CN203092550U - Three-translation freedom degree robot mechanism with near support parallelogram and far support paralleling rod - Google Patents

Three-translation freedom degree robot mechanism with near support parallelogram and far support paralleling rod Download PDF

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CN203092550U
CN203092550U CN 201320113723 CN201320113723U CN203092550U CN 203092550 U CN203092550 U CN 203092550U CN 201320113723 CN201320113723 CN 201320113723 CN 201320113723 U CN201320113723 U CN 201320113723U CN 203092550 U CN203092550 U CN 203092550U
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frame
hooke
lining
joint
ball pivot
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张良安
王鹏
解安东
单家正
万俊
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Anhui University of Technology AHUT
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Abstract

The utility model discloses a three-translation freedom degree robot mechanism with a near support parallelogram and a far support paralleling rod and belongs to the technical field of robots. The robot mechanism comprises a machine frame, a movable platform and three branched chains in the same structural mode, the three branched chains are jointly connected with the machine frame and the movable platform, each branched chain is composed of a driving arm, an auxiliary driving arm, a double-lining frame joint, a first Hooke spherical hinge, the far support paralleling rod and a second Hooke spherical hinge, the three branched chains are evenly distributed, and the three branched chains are respectively provided with a driving device fixed on the machine frame, and the driving devices are connected with the driving arm. A branched chain structure with the near support parallelogram and the far support paralleling rod is adopted by the three-translation freedom degree robot mechanism to limit rotation freedom degree of the movable platform, a structural mode of the near support parallelogram and the far support paralleling rod guarantees that the whole mechanism has big stiffness, attitude errors caused by elasticity of a steel wire are effectively avoided, and the three-translation freedom degree robot mechanism is simple in manufacturing, convenient to install and debug and low in mechanism manufacturing cost.

Description

一种含有近架平行四边形-远架并列杆的三平动自由度机器人机构A three-translational degree-of-freedom robot mechanism with near-frame parallelogram-far frame juxtaposed rods

技术领域 technical field

本实用新型属于机器人技术领域,具体涉及一种含有近架平行四边形-远架并列杆的三平动自由度机器人机构。 The utility model belongs to the technical field of robots, and in particular relates to a robot mechanism with three translational degrees of freedom comprising a parallelogram of a near frame and parallelograms of a far frame.

背景技术 Background technique

美国专利US4976572公开了一种空间对称三平动并联机构,包括三条主动支链,每条支链包括主动臂和从动臂两部分。此类机构支链的形式分为两种,一种为主动臂和从动臂均为单杆形式,从动臂的两端通过虎克铰分别与主动臂和动平台连接;一种为主动臂为单杆,而从动臂为双杆,双杆从动臂构成平行四边形,每根杆两端通过球铰链分别与主动臂和动平台连接,其中主动臂一端相对于静平台仅具有一个移动或转动自由度,另一端通过球铰与从动臂的一端连接,从而限制动平台相对于固定机架的三个回转自由度。此类机构的铰链不存在标准件,制造周期长,安装复杂。中国专利200510015750公开了一种含有一种含钢丝平行四边形支链结构的空间三平动并联机构。该机构由固定架、动平台以及分别轴对称均布设置在所述的固定架与动平台之间的三条结构相同的支链构成;所述的支链,由固定设置在所述固定架上的驱动装置、一端连接所述驱动装置的输出端另一端与连接块固接的近架杆、以及一端与所述的连接块球铰接另一端与所述的动平台球铰接的远架杆构成,所述远架杆的两侧对称设置有与之平行的两根钢丝,所述钢丝的两端分别与所述的连接块和动平台球铰接。此类机构的缺点在于由于钢丝是柔性单元当松紧程度不同时其长度亦变化,从而造成动平台姿态发生变化,使得动平台姿态精度难以保证。 US Patent No. 4,976,572 discloses a spatially symmetrical three-translational parallel mechanism, which includes three active branch chains, and each branch chain includes two parts: a driving arm and a driven arm. There are two types of branch chains of this kind of mechanism. One is that the main arm and the driven arm are both in the form of a single rod, and the two ends of the driven arm are respectively connected with the main arm and the moving platform through the Hooke hinge; The arm is a single rod, while the slave arm is a double rod, and the double rod slave arm forms a parallelogram. The two ends of each rod are respectively connected with the active arm and the dynamic platform through ball joints, and one end of the active arm has only one movement relative to the static platform. Or rotation degree of freedom, the other end is connected with one end of the follower arm through a ball joint, thereby limiting the three rotation degrees of freedom of the movable platform relative to the fixed frame. There are no standard parts for the hinge of this type of mechanism, the manufacturing cycle is long, and the installation is complicated. Chinese patent 200510015750 discloses a space three-translational parallel mechanism with a parallelogram branch chain structure containing steel wires. The mechanism is composed of a fixed frame, a moving platform, and three branch chains with the same structure that are arranged axisymmetrically and evenly between the fixed frame and the moving platform; the branch chains are fixed on the fixed frame The drive device, one end connected to the output end of the drive device, the other end of which is fixedly connected to the connecting block, and the far frame rod whose one end is hinged to the connecting block ball and the other end is hinged to the moving platform ball , Two steel wires parallel to the two steel wires are arranged symmetrically on both sides of the remote support rod, and the two ends of the steel wires are respectively hinged to the connecting block and the moving platform ball. The disadvantage of this type of mechanism is that since the steel wire is a flexible unit, its length also changes when the degree of tightness is different, resulting in changes in the attitude of the moving platform, making it difficult to guarantee the attitude accuracy of the moving platform.

