CN204819514U - Hexagonal pyramid formula six -degree -of -freedom parallel mechanism - Google Patents

Hexagonal pyramid formula six -degree -of -freedom parallel mechanism Download PDF

Info

Publication number
CN204819514U
CN204819514U CN201520537859.6U CN201520537859U CN204819514U CN 204819514 U CN204819514 U CN 204819514U CN 201520537859 U CN201520537859 U CN 201520537859U CN 204819514 U CN204819514 U CN 204819514U
Authority
CN
China
Prior art keywords
degree
axle
hinge
freedom
base
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.)
Active
Application number
CN201520537859.6U
Other languages
Chinese (zh)
Inventor
刘玮
张如剑
张亚萍
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
JIANGSU JIANQIAO PAINT ENGINEERING CO LTD
Yangcheng Institute of Technology
Yancheng Institute of Technology
Original Assignee
JIANGSU JIANQIAO PAINT ENGINEERING CO LTD
Yangcheng Institute of Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by JIANGSU JIANQIAO PAINT ENGINEERING CO LTD, Yangcheng Institute of Technology filed Critical JIANGSU JIANQIAO PAINT ENGINEERING CO LTD
Priority to CN201520537859.6U priority Critical patent/CN204819514U/en
Application granted granted Critical
Publication of CN204819514U publication Critical patent/CN204819514U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model relates to a motion simulation equips, especially a hexagonal pyramid formula six -degree -of -freedom parallel mechanism. Connect in parallel with six group's side chains by load platform (1), mechanism's base (8) and constitute. Every group side chain cuts with scissors (2), connecting rod (3), three degree of freedom hinge (4) and linear electric motor (7) constitution by the hooke. It is associative with load platform (1) that hooke hinge (2) is passed through to the one end of connecting rod (3), and another is associative with wedge slider (16) of linear electric motor (7) through three degree of freedom hinge (4). Linear electric motor (7) drive load platform (1) linkage through wedge slider (16) drive connecting rods (3). The utility model has the advantages of at a high speed, high accuracy, response speed are fast, load platform (1) the biggest corner theta can reach 51, realizes car 6 -degree of freedom vibration simulation under the cross -country road conditions.

