CN1857875A - Three-translation and one-rotation parallel mechanism - Google Patents
Three-translation and one-rotation parallel mechanism Download PDFInfo
- Publication number
- CN1857875A CN1857875A CN 200610012171 CN200610012171A CN1857875A CN 1857875 A CN1857875 A CN 1857875A CN 200610012171 CN200610012171 CN 200610012171 CN 200610012171 A CN200610012171 A CN 200610012171A CN 1857875 A CN1857875 A CN 1857875A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- axis
- side chain
- moving platform
- parallel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 32
- 238000013519 translation Methods 0.000 title claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims description 53
- 230000003068 static effect Effects 0.000 abstract 3
- 230000014616 translation Effects 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000007514 turning Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002537 cosmetic Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The three-translation and one-rotation parallel mechanism consists of one static platform, one movable platform and four moving branch chains. The first and the third branch chains have their swinging control arms connected separately through one rotation pair II or IV to the static platform and the parallelogram hinge, which is connected via the rotation pair VII to the movable platform. The second and the fourth branch chains have their swinging control arms connected separately to the rotation pair II or IV. The rotation axis of the rotation pair I connecting the four branch chains and the static platform is in the XOY plane. Between the rotation pair II and IV and the movable platform, there are one increased connecting rod and one rotation pair IX, and the connecting rod is connected to the rotation pair VII and the movable platform via the rotation pair IX. The axis of the rotation pair IX is perpendicular to that of the rotation pair VII, and coaxial or heteroaxial arrangement may be adopted.
Description
Technical field
This invention relates to a kind of novel three translations, a four-freedom parallel mechanism that rotates, can be used as industrial robot and parallel machine movement executing mechanism.It belongs to Robotics and numerical control machining equipment technical field.
Background technology
The Delta parallel robot is at first proposed and is applied for a patent by the Clavel of Lausanne, SUI engineering college (EPFL).See also shown in Figure 1ly, the structure of this mechanism is by silent flatform 1, moving platform 12 and is connected three movement branched chain moving 1, silent flatform 12 and constitutes.The pivot center of the revolute pair 2 that its three side chains are connected with silent flatform is arranged symmetrically on the silent flatform plane, and the structure of three movement branched chain is identical.Every side chain is by revolute pair 2,4,5,7, swing control arm 3, and the quadric chain of parallelogram--parallelogram hinge 6 connects to form.Swing control arm 3 links to each other with silent flatform 1, parallelogram hinge 6 respectively by revolute pair 2, revolute pair 4, and parallelogram hinge 6 links to each other with moving platform 12 by revolute pair 7.The closed quadric chain of the parallelogram that parallelogram hinge 6 is made up of by revolute pair 5 two long, two short two pairs of connecting rods (every pair bar long equate respectively), the axis normal of revolute pair 5 is in the quadrangular plan of four connecting rods composition, as Fig. 3 A institute; Also can be connected four connecting rods by two revolute pairs and two balls pairs.Angle can change between long connecting rod in the parallelogram hinge 6 and the short connecting rod, shown in Fig. 3 B; But between the long connecting rod, the total maintenance, be parallel to each other between the short connecting rod.Revolute pair 4,7 places the place, centre position of the short connecting rod of parallelogram hinge 5.The operation principle of Delta parallel robot is: the driving swing control arm 2 of motor or other driver is done the swing repeatedly of certain angle, drives 6 motions of parallelogram hinge then.Three 6 opening and closing of parallelogram hinge, translation and rotational motions drive the translational motion that moving platform 12 is realized three coordinate directions.Be fixed with the working end of robot on the moving platform 12, can handle the parts on the working end by the motor on the silent flatform 1 by the mechanism in the scalable sleeve.The characteristics of this parallel robot are: moving component is light, and acceleration can be up to 12g, is adapted at the little (article of 1g ~ 1kg) of carrying quality in diameter 1000mm, the height 200mm working range.Switzerland Demaurex company has bought this patent and in addition commercialization in 1987, develop series of products such as Pack-Placer, Line-Placer.In recent years, Sweden ABB group company and the Japan smart machine of day power company have also released novel robot and the high-speed drilling machine of picking and placeing according to the Delta robot.At present, the Delta parallel robot has been widely used in the fields such as assembling of cosmetics, food and pharmaceutical packing box electronic product.
Because Delta robot motion modular construction is simple, light weight and motion structure are reasonable in design, thereby makes the Delta robot that the fast outstanding advantage of acceleration be arranged.But the moving platform of Delta robot can only be realized translational motion at 3 coordinate directions, can not realize rotational motion.If a kind of mechanism not only has the above-mentioned advantage of Delta robot, and its moving platform has rotational motion, and the motion of the working end on the moving platform will be more flexible so, and this mechanism just can adapt to more that the multiplex (MUX) makes occasion, satisfied requirement more widely.