发明内容 Contents of the invention

本实用新型的目的正是为了克服上述现有技术中的不足,提供一种制造周期短,安装方便,动平台姿态精度高,整体刚度大的,含有近架平行四边形-远架并列杆的三平动自由度机器人机构。 The purpose of this utility model is to overcome the deficiencies in the above-mentioned prior art, to provide a three-level platform with a short manufacturing period, convenient installation, high posture accuracy of the dynamic platform, and large overall rigidity, which contains near-frame parallelograms and far-frame juxtaposed rods. Freedom robot mechanism.

为解决上述技术问题,本发明的基本构思是:由结构完全相同的三条均布的支链保证机器人机构位姿的精确性,由支链中的近架平行四边形及远架并列杆的结构形式保证整体具有较大的刚度。 In order to solve the above-mentioned technical problems, the basic concept of the present invention is: three uniformly distributed branch chains with identical structures ensure the accuracy of the pose of the robot mechanism, and the structural form of the near frame parallelogram and the far frame side-by-side rods in the branch chains Ensure that the whole has greater rigidity.

本实用新型所提供一种含有近架平行四边形-远架并列杆的三平动自由度机器人机构包括机架、动平台、三条结构形式相同的支链,所述的三条支链共同连接所述的机架和动平台;所述的三条结构形式相同的支链之一由主动臂、副主动臂、双衬架关节、第一虎克球铰、远架并列杆、第二虎克球铰组成;所述的双衬架关节包括第一衬架、第二衬架、回转中心轴,所述的第一衬架、第二衬架分别和回转中心轴铰接;所述的双衬架关节连接所述的主动臂、副主动臂和第一虎克球铰;所述的主动臂一端通过平面回转副和双衬架关节连接,另一端与固连于所述机架的驱动装置的输出轴键连接;所述的副主动臂一端通过球铰和双衬架关节连接,另一端通过球铰和机架连接;所述的主动臂、副主动臂、双衬架关节通过运动副的连接,形成近架平行四边形结构;所述的虎克球铰由中心十字轴、第一平面回转副、第二平面回转副、第一球铰链、第二球铰链组成;所述的远架并列杆由两根长度相等的从动臂组成;所述的远架并列杆一端和所述的第一虎克球铰固接,另一端和所述的第二虎克球铰固接;所述的第一虎克球铰和双衬架关节通过平面转动副连接;所述的第二虎克球铰和所述的动平台通过平面转动副连接;所述的三条支链均匀布置,且均有固定于所述机架上的驱动装置与主动臂连接。 The utility model provides a three-translational degree of freedom robot mechanism containing parallelogram-far frame parallelograms, including a frame, a moving platform, and three branch chains with the same structure, and the three branch chains are jointly connected to the Frame and moving platform; one of the three branch chains with the same structure is composed of active arm, auxiliary active arm, double bush joint, first Hooke spherical hinge, far frame parallel rod, and second Hooke spherical hinge ; The double lining joint includes a first lining, a second lining, and a central axis of rotation, and the first lining and the second lining are respectively hinged with the central axis of rotation; the joint of the double lining is connected The active arm, the sub-active arm and the first Hooke spherical joint; one end of the active arm is connected through a planar slewing pair and a double bush joint, and the other end is connected to the output shaft of the driving device fixedly connected to the frame key connection; one end of the auxiliary active arm is connected to the joint of the double lining frame through a ball joint, and the other end is connected to the frame through a ball joint; Form a near-frame parallelogram structure; the Hooke ball joint is made up of a central cross shaft, a first plane slewing pair, a second plane slewing pair, a first ball hinge, and a second ball hinge; Two follower arms of equal length are formed; one end of the parallel bar of the far frame is fixedly connected to the first Hooke ball hinge, and the other end is fixedly connected to the second Hooke ball hinge; A Hooke spherical joint and double lining frame joints are connected by a plane revolving pair; the second Hooke spherical joint and the moving platform are connected by a plane revolving pair; the three branch chains are evenly arranged, and all have fixed The driving device on the frame is connected with the active arm.

