipment, and it is the lathe based on parallel institution.Parallel institution was proposed first in mid-term in last century, was used to flight simulator, coordinate measuring machine etc. afterwards.Lathe based on parallel institution occurred in last century Mo, and created much of a stir.The parallel machine at initial stage mostly with Stewart (Stewart) mechanism of six degree of freedom as main body.After serve advantages such as the parallel machine of lower-mobility is simple in structure with it, easy control and come into one's own gradually, Lin Na such as Stuttgart, Germany university cuts open moral (Linapod) Three Degree Of Freedom lathe, and Sweden Ni Ousi goes into neat Saite (Tricept) series of Ao Baitike (Neos Robotics) company etc.
Parallel machine has that stiffness/weight ratio is big, response speed is fast, be suitable for Machining Complicated Profile, machine tool structure is simple, technical value added is high, machine tool component is convenient to modularized design and advantage such as batch process.But the working space of parallel machine is less, and especially configuration space generally is no more than 30 ° for the pure parallel machine of six degree of freedom, is difficult to adapt to the needs of high inclination-angle multi-coordinate numerical control operation.In addition, because the kinematic pair majority of parallel machine is a hinge, the precision of hinge, gap and contact problem such as rigidity make the available accuracy of parallel machine and rigidity have a greatly reduced quality.So little, actual accessible precision of working space and rigidity are low to be the main cause of the existing parallel machine practicability of influence.
The principal element of the existing parallel machine working space of influence is structural constraint and unusual position shape.In order to enlarge the working space of parallel machine, structural constraint can improve by adopting new version, topology layout and change structural parameters; But unusual position shape is the inherent characteristic of parallel institution, and when parallel machine was in unusual position shape, its moving platform had unnecessary uncontrollable free degree, the load force that with joint efforts can't the balance moving platform be subjected to of each side chain at this moment, and parallel machine has also just lost control.Parallel machine not only should be avoided being operated in unusual position shape but also should work away from unusual position shape.There is a large amount of unusual position shapes in parallel machine, and unusual position shape is divided into disconnected several little working spaces mutually with working space, so the practical working space of parallel machine is very little.
The pure parallel institution of six degree of freedom has its born defective that can't overcome, as the position and attitude close coupling, location resolution difficulties etc., parallel machine has the trend that adopts the mixed organization development now, promptly adopts two lower-mobility parallel institutions or the hybrid combining of series and parallel mechanism to form.
Summary of the invention
The present invention is exactly that propose at the problems referred to above a kind of novel realized the parallel institution that Three Degree Of Freedom that bidimensional translation and one dimension rotate has redundant drive.This mechanism mainly is made up of silent flatform, moving platform, four single-degree-of-freedom side chains, and three side chain two ends in said four side chains connect dynamic and static platform by ball pivot, and another root side chain two ends adopt parallel revolute pair to connect dynamic and static platform.
In one embodiment of the invention, described four single-degree-of-freedom side chains all adopt leading screw and nut structure to realize the single dof mobility of each side chain.
Can be preferably, described four single-degree-of-freedom side chains all adopt the slide rail of fixed length connecting rod and the single dof mobility that slide block structure is realized each side chain, and described slide rail is fixed on the column that is connected with silent flatform, and slide block is moved on slide rail.
Preferable is that described four single-degree-of-freedom side chains can adopt slide rail and slide block structure or leading screw and nut structure respectively.
Can be preferably, in spatial redundancy parallel institution of the present invention, the two ends of described four single-degree-of-freedom side chains all can adopt parallel revolute pair to connect dynamic and static platform.
The present invention can realize that the bidimensional translation of moving platform and one dimension rotate, and does not have non-desired output motion, therefore is easy to try to achieve the analytic solutions that this mechanism position is separated, and makes control ratio be easier to.There are four input motions in mechanism, and they are redundant each other, will satisfy certain motor coordination condition when driving, and mechanism just can realize the motion determined.It is unusual to adopt redundant drive to overcome, can be so that the orientation capability of moving platform increases.Redundant drive can also be improved the mechanical property of mechanism, improves mechanism precision and rigidity etc.That this mechanism has is simple in structure, control easily, precision and rigidity height, and be difficult for and moving platform on spindle motor advantage such as interfere, be easy to realize the large angle pendulum of moving platform.Can be with the agent structure of this mechanism as parallel machine, the attached again workbench with two-freedom (one-dimensional translation and one dimension rotate) series connection motion is realized the numerical control machine tool of five coordinates.