The pluses and minuses of the above-mentioned Delta of foundation robot, by publish thesis IEEE/ASME international conference in 1999 " H4:a new family of 4-dof parallel robots " such as Francois Pierrot one type new mechanism has been proposed: the H4 robot construction as shown in Figure 2, this mechanism between last silent flatform and following moving platform, be connected with four with Delta mechanism in the identical kinematic chain of movement branched chain structure.These four kinematic chains are not directly to be connected on the moving platform, but per two kinematic chains connect side link 10.Connecting rod rest 10 is connected on the moving platform by revolute pair 11.The pivot center of two revolute pairs 11 is perpendicular to the moving platform plane.The moving platform of H4 mechanism has along translational motion on three directions and the rotational motion of winding perpendicular to silent flatform plane turning cylinder.
Summary of the invention
The objective of the invention is: for overcome the Delta robot can only translational motion limitation, can be used for the four-degree-of-freedom high-speed motion of industrial robot and Digit Control Machine Tool movement executing mechanism, the parallel institution of class Delta robot but design one one kinds of the present invention.
The present invention adopts following technological means to realize:
A kind of three-translation and one-rotation parallel mechanism is made of silent flatform (1), moving platform (12) and four movement branched chain; Described four movement branched chain are arranged on around the silent flatform, wherein, the swing control arm (3) of first and third side chain links to each other with silent flatform (1), parallelogram hinge (6) by revolute pair (2), (4) respectively, and parallelogram hinge (6) links to each other with moving platform (12) by revolute pair (7); The second, the swing control arm (3) of four side chains is connected respectively to revolute pair (2), (4); Coordinate system o-xyz is set up in the geometric center position of silent flatform, the x axle points to the center position of the revolute pair (2) of the 3rd side chain, the y axle points to the center of the second side chain revolute pair (2), the z axle determined by the right-hand rule, and the pivot center of the revolute pair (1) that four side chains are connected with silent flatform is arranged on the xoy of plane; Side link (8) and revolute pair (9) have been increased between the revolute pair of described second, four side chains (2), (4) and the moving platform (12); Side link (8) connects revolute pair (7) and links to each other with moving platform (12) by revolute pair (9): four side chain one ends link to each other with silent flatform (1) by swing control arm (3), swing control arm (3) connects parallelogram hinge (6), the other end of side chain is to be linked to each other with moving platform (12) by revolute pair (7) by parallelogram hinge (6) on first and third side chain, parallelogram hinge (6) on second, four side chains connects side link (8), is connected to moving platform by side link (8) by revolute pair (9).
The present invention can also adopt following technological means to realize:
A kind of three-translation and one-rotation parallel mechanism, the axis of the revolute pair of the 3rd side chain (2) is parallel with the axis of the first side chain revolute pair (2), and the axis of the revolute pair of the 4th side chain (2) is parallel with the axis of the second side chain revolute pair (2); The axis of the revolute pair of first and second side chain (2) is vertical mutually; The pivot center of revolute pair (2), (4), (7) remains and is parallel to each other in every side chain.
The axis normal of the revolute pair of aforesaid second, four side chains (9) in the axis of side chain revolute pair (7) separately, take axis out-of-alignment arrangement, the axis of two revolute pairs (9) is parallel to be assemblied in moving platform (12) and to go up and keep parallel with first movement branched chain revolute pair (2) axis.
The axis normal of the revolute pair of aforesaid second, four side chains (9) in the axis of side chain revolute pair (7) separately, take axis out-of-alignment arrangement, the axis of two revolute pairs (9) is parallel to be assemblied in moving platform (12) and to go up and keep parallel with first movement branched chain revolute pair (2) axis.
The present invention compared with prior art has following remarkable advantages and beneficial effect:
Simple, the unbranched interference of mechanism structure, the position working space is big.The motion of mechanism parts are light, the acceleration height.Can only the D translation motion compare with Delta mechanism, this mechanism increases a rotational freedom, makes that the working end on the moving platform is more flexible.Can implementation space three translations, a rotational motion, and rotate is that regular rotational motion-its pivot center remains parallel, described translational motion be an object in spatial movement, line of any point-to-point transmission remains parallel motion on it in motion process.If be connected in series a cradle head with the working end, just can realize the free degree motion of end effector at moving platform.
Description of drawings
Fig. 1 is a prior art Delta parallel-connection structure robot;
Fig. 2 is a prior art H4 parallel-connection structure robot;
Fig. 3 is a prior art parallelogram hinge arrangement sketch;
Fig. 4 is the parallel-connection structure robot that four-degree-of-freedom is rotated in the present invention's three translations;
Fig. 5 is the rotation schematic diagram that the parallel-connection structure robot of four-degree-of-freedom is rotated in the present invention's three translations;
Fig. 6 is first and third movement branched chain of the novel parallel institution of Fig. 4 of the present invention;
Fig. 7 is second, four movement branched chain of the novel parallel institution of Fig. 4 of the present invention;
Fig. 8 is second kind of embodiment that the parallel-connection structure robot of four-degree-of-freedom is rotated in the present invention's three translations.