所述驱动装置采用伺服电机-减速器结构。 The driving device adopts a servo motor-reducer structure.

本实用新型由近架平行四边形及远架并列杆构成的空间均布三支链的共同约束作用,限制了动平台的三个回转自由度,使动平台相对机架仅具有三个平动自由度,保证了机器人机构姿态稳定。三组驱动装置提供的运动驱动,使得该三平动自由度机器人机构具有确定的运动,保证了该机构位置精确。该机器人机构单支链刚度高,进一步地,三支链并联结构保证了机构整体具有较大的刚度。 The utility model is composed of the parallelogram of the near frame and the parallel rods of the far frame. The common constraint effect of the three branch chains uniformly distributed in space restricts the three degrees of freedom of the moving platform, so that the moving platform has only three translational freedoms relative to the frame. The degree ensures the stable attitude of the robot mechanism. The motion drive provided by the three sets of driving devices makes the robot mechanism with three translational degrees of freedom have definite motion and ensures the precise position of the mechanism. The rigidity of the single branch chain of the robot mechanism is high, and further, the parallel structure of the three branch chains ensures that the whole mechanism has greater rigidity.

本实用新型具有以下特点: The utility model has the following characteristics:

1、采用近架平行四边形及远架并列杆的结构形式作为限制转动自由度的约束; 1. The structural form of the near-frame parallelogram and the far-frame parallel rods is used as the constraint to limit the degree of freedom of rotation;

2、虎克球铰的结构特点,使得中心漂移微小,角度活动范围大,配合双衬架关节的结构,保证机器人机构具有较大的工作空间; 2. The structural characteristics of the Hooke spherical joint make the center drift small and the angular range of motion is large. With the structure of the double-liner joint, the robot mechanism has a large working space;

3、该机器人机构位姿精确,刚度大; 3. The robot mechanism has precise pose and high rigidity;

4、虎克球铰的结构形式及与远架并列杆的连接方式,可保证该机器人机构两从动臂受力均匀,减小了运动副的磨损,从而可提高机构的寿命; 4. The structure of the Hooke ball joint and the connection method with the parallel rods of the far frame can ensure that the two driven arms of the robot mechanism are evenly stressed, reducing the wear of the kinematic pair, thereby improving the life of the mechanism;

5、采用通用标准件球铰构成的虎克球铰,可完全实现传统虎克铰的功能,另外,机构多处采用标准件球铰,便于缩短制造周期及使用失效后的零部件快速更换。 5. The Hooke ball hinge composed of general standard parts can fully realize the functions of the traditional Hooke hinge. In addition, standard ball hinges are used in many parts of the mechanism, which is convenient for shortening the manufacturing cycle and quick replacement of parts after use.