Below in conjunction with example the present invention is described further.
Description of drawings
Accompanying drawing 1 is one embodiment of the present of invention.
Accompanying drawing 2 is an alternative embodiment of the invention.
The specific embodiment
Among Fig. 1,1 framework; 2 columns; 3,6,15,17 slide blocks; 4,18 revolute pairs; 5,7,13,16 connecting rods; 8 moving platforms; 9 workpiece; 10 workbench; 11 cutting tools; 1214 ball pivots.As shown in the figure, this figure is a vertical structure of realizing each side chain single dof mobility input with the sliding-rail sliding form.On the figure central post 2 slide rail is housed, slide block 3,6,15,17 can slide on 2 respectively and do the motion input.The two ends of side chain 5 are connected slide block 3 and moving platform 8 respectively by parallel rotation secondary 4 and 18.The two ends of side chain 7,13,16 are ball pivot to connect moving platform 8 and corresponding slide block.Moving platform can realize that bidimensional translation and one dimension rotate.Attached among the figure one dimension rotates and the workbench 9 of one-dimensional translation to have, and this lathe can be realized 5 coordinate digital control processings.Each ball pivot of mechanism also can change the revolute pair parallel with 18 with revolute pair 4 in addition, though this moment, constraint was crossed by mechanism, mechanism still can realize above-mentioned motion, and mechanism's rigidity increases.
Among Fig. 2,19 silent flatform frameworks; 20,27,31 ball pivots; 21,22,29,30 telescopic branched chains; 23 moving platforms; 24 cutting tools; 25 workbench; 26 workpiece; 28,32 revolute pairs.This figure realizes the flexible example of doing the motion input of each side chain with the screw/nut structure.Side chain 30 two ends are connected silent flatform 19 and moving platform 23 respectively by parallel revolute pair 28 and 32 among the figure.Side chain 21,22,29 connects two platforms by ball pivot.The stretching motion that is input as four side chains of mechanism, moving platform can realize that bidimensional translation and one dimension rotate.Similarly, this mechanism also can realize 5 processing illustrated workbench 25 times.Each ball pivot of mechanism also can change the revolute pair parallel with 32 with revolute pair 28 into, the constraint of more additional physical dimensions again, and this moment, mechanism still can realize the three degree of freedom motion.
Four side chains of another example of this invention can adopt fixed length connecting rod and shrinking connecting-rod respectively, when adopting the fixed length connecting rod, its single dof mobility adopts slide rail and slide block to realize, when adopting the expansion link side chain, its single dof mobility adopts screw-nut structure to realize.

Claims (5)

1, a kind of spatial redundancy parallel institution with bidimensional translation and one dimension rotation, this parallel institution comprises silent flatform, moving platform, four single-degree-of-freedom side chains, the two ends of three single-degree-of-freedom side chains connect dynamic and static platform by ball pivot in described four side chains, and the two ends of another single-degree-of-freedom side chain adopt parallel revolute pair to connect dynamic and static platform respectively.
According to the described spatial redundancy parallel institution of claim 1, it is characterized in that 2, described four single-degree-of-freedom side chains all adopt leading screw and nut structure to realize the single dof mobility of each side chain.
3, according to the described spatial redundancy parallel institution of claim 1, it is characterized in that, described four single-degree-of-freedom side chains all adopt the slide rail of fixed length connecting rod and the single dof mobility that slide block structure is realized each side chain, and described slide rail is fixed on the column that is connected with silent flatform, and slide block is moved on slide rail.
According to the described spatial redundancy parallel institution of claim 1, it is characterized in that 4, described four single-degree-of-freedom side chains can adopt slide rail and slide block structure or leading screw and nut structure respectively.