The specific embodiment
Below in conjunction with accompanying drawing specific embodiments of the invention are illustrated:
Three-translation and one-rotation parallel mechanism of the present invention, can implementation space three translations, a rotational motion, and rotate is that regular rotational motion-its pivot center remains parallel, described translational motion be an object in spatial movement, line of any point-to-point transmission remains parallel motion on it in motion process.A kind of novel parallel institution of the present invention can be realized moving and rotation around the y axle along x, y, three reference axis of z.
The operation principle of this parallel institution is as described below: an end of swing control arm under the driving of motor or other actuator, drives the swing repeatedly that the swing control arm is made certain angle by revolute pair and silent flatform.The motion of swing control arm drives flat shape quadrangle hinge movement, and the parallelogram hinge translation on second, four side chains, rotation etc. move through revolute pair and drive side link.Side link on first and third side chain on parallelogram hinge and second, four side chains by with moving platform on the revolute pair that links to each other control the moving of moving platform, rotational motion jointly.The working end that can the stationary machines people on the moving platform or the cutter of lathe finish in the industrial production to pick and place tasks such as cutter drilling, cutting by the working end.
Embodiment one;
Fig. 4 is a specific embodiments one of the present invention.As can be seen from the figure, on the foursquare silent flatform 1 of revolute pair 2 symmetric arrangement that four movement branched chain are connected with silent flatform 1, wherein, first and third branched structure sees also shown in Figure 6; As can be seen from the figure, the structure of first side chain, swing control arm 3 links to each other with silent flatform 1, parallelogram hinge 6 respectively by revolute pair 2, revolute pair 5, revolute pair 2, the 5 axis layout that is parallel to each other.Revolute pair 7 connects parallelogram hinge 6 and moving platform 12, and its axis is parallel to revolute pair 2 axis.The structure of the 3rd side chain is identical with first side chain, and the axis of its turning cylinder that links to each other with silent flatform 2 is parallel to each other.
The second, four branched structures see also shown in Figure 7; Wherein revolute pair 2 axis are vertical mutually, second branched structure, and itself and the first side chain difference are to have increased side link 8 and revolute pair 9 between revolute pair 7 and moving platform 12.The structure of the 4th side chain is identical with the structure of second side chain, and revolute pair 2 axis that two side chains are connected with silent flatform are parallel to each other, and revolute pair 9 axis coaxles are arranged on the moving platform plane in two side chains, and is parallel to revolute pair 2 axis of first side chain.
This mechanism is made of silent flatform 1, moving platform 12, four movement branched chain, and four movement branched chain are arranged in around the silent flatform, as shown in Figure 1.Seeing also shown in Figure 6ly, is the structure of first and third side chain: as can be seen from the figure, swing control arm 3 links to each other with silent flatform 1, parallelogram hinge 6 respectively by revolute pair 2,4, and parallelogram hinge 6 passes through revolute pair 7 and links to each other with moving platform 12.
See also as shown in Figure 7, it is the structure of second, four side chains, as can be seen from the figure, structural similarity with first and third side chain, difference is to have increased side link 8 and revolute pair 9 in revolute pair 7 and 12 of moving platforms, and side link 8 connects revolute pair 7 and links to each other with moving platform 12 by revolute pair 9.
See also shown in Figure 4ly, set up coordinate system o-xyz in rectangle silent flatform geometric center position, the x axle points to the center position of the revolute pair 2 of the 3rd side chain, and the y axle points to the center of the second side chain revolute pair 2, and the z axle is determined by the right-hand rule.Article four, the pivot center of the revolute pair 1 that is connected with silent flatform of side chain is arranged on the xoy of plane.
A kind of novel parallel institution of the present invention, the axis of the revolute pair 2 of the 3rd side chain is parallel with the axis of the first side chain revolute pair 2, and the axis of the revolute pair 2 of the 4th side chain is parallel with the axis of the second side chain revolute pair 2.The axis of the revolute pair 2 of first and second side chain is vertical mutually.The pivot center of revolute pair 2,4,7 is parallel to each other all the time in the side chain.
The axis normal of the revolute pair 9 of above-mentioned second, four side chains in the axis of side chain revolute pair 7 separately, can take axis coaxle as shown in Figure 4, perhaps axis out-of-alignment arrangement as shown in Figure 8, but the axis of two revolute pairs 9 must parallelly be assemblied on the moving platform 12 and keep parallel with the first movement branched chain revolute pair, 2 axis.。
Embodiment two
Introduce axis out-of-alignment embodiment below, see also shown in Figure 8ly, be another embodiment of the present invention, the building block of its each side chain and connection order are constant.Difference be in second, four side chains revolute pair 9 axis be not coaxial arrangement on moving platform, but all keep parallel with revolute pair 2 axis of first side chain.Coaxial and the pluses and minuses of out-of-alignment arrangement on mechanism performance are: the scenario-frame symmetry of coaxial arrangement, and the moving platform mean forced, the mechanism kinematic precision is higher, error is less; But because the tail end connecting rod 8 of two, four movement branched chain of mechanism remains translation, two, four side chains do not play influence for the rotational motion of moving platform, so the flexible performance of the rotation of mechanism is not strong.The mechanism of disalignment arrangement is asymmetric, the stressed inequality of moving platform, and its kinematic accuracy is lower, error is bigger; But, because four movement branched chain are all influential to the rotational motion of moving platform, so the rotational motion of mechanism is sensitive.