本实用新型采用近架平行四边形及远架并列杆的支链结构限制动平台的转动自由度,且近架平行四边形及远架并列杆的结构形式保证整体具有较大的刚度。该机构的有益效果是:有效避免了由于钢丝弹性引起的姿态误差,并且制作简单、安装调试方便,机构制造成本较低。 The utility model adopts the branch chain structure of the near frame parallelogram and the far frame parallel rods to limit the rotation freedom of the stop platform, and the structure form of the near frame parallelogram and the far frame parallel rods ensures that the whole has greater rigidity. The beneficial effect of the mechanism is that the attitude error caused by the elasticity of the steel wire is effectively avoided, the manufacture is simple, the installation and debugging are convenient, and the manufacturing cost of the mechanism is relatively low.

附图说明: Description of drawings:

图1 是本实用新型的结构示意图; Fig. 1 is the structural representation of the utility model;

图2 是本实用新型的相同结构形式的支链之一结构示意图; Fig. 2 is a structural representation of one of branched chains of the same structural form of the present utility model;

图3 是图2的Ⅰ部放大图; Figure 3 is an enlarged view of part I of Figure 2;

图4 是图2的Ⅱ部放大图; Figure 4 is an enlarged view of Part II of Figure 2;

图5 是双衬架关节的结构示意图; Fig. 5 is a structural schematic diagram of a double lining joint;

图6 是虎克球铰的结构示意图; Figure 6 is a schematic diagram of the structure of the Hooke spherical hinge;

图7 是虎克球铰与动平台的连接示意图。 Figure 7 is a schematic diagram of the connection between the Hooke spherical hinge and the moving platform.

图中:1:机架,2:主动臂, 3:副主动臂, 4:双衬架关节, 5:从动臂,6:动平台,7:驱动装置,8:第一虎克球铰,9:第二虎克球铰,4-1:第一衬架,4-2:第二衬架,4-3:主动臂回转中心轴,4-4:从动臂回转中心轴,8-1:中心十字轴,8-2:第一平面回转副,8-3:第二平面回转副,8-4:第一球铰链,8-5:第二球铰链。 In the figure: 1: Rack, 2: Active arm, 3: Secondary active arm, 4: Double bushing joint, 5: Slave arm, 6: Moving platform, 7: Driving device, 8: The first Hooke ball joint , 9: The second Hooker ball joint, 4-1: The first bushing, 4-2: The second bushing, 4-3: The center shaft of the main arm rotation, 4-4: The center shaft of the slave arm rotation, 8 -1: central cross axis, 8-2: first plane rotary pair, 8-3: second plane rotary pair, 8-4: first ball hinge, 8-5: second ball hinge.

具体实施方式: Detailed ways:

下面结合附图对本实用新型作进一步描述: Below in conjunction with accompanying drawing, the utility model will be further described:

如图1-图7所示,一种含有近架平行四边形-远架并列杆的三平动自由度机器人机构,包含机架1,动平台6,均匀布置在机架1与动平台6之间的三条结构形式相同的支链连接机架1与动平台6,所述的支链包含近架平行四边形及远架并列杆组件结构,可以限制动平台6的三个转动自由度。 As shown in Figures 1 to 7, a robot mechanism with three translational degrees of freedom containing parallelograms near the frame and parallelograms on the far frame includes a frame 1 and a moving platform 6, which are evenly arranged between the frame 1 and the moving platform 6 Three branch chains with the same structure form connect the frame 1 and the moving platform 6, and the branch chains include a near-frame parallelogram and a far-frame parallel rod assembly structure, which can limit the three rotational degrees of freedom of the moving platform 6.

如图1、图2所示,所述的三条结构形式相同的支链之一由主动臂2、副主动臂3、双衬架关节4、第一虎克球铰8、远架并列杆5、第二虎克球铰9组成。  As shown in Figure 1 and Figure 2, one of the three branch chains with the same structure is composed of the active arm 2, the auxiliary active arm 3, the double bush joint 4, the first Hooke ball joint 8, and the far frame parallel rod 5. , The second Hooke spherical hinge 9 is formed. the