Description

A kind of hexagonal pyramid formula six-degree-of-freedom parallel connection mechanism
Technical field
The utility model relates to a kind of motion simulation equipment, and particularly a kind of hexagonal pyramid formula six-degree-of-freedom parallel connection mechanism be obliquely installed based on linear electric motors driving, guide rail, is applicable to the vibration simulation on six-freedom degree when automobile travels under cross-country road conditions.
Background technology
At present, known six-degree-of-freedom parallel connection mechanism is made up of load platform, connecting rod, base, hinge and drive system.Load platform and base are connected by hinge by 6 connecting rods, and when drive system changes connecting rod position or length, load platform can complete the space six-freedom motion of expection.Motion simulator one of is applied the most widely as six-degree-of-freedom parallel connection mechanism, becomes the focus of research in recent years, and the parallel institution in different structure, different driving source has different performance characteristics.When simulating Vibration Condition on six-freedom degree of automobile under cross-country road conditions, require that load platform can have good rotating property (usual maximum rotation angle θ >30 °), but existing six-degree-of-freedom parallel connection mechanism, as Stewart platform, usually drive source is attached on movable connecting rod, movable connecting rod is fixed on same level, and the ball pivot adopting angle range to be less than 30 ° connects, cause the maximum rotation angle θ <10 ° of load platform and horizontal plane, the simulation to automobile six-degree of freedom vibration under cross-country road conditions can not be met.
Current existing six-degree-of-freedom parallel connection mechanism adopts machine liquid drive system usually, and mechanism structure complexity, the sluggishness of flexible member and the harmomegathus of rod member all can affect the performance of mechanism.Require that mechanism should have the fast feature of high speed, high accuracy and frequency response as automobile six-degree of freedom vibration simulator, therefore electrohydraulic servo system starts to be applied to the simulation of automobile six-degree of freedom vibration.Electrichydraulic control have signal transmission accurately, quick, advantage reliably, be easy to the comprehensive adjustment and the Based Intelligent Control that realize many regulating parameter, but fundamentally solve fluid power system complex structure, velocity accuracy is low, frequency response is slow shortcoming yet.
Summary of the invention
Technical barrier to be solved in the utility model is, overcomes above-mentioned the deficiencies in the prior art, provides a kind of hexagonal pyramid formula six-degree-of-freedom parallel connection mechanism.Employing linear electric motors drive, and solve the problems such as the sluggishness of fluid power system complex structure, easily generation leakage of oil pressure release fault, flexible member, movement velocity and precision are low.This mechanism has good rotating property, can meet automobile under cross-country road conditions the large corner needed for six-degree of freedom vibration simulation and at a high speed, high-precision requirement.
The utility model solves the technical scheme that its technical problem adopts, be made up of load platform (1), mechanism base (8) and six groups of side chains, undertaken in parallel by six groups of side chains between load platform (1) with mechanism base (8), it is characterized in that: six groups of side chain radials are arranged, often organize that to be followed successively by α=30 ° and β=90 between side chain ° uniform, make load platform (1), arrange in hexagonal pyramid shape between mechanism base (8) and six groups of side chains; Described side chain of often organizing is made up of Hooke's hinge (2), connecting rod (3), Three-degree of freedom hinge (4) and linear electric motors (7), and linear electric motors (7) tilting is fixed on mechanism base (8); Linear electric motors (7) are provided with electric mover axle (13) and can go up the wedge block (16) of oscillating rectilinear motion at electric mover axle (13); The upper end of connecting rod (3) is connected with load platform (1) by Hooke's hinge (2); Lower one end of connecting rod (3) is connected by Three-degree of freedom hinge (4) and the wedge block (16) on electric mover axle (13).
Described linear electric motors (7), comprise motor center axle (12), magnetic steel of motor (19), electric mover (20), electric mover axle (13), motor housing (18) and electric motor end cap (17), electric mover axle (13) and motor center axle (12) be arranged in parallel; Magnetic steel of motor (19) is located on motor center axle (12), electric mover (20) is enclosed within the outside of magnetic steel of motor (19), electric mover (20) is connected with the wedge block (16) be located on electric mover axle (13) by contiguous block (14), electric mover (20), under the electromagnetic action of magnetic steel of motor (19), drives wedge block (16) to do reciprocating linear motion along electric mover axle (13).
δ=45, inclination angle ° between the electric mover axle (13) of linear electric motors (7) and mechanism base (8) are arranged, and also become 30 ° and 90 ° of settings successively between the electric mover axle (13) often organizing side chain.
Described Hooke's hinge (2) comprises Hooke's hinge end cap (24) and the cross axle (26) of a pair fork-shaped, and four ends of cross axle (26) are provided with Hooke's hinge bearing (25), is connected between two Hooke's hinge end caps (24) by cross axle (26).