It should be noted that at last: above embodiment only in order to the explanation the present invention and and unrestricted technical scheme described in the invention; Therefore, although this specification has been described in detail the present invention with reference to each above-mentioned embodiment,, those of ordinary skill in the art should be appreciated that still and can make amendment or be equal to replacement the present invention; And all do not break away from the technical scheme and the improvement thereof of the spirit and scope of invention, and it all should be encompassed in the middle of the claim scope of the present invention.
Claims (4)
1, a kind of three-translation and one-rotation parallel mechanism is made of silent flatform (1), moving platform (12) and four movement branched chain; Described four movement branched chain are arranged on around the silent flatform, wherein, the swing control arm (3) of first and third side chain links to each other with silent flatform (1), parallelogram hinge (6) by revolute pair (2), (4) respectively, and described parallelogram hinge (6) links to each other with moving platform (12) by revolute pair (7); The second, the swing control arm (3) of four side chains is connected respectively to revolute pair (2), (4); It is characterized in that:
Coordinate system o-xyz is set up in the geometric center position of described silent flatform, the x axle points to the center position of the revolute pair (2) of the 3rd side chain, the y axle points to the center of the second side chain revolute pair (2), the z axle determined by the right-hand rule, and the pivot center of the revolute pair (1) that four side chains are connected with silent flatform is arranged on the xoy of plane; Side link (8) and revolute pair (9) have been increased between the revolute pair of described second, four side chains (2), (4) and the moving platform (12); Side link (8) connects revolute pair (7) and links to each other with moving platform (12) by revolute pair (9): four side chain one ends link to each other with silent flatform (1) by swing control arm (3), swing control arm (3) connects parallelogram hinge (6), the other end of side chain is to be linked to each other with moving platform (12) by revolute pair (7) by parallelogram hinge (6) on first and third side chain, parallelogram hinge (6) on second, four side chains connects side link (8), is connected to moving platform by side link (8) by revolute pair (9).
2, a kind of three-translation and one-rotation parallel mechanism according to claim 1, it is characterized in that: the axis of the revolute pair of the 3rd side chain (2) is parallel with the axis of the first side chain revolute pair (2), and the axis of the revolute pair of the 4th side chain (2) is parallel with the axis of the second side chain revolute pair (2); The axis of the revolute pair of first and second side chain (2) is vertical mutually; The pivot center of revolute pair (2), (4), (7) remains and is parallel to each other in every side chain.
3, three-translation and one-rotation parallel mechanism according to claim 1 and 2, it is characterized in that: the second, the axis normal of the revolute pair of four side chains (9) in the axis of side chain revolute pair (7) separately, take axis out-of-alignment arrangement, the axis of two revolute pairs (9) is parallel to be assemblied in moving platform (12) and to go up and keep parallel with first movement branched chain revolute pair (2) axis.
4, three-translation and one-rotation parallel mechanism according to claim 3, it is characterized in that: the second, the axis normal of the revolute pair of four side chains (9) in the axis of side chain revolute pair (7) separately, take axis out-of-alignment arrangement, the axis of two revolute pairs (9) is parallel to be assemblied in moving platform (12) and to go up and keep parallel with first movement branched chain revolute pair (2) axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100121711A CN100393484C (en) | 2006-06-09 | 2006-06-09 | Three-translation and one-rotation parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100121711A CN100393484C (en) | 2006-06-09 | 2006-06-09 | Three-translation and one-rotation parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1857875A true CN1857875A (en) | 2006-11-08 |
| CN100393484C CN100393484C (en) | 2008-06-11 |
Family
ID=37296850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100121711A Expired - Fee Related CN100393484C (en) | 2006-06-09 | 2006-06-09 | Three-translation and one-rotation parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100393484C (en) |
Cited By (53)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100586666C (en) * | 2008-03-28 | 2010-02-03 | 北京工业大学 | Four-DOF parallel mechanism |
| CN101813156A (en) * | 2010-04-20 | 2010-08-25 | 江苏工业学院 | Flexible high-precision spacial vibration damping platform |