如图5所示,所述的双衬架关节4,由第一衬架4-1、第二衬架4-2及主动臂回转中心轴4-3、从动臂回转中心轴4-4组成,所述的第一衬架4-1、第二衬架4-2分别和主动臂回转中心轴4-3、从动臂回转中心轴4-4铰接。如图3所示,所述的主动臂2一端通过平面回转副与所述的双列衬架4的主动臂回转中心轴4-3连接,其回转中心是点B,另一端与所述机架1上的驱动装置7的输出轴键连接,其回转中心是点A;所述副主动臂3一端通过球铰链与所述的双衬架关节4的副主动臂回转中心轴4-4连接,其回转中心是点C,另一端通过球铰链与所述机架1连接,其回转中心是点D;结构及设计上保证A、B的距离与C、D的距离相等,A、D的距离与B、C的距离相等,这样,所述的主动臂2、副主动臂3、双衬架关节4通过运动副的连接,形成形式上的平行四边形结构,可使得机构在运动过程中保持双衬架关节4的姿态不变。 As shown in Fig. 5, the described double lining frame joint 4 is composed of the first lining frame 4-1, the second lining frame 4-2, the central axis of rotation of the active arm 4-3, and the central axis of rotation of the driven arm 4-4. Composition, the first bushing 4-1 and the second bushing 4-2 are respectively hinged to the central axis of rotation of the active arm 4-3 and the central axis of rotation of the driven arm 4-4. As shown in Figure 3, one end of the active arm 2 is connected to the active arm rotation central axis 4-3 of the double-row lining frame 4 through a plane rotary pair, the center of rotation of which is point B, and the other end is connected to the machine The output shaft of the driving device 7 on the frame 1 is keyed, and its center of rotation is point A; one end of the auxiliary main arm 3 is connected with the rotation center axis 4-4 of the auxiliary main arm of the double bush joint 4 through a ball joint , its center of rotation is point C, and the other end is connected to the frame 1 through a ball joint, and its center of rotation is point D; the structure and design ensure that the distance between A and B is equal to the distance between C and D, and the distance between A and D The distance is equal to the distance of B and C. In this way, the active arm 2, auxiliary active arm 3, and double lining joint 4 are connected by kinematic pairs to form a parallelogram structure in form, which can make the mechanism maintain The posture of the double bushing joint 4 remains unchanged.

第一虎克球铰8与第二虎克球铰9结构完全相同,对于本发明,仅是由于其在支链中所处的位置的不同而命名不同。如图6所示,所述的第一虎克球铰8由中心十字轴8-1、第一平面回转副8-2、第二平面回转副8-3、第一球铰链8-4、第二球铰链8-5组成。所述的远架并列杆5由两根长度相等的从动臂5组成。所述的第一虎克球铰8、第二虎克球铰9、远架并列杆5在支链中的连接方式为:如图4、图7所示,所述的远架并列杆5一端和所述的第一虎克球铰8固接,另一端和所述的第二虎克球铰9固接;所述的第一虎克球铰8和双衬架关节4通过平面转动副连接;所述的第二虎克球铰9和所述的动平台6通过平面转动副连接。通过这种连接方式,虎克球铰8、虎克球铰9、远架并列杆5组合形成平行四边形结构,且使得虎克球铰仅能够绕十字轴轴线的两个方向转动。 The first Hooke spherical hinge 8 and the second Hooke spherical hinge 9 have the same structure, and for the present invention, they are named differently only because of their different positions in the branch chain. As shown in Figure 6, the first Hooke ball hinge 8 is composed of a central cross shaft 8-1, a first plane rotary pair 8-2, a second plane rotary pair 8-3, a first ball hinge 8-4, The second ball hinge 8-5 is formed. The parallel rod 5 of the far frame is composed of two follower arms 5 with equal lengths. The connection mode of the first Hooke ball hinge 8, the second Hooke ball hinge 9, and the far frame parallel rod 5 in the branch chain is as follows: as shown in Figure 4 and Figure 7, the far frame parallel rod 5 One end is affixed to the first Hooke ball hinge 8, and the other end is affixed to the second Hooke ball hinge 9; the first Hooke ball hinge 8 and the double bushing joint 4 rotate through the plane Auxiliary connection; the second Hooke spherical joint 9 and the moving platform 6 are connected through a plane revolving pair. Through this connection method, the Hooke ball hinge 8 , the Hooke ball hinge 9 , and the remote frame parallel rod 5 are combined to form a parallelogram structure, and the Hooke ball hinge can only rotate in two directions around the axis of the cross axis.

所述的三条支链均匀布置,且均由驱动装置7与主动臂2连接。 The three branch chains are evenly arranged, and are all connected to the active arm 2 by the driving device 7 .