5, according to the described spatial redundancy parallel institution of claim 1, the two ends of described four single-degree-of-freedom chains all can adopt parallel revolute pair to connect dynamic and static platform.
CN 200410069388 2004-07-22 2004-07-22 Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation Expired - Fee Related CN1238157C (en)

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Cited By (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100342994C (en) * 2005-10-13 2007-10-17 上海交通大学 Six-dimensional parallel forging press
CN100342995C (en) * 2005-10-13 2007-10-17 上海交通大学 Six-dimensional parallel forging operator
CN100402245C (en) * 2006-04-05 2008-07-16 浙江工业大学 Tri-translational freedom-degree parallel mechanism only containing revolving pair
CN101844307A (en) * 2010-04-30 2010-09-29 清华大学 Redundancy-driven three-degree-of-freedom parallel mechanism
CN101530969B (en) * 2009-04-02 2010-12-29 上海交通大学 Redundancy actuating mechanism with dynamic stability
CN101947785A (en) * 2010-08-30 2011-01-19 苏州博实机器人技术有限公司 Reconfigurable in-parallel robot
CN101966507A (en) * 2010-10-15 2011-02-09 江苏长虹涂装机械有限公司 Space four-DOF (Degree of Freedom) parallel connection mechanism and spraying robot
CN102023643A (en) * 2010-09-30 2011-04-20 北京航空航天大学 3-PRP planar three-degree-of-freedom parallel mechanism positioning method
CN102922513A (en) * 2012-11-02 2013-02-13 清华大学 Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA)
CN102922512A (en) * 2012-11-02 2013-02-13 清华大学 Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation
CN103101049A (en) * 2013-03-05 2013-05-15 清华大学 Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain
CN103231254A (en) * 2013-04-22 2013-08-07 浙江理工大学 Redundant drive three-freedom-degree parallel mechanism with double motion platforms
CN103231364A (en) * 2013-05-07 2013-08-07 林发明 Three-freedom-degree and four-freedom-degree parallel mechanism
CN103240614A (en) * 2013-05-06 2013-08-14 江苏国威工程机械有限公司 Redundant driving five-axis linkage hybrid machine tool
CN103358302A (en) * 2013-06-21 2013-10-23 燕山大学 Redundant drive symmetric three degree-of-freedom mobile parallel mechanism
CN104400446A (en) * 2014-09-29 2015-03-11 清华大学 Parallel main shaft head mechanism based on four-bar mechanisms
CN104669251A (en) * 2015-02-10 2015-06-03 柳州市金旭节能科技有限公司 2PRU (Pseudo-Random Upstream) and CRS (Central Reservation System) spatial parallel robot mechanism
CN104690717A (en) * 2015-01-23 2015-06-10 上海交通大学 Redundant sub-drive unit with deflected load self-coordination capacity
CN105397797A (en) * 2015-12-03 2016-03-16 上海交通大学 Symmetric decoupling parallel mechanism with two degrees of rotational freedom and one degree of movement freedom
CN105729450A (en) * 2016-05-09 2016-07-06 中国科学院宁波材料技术与工程研究所 Four-degree-of-freedom parallel mechanism
CN105729140A (en) * 2016-03-31 2016-07-06 苏州亚思科精密数控有限公司 Rotary turnover working table of small drilling machine
CN105729137A (en) * 2016-03-31 2016-07-06 苏州亚思科精密数控有限公司 Working table of small drilling machine
CN106035180A (en) * 2016-06-23 2016-10-26 安徽扫宝智能科技有限公司 Executing mechanical arm used for complete intelligent fishpond feeding all-in-one machine
CN106069962A (en) * 2016-06-23 2016-11-09 安徽扫宝智能科技有限公司 A kind of reservoir fish and shrimp feeding operation intelligent robot mechanical hand
CN106181432A (en) * 2016-07-28 2016-12-07 董超超 A kind of lathe turnover plate type workbench with defect recognition function