| CN102029615A (en) * | 2009-09-29 | 2011-04-27 | 鸿富锦精密工业（深圳）有限公司 | Parallel mechanism and translational branched chain thereof |
| CN102069495A (en) * | 2009-11-23 | 2011-05-25 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN101708611B (en) * | 2009-11-09 | 2011-07-27 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
| CN102248410A (en) * | 2011-07-08 | 2011-11-23 | 常州大学 | Triple-rotation in-parallel operating platform |
| CN102441889A (en) * | 2010-09-30 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Parallel-connection robot |
| CN102514004A (en) * | 2011-12-19 | 2012-06-27 | 天津大学 | Translational high-speed parallel mechanism with four branched chains and two degrees of freedom |
| CN102554917A (en) * | 2012-01-10 | 2012-07-11 | 天津大学 | Multi-over restraint parallel mechanism with two-dimensional translation and one-dimensional rotation |
| CN102642204A (en) * | 2012-03-27 | 2012-08-22 | 西安交通大学 | Alternating-current servo direct drive type series-parallel composite robot |
| 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) |
| CN102922511A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Three-move one-rotation four-freedom degree space parallel connection mechanism |
| CN102990650A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two identical closed-loop sub-chains |
| CN103052475A (en) * | 2010-08-02 | 2013-04-17 | 株式会社安川电机 | Parallel mechanism |
| CN103240729A (en) * | 2013-04-23 | 2013-08-14 | 天津大学 | Telescopic space triple-translation parallel manipulator |
| CN103707281A (en) * | 2012-09-29 | 2014-04-09 | 南昌大学 | Spatial four-degree-of-freedom parallel mechanism capable of three-dimensional translation and one-dimensional rotation |
| CN103753521A (en) * | 2014-01-17 | 2014-04-30 | 天津大学 | Pinion-and-rack type four-freedom-degree high-speed parallel robot |
| CN103846910A (en) * | 2014-02-28 | 2014-06-11 | 天津大学 | Four-freedom high-speed parallel connection mechanical hand |
| CN103846546A (en) * | 2012-12-05 | 2014-06-11 | 通快机床两合公司 | Processing device, processing machine and method for moving amachining head |
| CZ304674B6 (en) * | 2012-11-16 | 2014-08-27 | ÄŚVUT v Praze, Fakulta strojnĂ | Redundant manipulator |
| CN104589326A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Belt-driven electric cylinder three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator |
| CN104875184A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R spatial parallel robot mechanism |
| CN104875186A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R (three-transfer one-rotate) parallel robot mechanism |
| CN105127983A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation and one-rotation parallel mechanism manipulator |
| CN105127978A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot |
| CN105127998A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot platform |
| CN105127999A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation one-rotation parallel robot catcher |
| CN105157944A (en) * | 2015-09-30 | 2015-12-16 | 扬中中科维康智能科技有限公司 | Three-translation one-rotation multi-dimensional vibration platform |
| CN105234927A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-freedom-degree all-symmetric parallel mechanism with three supporting chains |
| CN105234929A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation |
| CN105522570A (en) * | 2016-02-25 | 2016-04-27 | 北京交通大学 | Rapid grabbing robot capable of performing whole circle movement |
| CN105563458A (en) * | 2014-10-10 | 2016-05-11 | 上海沃迪自动化装备股份有限公司 | Parallel robot of plane four-bar mechanism |
| CN105952842A (en) * | 2016-06-28 | 2016-09-21 | 安庆市佰斯特电子科技有限公司 | Damping device for charging base station of power line patrol unmanned aerial vehicle |
| CN105966605A (en) * | 2016-05-19 | 2016-09-28 | 郑琳琳 | Delta parallel mechanism-based six-rotor aircraft |
| CN106003149A (en) * | 2016-06-28 | 2016-10-12 | 安庆市佰斯特电子科技有限公司 | Sheltering device of power detecting robot in severe weather |
| CN106081144A (en) * | 2016-06-28 | 2016-11-09 | 安庆市佰斯特电子科技有限公司 | A kind of power-line patrolling unmanned plane charging base station |
| CN106143938A (en) * | 2016-06-28 | 2016-11-23 | 安庆市佰斯特电子科技有限公司 | A kind of thunderstorm weather electric power Drones for surveillance's bus stop |
| CN106272347A (en) * | 2016-08-31 | 2017-01-04 | 上海交通大学 | There is the X Delta sorting machine people of three two turns of five degree of freedom of shifting |
| CN106272344A (en) * | 2016-08-31 | 2017-01-04 | 上海交通大学 | There is the Hex Delta robot of three two turns of five degree of freedom of shifting |
| CN106378457A (en) * | 2016-10-27 | 2017-02-08 | 上海建桥学院 | Extruding and stacking efficient forming device |
| CN106429194A (en) * | 2016-12-27 | 2017-02-22 | 南宁学院 | Rocking arm fine adjustment type antiskid conveying belt device |
| CN106671062A (en) * | 2016-12-15 | 2017-05-17 | 常州大学 | Three-translation one-rotation four-degree-of-freedom parallel mechanism |