所述的驱动装置7与机架1固定连接,可使其输出端为与其连接的动平台6提供一个移动或转动自由度;驱动装置7采用了伺服电机-减速器的结构形式,为与其连接的主动臂2提供一个转动自由度,为了达到同样目的,还可以采用扭矩电机驱动,为与其连接的主动臂2提供一个转动自由度。在某种应用状况下,也可以采用直线电机的驱动方式,为与其连接的主动臂2提供一个移动自由度。当然,在具体实施时,采用其它任意一种可实现相同运动功能的结构形式作为驱动方式都是可以的。 The drive device 7 is fixedly connected to the frame 1, so that its output can provide a degree of freedom of movement or rotation for the moving platform 6 connected to it; The active arm 2 provides a rotational degree of freedom. To achieve the same purpose, a torque motor can also be used to provide a rotational degree of freedom for the active arm 2 connected thereto. In certain application conditions, a linear motor driving method may also be used to provide a degree of freedom of movement for the active arm 2 connected thereto. Of course, in actual implementation, any other structural form that can realize the same motion function can be used as the driving method.

Claims (2)

1. three-translational freedom robot mechanism that contains nearly frame parallelogram-frame parallel rod far away, it is characterized in that this robot mechanism comprises frame, moving platform, three side chains that version is identical, common described frame and the moving platform of connecting of described three side chains; One of side chain that described three versions are identical is made up of master arm, secondary master arm, two lining framves joint, the first Hooke ball pivot, frame parallel rod far away, the second Hooke ball pivot; Described pair of lining framves joint comprises the first lining frame, the second lining frame, rotary middle spindle, and it is hinged with rotary middle spindle respectively that the described first lining frame, second serves as a contrast frame; Described two lining framves joint connects described master arm, secondary master arm and the first Hooke ball pivot; Described master arm one end is connected by the secondary and two lining frame of plane rotation joint, and the other end is connected with the output axle key of the drive unit that is fixed on described frame; Described secondary master arm one end is connected with two lining framves joint by ball pivot, and the other end is connected with frame by ball pivot; Described master arm, secondary master arm, two lining framves joint form nearly frame parallelogram sturcutre by the connection of kinematic pair; Described Hooke ball pivot is made up of central cross axle, the first plane rotation pair, the second plane rotation pair, first spherical hinge, second spherical hinge; Described frame parallel rod far away is made up of the slave arm of two equal in length; Described frame parallel rod one end far away and the described first Hooke ball pivot are affixed, and the other end and the described second Hooke ball pivot are affixed; The described first Hooke ball pivot is connected by the plane revolute pair with two lining framves joint; The described second Hooke ball pivot is connected by the plane revolute pair with described moving platform; Described three side chains are evenly arranged, and are all had the drive unit that is fixed on the described frame to be connected with master arm.
2. a kind of three-translational freedom robot mechanism that contains nearly frame parallelogram-frame parallel rod far away according to claim 1, it is characterized in that: described drive unit adopts servomotor-reducer structure.
CN 201320113723 2013-03-13 2013-03-13 Three-translation freedom degree robot mechanism with near support parallelogram and far support paralleling rod Expired - Lifetime CN203092550U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103170965A (en) * 2013-03-13 2013-06-26 安徽工业大学 Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod
CN107486841A (en) * 2017-09-15 2017-12-19 大连理工大学 A kind of SCARA motion parallel connection mechanisms with rectangular workspace
CN110559081A (en) * 2019-09-10 2019-12-13 清华大学 In vivo additive repair system and in vivo repair device
CN113843778A (en) * 2021-10-20 2021-12-28 成都工业学院 A parallel robot manipulator and its control method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103170965A (en) * 2013-03-13 2013-06-26 安徽工业大学 Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod
CN103170965B (en) * 2013-03-13 2015-06-03 安徽华创智能装备有限公司 Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod
CN107486841A (en) * 2017-09-15 2017-12-19 大连理工大学 A kind of SCARA motion parallel connection mechanisms with rectangular workspace
CN110559081A (en) * 2019-09-10 2019-12-13 清华大学 In vivo additive repair system and in vivo repair device
CN113843778A (en) * 2021-10-20 2021-12-28 成都工业学院 A parallel robot manipulator and its control method

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