CN106391964A (en) * 2016-10-17 2017-02-15 燕山大学 Three-freedom-degree parallel forging machine
CN106426092A (en) * 2016-10-10 2017-02-22 燕山大学 Movement redundancy five-freedom-degree parallel serial robot
KR101796641B1 (en) * 2016-03-30 2017-11-10 주식회사 씨에스메카트로닉스 Parallel robot apparatus
CN108838996A (en) * 2018-07-03 2018-11-20 北京航空航天大学 A kind of five degree of freedom serial parallel mechanism
CN109358659A (en) * 2018-11-14 2019-02-19 吴颖琦 The twin shaft control tracking focusing device and mirror surface method for arranging of fixed reflection surface
CN109366212A (en) * 2018-10-29 2019-02-22 任磊 A kind of installation transfer mechanism for lithium battery frame processing inside new-energy automobile
CN109531186A (en) * 2018-12-10 2019-03-29 中北大学 A kind of novel four-freedom parallel bed
CN111843664A (en) * 2020-07-28 2020-10-30 郁海荣 Parallel hub polishing machine tool capable of balancing gravity of workpiece
CN112123323A (en) * 2020-10-19 2020-12-25 东南大学 4UPU-UP redundant drive parallel robot
CN113053228A (en) * 2021-03-17 2021-06-29 深圳市大峡谷科技发展有限公司 Connecting rod type combined lifting free-swing intelligent dynamic model

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100342995C (en) * 2005-10-13 2007-10-17 上海交通大学 Six-dimensional parallel forging operator
CN100342994C (en) * 2005-10-13 2007-10-17 上海交通大学 Six-dimensional parallel forging press
CN100402245C (en) * 2006-04-05 2008-07-16 浙江工业大学 Tri-translational freedom-degree parallel mechanism only containing revolving pair
CN101530969B (en) * 2009-04-02 2010-12-29 上海交通大学 Redundancy actuating mechanism with dynamic stability
CN101844307A (en) * 2010-04-30 2010-09-29 清华大学 Redundancy-driven three-degree-of-freedom parallel mechanism
CN101947785A (en) * 2010-08-30 2011-01-19 苏州博实机器人技术有限公司 Reconfigurable in-parallel robot
CN102023643A (en) * 2010-09-30 2011-04-20 北京航空航天大学 3-PRP planar three-degree-of-freedom parallel mechanism positioning method
CN102023643B (en) * 2010-09-30 2012-12-19 北京航空航天大学 3-PRP planar three-degree-of-freedom parallel mechanism positioning method
CN101966507A (en) * 2010-10-15 2011-02-09 江苏长虹涂装机械有限公司 Space four-DOF (Degree of Freedom) parallel connection mechanism and spraying robot
CN101966507B (en) * 2010-10-15 2012-11-07 江苏长虹汽车装备集团有限公司 Space four-DOF (Degree of Freedom) parallel connection mechanism and spraying robot
CN102922513B (en) * 2012-11-02 2015-05-20 清华大学 Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA)
CN102922513A (en) * 2012-11-02 2013-02-13 清华大学 Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA)
CN102922512A (en) * 2012-11-02 2013-02-13 清华大学 Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation
CN103101049A (en) * 2013-03-05 2013-05-15 清华大学 Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain
CN103101049B (en) * 2013-03-05 2014-12-24 清华大学 Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain
CN103231254A (en) * 2013-04-22 2013-08-07 浙江理工大学 Redundant drive three-freedom-degree parallel mechanism with double motion platforms
CN103231254B (en) * 2013-04-22 2015-05-06 浙江理工大学 Redundant drive three-freedom-degree parallel mechanism with double motion platforms
CN103240614A (en) * 2013-05-06 2013-08-14 江苏国威工程机械有限公司 Redundant driving five-axis linkage hybrid machine tool
CN103240614B (en) * 2013-05-06 2015-11-25 江苏国威工程机械有限公司 A kind of redundant drive five-axle linkage series-parallel machine tool
CN103231364A (en) * 2013-05-07 2013-08-07 林发明 Three-freedom-degree and four-freedom-degree parallel mechanism