| CN107009346A (en) * | 2017-04-07 | 2017-08-04 | 河南科技大学 | A kind of space two degrees of freedom one-rotation parallel mechanism |
| CN107263448A (en) * | 2017-06-29 | 2017-10-20 | 常州大学 | A kind of asymmetric three translation spaces parallel institution manipulator |
| CN107914266A (en) * | 2016-10-06 | 2018-04-17 | 维斯公司 | Hinge-unit and manipulation device |
| CN106026273B (en) * | 2016-06-28 | 2018-05-08 | 中国石油大学(华东) | A kind of power-line patrolling unmanned plane charging equipment based on delta parallel institutions |
| CN108995727A (en) * | 2018-07-17 | 2018-12-14 | 东北大学 | A kind of Delta robot of pneumatic muscles driving |
| CN109048987A (en) * | 2018-09-21 | 2018-12-21 | 南京理工大学 | A kind of parallel flexible waist mechanism |
| CN109476013A (en) * | 2016-07-08 | 2019-03-15 | 索尼公司 | Linkage, industrial robot and Touching Demo device in parallel |
| CN110732883A (en) * | 2018-07-18 | 2020-01-31 | 厦门万久科技股份有限公司 | Combined type parallel mechanism equipment |
| CN114019031A (en) * | 2021-09-13 | 2022-02-08 | 上海工程技术大学 | Main end operating device of force touch system and force touch nuclear power equipment operation and maintenance device |
| CN114918902A (en) * | 2022-05-19 | 2022-08-19 | 南京理工大学 | Three-dimensional translational and one-dimensional rotational four-degree-of-freedom parallel mechanism |
| CN116275762A (en) * | 2023-05-19 | 2023-06-23 | 常州碳科智能装备有限公司 | Welding robot based on parallel mechanism |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201907121U (en) * | 2010-12-29 | 2011-07-27 | 天津大学 | Three-dimensional translational and one-dimensional rotational parallel mechanism |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4607578A (en) * | 1983-06-02 | 1986-08-26 | Sumitomo Electric Industries Ltd. | Positioning mechanism |
| JP2000097306A (en) * | 1998-09-24 | 2000-04-04 | Olympus Optical Co Ltd | Parallel link mechanism |
| JP2000210831A (en) * | 1999-01-22 | 2000-08-02 | Seiko Seiki Co Ltd | Parallel mechanism |
| JP3806273B2 (en) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 4-DOF parallel robot |
| CN100439050C (en) * | 2003-10-28 | 2008-12-03 | 燕山大学 | Fine vernier parallel 3D travel mechanism including screw pair |
-
2006
- 2006-06-09 CN CNB2006100121711A patent/CN100393484C/en not_active Expired - Fee Related
Cited By (74)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100586666C (en) * | 2008-03-28 | 2010-02-03 | 北京工业大学 | Four-DOF parallel mechanism |
| CN102029615A (en) * | 2009-09-29 | 2011-04-27 | 鸿富锦精密工业（深圳）有限公司 | Parallel mechanism and translational branched chain thereof |
| US8429998B2 (en) | 2009-09-29 | 2013-04-30 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Parallel mechanism and moveable linkage thereof |
| CN102029615B (en) * | 2009-09-29 | 2013-06-05 | 鸿富锦精密工业（深圳）有限公司 | Parallel mechanism and translational branched chain thereof |
| CN101708611B (en) * | 2009-11-09 | 2011-07-27 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
| CN102069495A (en) * | 2009-11-23 | 2011-05-25 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN102069495B (en) * | 2009-11-23 | 2014-01-22 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN101813156A (en) * | 2010-04-20 | 2010-08-25 | 江苏工业学院 | Flexible high-precision spacial vibration damping platform |
| CN103052475A (en) * | 2010-08-02 | 2013-04-17 | 株式会社安川电机 | Parallel mechanism |
| CN102441889A (en) * | 2010-09-30 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Parallel-connection robot |
| CN102248410A (en) * | 2011-07-08 | 2011-11-23 | 常州大学 | Triple-rotation in-parallel operating platform |
| CN102514004B (en) * | 2011-12-19 | 2014-09-24 | 天津大学 | Translational high-speed parallel mechanism with four branched chains and two degrees of freedom |
| CN102514004A (en) * | 2011-12-19 | 2012-06-27 | 天津大学 | Translational high-speed parallel mechanism with four branched chains and two degrees of freedom |
| CN102554917A (en) * | 2012-01-10 | 2012-07-11 | 天津大学 | Multi-over restraint parallel mechanism with two-dimensional translation and one-dimensional rotation |
| CN102642204A (en) * | 2012-03-27 | 2012-08-22 | 西安交通大学 | Alternating-current servo direct drive type series-parallel composite robot |
| CN103707281A (en) * | 2012-09-29 | 2014-04-09 | 南昌大学 | Spatial four-degree-of-freedom parallel mechanism capable of three-dimensional translation and one-dimensional rotation |
| 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) |
| 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) |
| CN102922511A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Three-move one-rotation four-freedom degree space parallel connection mechanism |
| CZ304674B6 (en) * | 2012-11-16 | 2014-08-27 | ÄŚVUT v Praze, Fakulta strojnĂ | Redundant manipulator |
| CN103846546A (en) * | 2012-12-05 | 2014-06-11 | 通快机床两合公司 | Processing device, processing machine and method for moving amachining head |
| CN103846546B (en) * | 2012-12-05 | 2017-03-01 | 通快机床两合公司 | Processing unit (plant), processing machine and the method for making processing head kinematical |
| CN102990650B (en) * | 2012-12-27 | 2015-04-01 | 广西大学 | Parallel mechanism containing two identical closed-loop sub-chains |
| CN102990650A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two identical closed-loop sub-chains |
| CN103240729A (en) * | 2013-04-23 | 2013-08-14 | 天津大学 | Telescopic space triple-translation parallel manipulator |
| CN103753521A (en) * | 2014-01-17 | 2014-04-30 | 天津大学 | Pinion-and-rack type four-freedom-degree high-speed parallel robot |
| CN103753521B (en) * | 2014-01-17 | 2016-06-29 | 天津大学 | A kind of pinion and-rack four-degree-of-freedom high speed parallel robot |
| CN103846910A (en) * | 2014-02-28 | 2014-06-11 | 天津大学 | Four-freedom high-speed parallel connection mechanical hand |
| CN105563458B (en) * | 2014-10-10 | 2017-11-03 | 上海沃迪自动化装备股份有限公司 | A kind of parallel robot of four-bar linkage |
| CN105563458A (en) * | 2014-10-10 | 2016-05-11 | 上海沃迪自动化装备股份有限公司 | Parallel robot of plane four-bar mechanism |
| CN104589326A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Belt-driven electric cylinder three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator |
| CN104875184A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R spatial parallel robot mechanism |
| CN104875186A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R (three-transfer one-rotate) parallel robot mechanism |
| CN105127998A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot platform |
| CN105127978A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot |
| CN105157944A (en) * | 2015-09-30 | 2015-12-16 | 扬中中科维康智能科技有限公司 | Three-translation one-rotation multi-dimensional vibration platform |
| CN105127999B (en) * | 2015-10-09 | 2017-11-10 | 常州大学 | One kind three translates rotating parallel device people's grasping and release device |
| CN105127983A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation and one-rotation parallel mechanism manipulator |
| CN105127999A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation one-rotation parallel robot catcher |
| CN105234929A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation |
| CN105234927A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-freedom-degree all-symmetric parallel mechanism with three supporting chains |
| CN105522570A (en) * | 2016-02-25 | 2016-04-27 | 北京交通大学 | Rapid grabbing robot capable of performing whole circle movement |
| CN105522570B (en) * | 2016-02-25 | 2017-07-07 | 北京交通大学 | A kind of quick crawl robot with all-round motion |
| CN105966605B (en) * | 2016-05-19 | 2017-11-24 | 亳州沃野知识产权服务有限公司 | A kind of six rotorcraft based on delta parallel institutions |
| CN105966605A (en) * | 2016-05-19 | 2016-09-28 | 郑琳琳 | Delta parallel mechanism-based six-rotor aircraft |
| CN106143938B (en) * | 2016-06-28 | 2018-05-25 | 汪培杰 | A kind of thunderstorm weather electric power Drones for surveillance's bus stop |
| CN106143938A (en) * | 2016-06-28 | 2016-11-23 | 安庆市佰斯特电子科技有限公司 | A kind of thunderstorm weather electric power Drones for surveillance's bus stop |
| CN106081144B (en) * | 2016-06-28 | 2018-05-18 | 南通亿思特机器人科技有限公司 | A kind of power-line patrolling unmanned plane charging base station |
| CN106081144A (en) * | 2016-06-28 | 2016-11-09 | 安庆市佰斯特电子科技有限公司 | A kind of power-line patrolling unmanned plane charging base station |
| CN106003149A (en) * | 2016-06-28 | 2016-10-12 | 安庆市佰斯特电子科技有限公司 | Sheltering device of power detecting robot in severe weather |
| CN105952842A (en) * | 2016-06-28 | 2016-09-21 | 安庆市佰斯特电子科技有限公司 | Damping device for charging base station of power line patrol unmanned aerial vehicle |
| CN106026273B (en) * | 2016-06-28 | 2018-05-08 | 中国石油大学(华东) | A kind of power-line patrolling unmanned plane charging equipment based on delta parallel institutions |
| CN109476013B (en) * | 2016-07-08 | 2022-09-09 | 索尼公司 | Parallel link device, industrial robot, and tactile sensation demonstration device |
| US11230018B2 (en) | 2016-07-08 | 2022-01-25 | Sony Corporation | Parallel link device, industrial robot, and haptic presentation device |
| CN109476013A (en) * | 2016-07-08 | 2019-03-15 | 索尼公司 | Linkage, industrial robot and Touching Demo device in parallel |
| CN106272344A (en) * | 2016-08-31 | 2017-01-04 | 上海交通大学 | There is the Hex Delta robot of three two turns of five degree of freedom of shifting |
| CN106272347A (en) * | 2016-08-31 | 2017-01-04 | 上海交通大学 | There is the X Delta sorting machine people of three two turns of five degree of freedom of shifting |
| CN107914266A (en) * | 2016-10-06 | 2018-04-17 | 维斯公司 | Hinge-unit and manipulation device |
| CN106378457A (en) * | 2016-10-27 | 2017-02-08 | 上海建桥学院 | Extruding and stacking efficient forming device |
| CN106671062A (en) * | 2016-12-15 | 2017-05-17 | 常州大学 | Three-translation one-rotation four-degree-of-freedom parallel mechanism |