CN103358302A (en) * 2013-06-21 2013-10-23 燕山大学 Redundant drive symmetric three degree-of-freedom mobile parallel mechanism
CN104400446B (en) * 2014-09-29 2016-09-28 清华大学 A kind of parallel main shaft head mechanism based on four-bar mechanism
CN104400446A (en) * 2014-09-29 2015-03-11 清华大学 Parallel main shaft head mechanism based on four-bar mechanisms
CN104690717B (en) * 2015-01-23 2016-03-16 上海交通大学 There is the sub-driver element of redundancy of unbalance loading self-coordinating ability
CN104690717A (en) * 2015-01-23 2015-06-10 上海交通大学 Redundant sub-drive unit with deflected load self-coordination capacity
CN104669251A (en) * 2015-02-10 2015-06-03 柳州市金旭节能科技有限公司 2PRU (Pseudo-Random Upstream) and CRS (Central Reservation System) spatial parallel robot mechanism
CN105397797A (en) * 2015-12-03 2016-03-16 上海交通大学 Symmetric decoupling parallel mechanism with two degrees of rotational freedom and one degree of movement freedom
KR101796641B1 (en) * 2016-03-30 2017-11-10 주식회사 씨에스메카트로닉스 Parallel robot apparatus
CN105729140A (en) * 2016-03-31 2016-07-06 苏州亚思科精密数控有限公司 Rotary turnover working table of small drilling machine
CN105729137A (en) * 2016-03-31 2016-07-06 苏州亚思科精密数控有限公司 Working table of small drilling machine
CN105729450A (en) * 2016-05-09 2016-07-06 中国科学院宁波材料技术与工程研究所 Four-degree-of-freedom parallel mechanism
CN106035180A (en) * 2016-06-23 2016-10-26 安徽扫宝智能科技有限公司 Executing mechanical arm used for complete intelligent fishpond feeding all-in-one machine
CN106035180B (en) * 2016-06-23 2019-05-24 东营尚牧农业科技有限公司 A kind of complete intelligent fish pond feeds intake all-in-one machine execution manipulator
CN106069962A (en) * 2016-06-23 2016-11-09 安徽扫宝智能科技有限公司 A kind of reservoir fish and shrimp feeding operation intelligent robot mechanical hand
CN106181432A (en) * 2016-07-28 2016-12-07 董超超 A kind of lathe turnover plate type workbench with defect recognition function
CN106426092B (en) * 2016-10-10 2019-03-22 燕山大学 Motion redundancy series parallel robot in five degrees of freedom
CN106426092A (en) * 2016-10-10 2017-02-22 燕山大学 Movement redundancy five-freedom-degree parallel serial robot
CN106391964A (en) * 2016-10-17 2017-02-15 燕山大学 Three-freedom-degree parallel forging machine
CN108838996A (en) * 2018-07-03 2018-11-20 北京航空航天大学 A kind of five degree of freedom serial parallel mechanism
CN109366212A (en) * 2018-10-29 2019-02-22 任磊 A kind of installation transfer mechanism for lithium battery frame processing inside new-energy automobile
CN109358659A (en) * 2018-11-14 2019-02-19 吴颖琦 The twin shaft control tracking focusing device and mirror surface method for arranging of fixed reflection surface
CN109358659B (en) * 2018-11-14 2021-09-07 吴颖琦 Double-shaft control tracking focusing device with fixed reflecting surface and reflecting mirror surface arrangement method
CN109531186B (en) * 2018-12-10 2020-07-24 中北大学 Novel four-degree-of-freedom parallel machine tool
CN109531186A (en) * 2018-12-10 2019-03-29 中北大学 A kind of novel four-freedom parallel bed
CN111843664A (en) * 2020-07-28 2020-10-30 郁海荣 Parallel hub polishing machine tool capable of balancing gravity of workpiece
CN112123323A (en) * 2020-10-19 2020-12-25 东南大学 4UPU-UP redundant drive parallel robot
CN113053228A (en) * 2021-03-17 2021-06-29 深圳市大峡谷科技发展有限公司 Connecting rod type combined lifting free-swing intelligent dynamic model

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