| CN106429194A (en) * | 2016-12-27 | 2017-02-22 | 南宁学院 | Rocking arm fine adjustment type antiskid conveying belt device |
| CN107009346A (en) * | 2017-04-07 | 2017-08-04 | 河南科技大学 | A kind of space two degrees of freedom one-rotation parallel mechanism |
| CN107263448A (en) * | 2017-06-29 | 2017-10-20 | 常州大学 | A kind of asymmetric three translation spaces parallel institution manipulator |
| CN108995727A (en) * | 2018-07-17 | 2018-12-14 | 东北大学 | A kind of Delta robot of pneumatic muscles driving |
| CN108995727B (en) * | 2018-07-17 | 2020-01-07 | 东北大学 | Delta robot driven by pneumatic muscles |
| CN110732883A (en) * | 2018-07-18 | 2020-01-31 | 厦门万久科技股份有限公司 | Combined type parallel mechanism equipment |
| CN109048987B (en) * | 2018-09-21 | 2021-11-09 | 南京理工大学 | Parallel flexible wrist mechanism |
| CN109048987A (en) * | 2018-09-21 | 2018-12-21 | 南京理工大学 | A kind of parallel flexible waist mechanism |
| CN114019031A (en) * | 2021-09-13 | 2022-02-08 | 上海工程技术大学 | Main end operating device of force touch system and force touch nuclear power equipment operation and maintenance device |
| CN114019031B (en) * | 2021-09-13 | 2023-10-13 | 上海工程技术大学 | Main end operating mechanism of force touch system and operation and maintenance device of force touch nuclear power equipment |
| CN114918902A (en) * | 2022-05-19 | 2022-08-19 | 南京理工大学 | Three-dimensional translational and one-dimensional rotational four-degree-of-freedom parallel mechanism |
| CN114918902B (en) * | 2022-05-19 | 2023-09-26 | 南京理工大学 | Three-dimensional-to-one four-degree-of-freedom parallel mechanism |
| CN116275762A (en) * | 2023-05-19 | 2023-06-23 | 常州碳科智能装备有限公司 | Welding robot based on parallel mechanism |
| CN116275762B (en) * | 2023-05-19 | 2023-08-11 | 常州碳科智能装备有限公司 | Welding robot based on parallel mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100393484C (en) | 2008-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1857875A (en) | Three-translation and one-rotation parallel mechanism | |
| CN109531543B (en) | Four-freedom parallel robot with double-acting platform structure | |
| CN1326671C (en) | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism | |
| CN1903519A (en) | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing | |
| CN1903520A (en) | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing | |
| CN109531556B (en) | Four-freedom-degree cylindrical coordinate parallel robot | |
| CN201979513U (en) | 2-PRR (Planning Release Record) and PPRR (Persistent Programming Research Report) three-degree-of-freedom spatial parallel robot mechanism | |
| CN203210372U (en) | Parallel robot | |
| CN102166749A (en) | 2-PRR&PPRR three-degree-of-freedom spatial parallel robot mechanism | |
| CN110026786B (en) | Large-stroke five-degree-of-freedom series-parallel machine tool with reconfigurable characteristic | |
| CN104015186A (en) | Four-degree-of-freedom parallel mechanism with three-dimensional translation and one-dimensional rotation | |
| CN104708619A (en) | Three-degree-of-freedom transfer robot with movable support | |
| CN104786211B (en) | A kind of Six-DOF industrial robot containing ball screw assembly, | |
| CN109968332B (en) | Full-symmetrical three-translation grabbing robot mechanism with synchronous belt transmission structure | |
| CN103273482B (en) | Master-slave branch chain separate type two-translational motion parallel robot | |
| CN103231362A (en) | Parallel robot | |
| CN110181484B (en) | Robot combined in series-parallel | |
| JP7140419B2 (en) | 3-axis parallel linear robot | |
| CN104690724A (en) | Three-freedom-degree carrying robot | |
| CN105500350A (en) | Three-translation high-speed sorting parallel manipulator | |
| CN113829332B (en) | Four-degree-of-freedom parallel robot mechanism with three movements and one rotation | |
| CN110000764B (en) | External rotating pair driving two-translation grabbing robot mechanism of synchronous belt transmission structure | |
| CN2637134Y (en) | Parallel linked robot connecting branch structure and hexafreedon parallel linked robot structure | |
| CN110000763B (en) | Three-flat-rotating H4 type grabbing robot mechanism with synchronous belt transmission structure | |
| CN203293189U (en) | Dual translation parallel robot with separated driving branch and driven branch |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Changjiang Runfa Machinery Co., Ltd. Assignor: Beijing University of Technology Contract fulfillment period: 2008.8.20 to 2013.8.19 contract change Contract record no.: 2008110000060 Denomination of invention: Three-translation and one-rotation parallel mechanism Granted publication date: 20080611 License type: Exclusive license Record date: 20081022 |
|
| LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2008.8.20 TO 2013.8.19; CHANGE OF CONTRACT Name of requester: YANGTZE RIVER RUN FA MACHINERY CO. Effective date: 20081022 |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080611 Termination date: 20100609 |