Described Three-degree of freedom hinge (4) comprises the Three-degree of freedom hinge end cap (23) of a pair fork-shaped, cross axle (26), Pivoting bearing (27), revolute pair top cover (28) and revolute pair bearing (29), four ends of cross axle (26) are provided with Pivoting bearing (27), are connected between the Three-degree of freedom hinge end cap (23) of two fork-shapeds by cross axle (26); One of them Three-degree of freedom hinge end cap (23) is fixedly connected with wedge block (16), and another Three-degree of freedom hinge end cap (23) is connected with connecting rod (3) with revolute pair bearing (29) by the revolute pair top cover (28) be connected; Connecting rod (3) both can rotate in revolute pair bearing (29), can swing again with cross axle (26) all around.
The driving of linear electric motors (7) adopts the double-closed-loop control of chip microcontroller displacement and electric current.
Linear electric motors (7) are fixed on mechanism base (8) by linear electric motors base (6), angle γ=45 ° between linear electric motors base (6) and mechanism base (8).
The utility model and prior art compare, and the beneficial effect possessed is:
The two ends of (1) six group of side chain all adopt that Hooke's hinge and Three-degree of freedom hinge connect, transmission, the simultaneously linear electric motors arrangement that adopts again guide rail to tilt, whole mechanism is made to have extremely good rotating property, the hard-over θ of load platform can reach 51 °, the six-freedom motion simulation of (corner > 30 °) automobile under can meeting cross-country road conditions;
(2) adopt the type of drive of linear electric motors, drive relative to conventional hydraulic, there is the advantages such as high speed, high accuracy, fast response time, be more suitable as the drive system of automobile vibration simulation;
(3) adopt hexagonal pyramid shape, spoke type parallel-connection structure, have good rigidity, structure is simple; The advantages such as accumulated error is little.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the positional structure schematic diagram of six side chains;
Fig. 3 is organization soleplate in Fig. 2 in A-A section 8 and the assembling schematic diagram of motor base 6;
Fig. 4 is the structural representation of single side chain;
Fig. 5 is the structural representation of linear electric motors 7;
Fig. 6 is the B-B profile of Fig. 5;
Fig. 7 is the C direction view in Fig. 5;
Fig. 8 is the D direction view in Fig. 5;
Fig. 9 is in Fig. 4 partial enlarged drawing, be also both the structural representation of Hooke's hinge 2;
Figure 10 is the E-E profile of Fig. 9;
Figure 11 is the F-F profile of Fig. 9;
Figure 12 is in Fig. 4 partial enlarged drawing, be also both the structural representation of Three-degree of freedom hinge 4;
Figure 13 is the G-G profile in Figure 12.
In figure: 1, load platform; 2, Hooke's hinge; 3, connecting rod; 4, Three-degree of freedom hinge; 5, wedge block; 6, linear electric motors base; 7, linear electric motors; 8, mechanism base; 9, alignment pin; 10, bolt; 11, locking nut; 12, motor center axle; 13, electric mover axle; 14, contiguous block; 15, linear bearing; 16, wedge block; 17, electric motor end cap; 18, motor housing; 19, magnetic steel of motor; 20, electric mover; 21, sunk screw; 22, bolt; 23, Three-degree of freedom hinge end cap; 24, Hooke's hinge end cap; 25, Hooke's hinge bearing; 26, cross axle; 27, Three-degree of freedom hinge bearing; 28, revolute pair top cover; 29, revolute pair bearing.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
The utility model, primarily of load platform (1), mechanism base (8) and six groups of side chain compositions, is undertaken in parallel by six groups of side chains between load platform (1) with mechanism base (8).Six groups of side chain radials are arranged, and often organize that to be followed successively by α=30 ° and β=90 between side chain ° uniform, make load platform (1), arrange in hexagonal pyramid shape between mechanism base (8) and six groups of side chains.
Described side chain of often organizing is made up of Hooke's hinge (2), connecting rod (3), Three-degree of freedom hinge (4) and linear electric motors (7), and linear electric motors (7) tilting is fixed on mechanism base (8); Linear electric motors (7) are provided with electric mover axle (13) and can go up the wedge block (16) of oscillating rectilinear motion at electric mover axle (13); The upper end of connecting rod (3) is connected with load platform (1) by Hooke's hinge (2); Lower one end of connecting rod (3) is connected by Three-degree of freedom hinge (4) and the wedge block (16) on electric mover axle (13).
Described linear electric motors (7), comprise motor center axle (12), magnetic steel of motor (19), electric mover (20), electric mover axle (13), motor housing (18) and electric motor end cap (17), electric mover axle (13) and motor center axle (12) be arranged in parallel; Magnetic steel of motor (19) is located on motor center axle (12), electric mover (20) is enclosed within the outside of magnetic steel of motor (19), electric mover (20) is connected with the wedge block (16) be located on electric mover axle (13) by contiguous block (14), wedge block (16) is provided with linear bearing (15), electric mover (20), under the electromagnetic action of magnetic steel of motor (19), drives wedge block (16) to do reciprocating linear motion along electric mover axle (13).δ=45, inclination angle ° between the electric mover axle (13) of linear electric motors (7) and mechanism base (8) are arranged, and also become 30 ° and 90 ° of settings successively between the electric mover axle (13) often organizing side chain.Linear electric motors (7) are fixed on mechanism base (8) by linear electric motors base (6), angle γ=45 ° between linear electric motors base (6) and mechanism base (8).Wherein electric motor end cap (17) is connected with motor housing (18) by M3 sunk screw (21).Wedge block (5) is connected with electric mover (20) by contiguous block (14) and M3 bolt (22), the reciprocating linear type motion that wedge block (5) is realized on electric mover axle (13) by linear bearing (15).
Described Hooke's hinge (2) comprises Hooke's hinge end cap (24) and the cross axle (26) of a pair fork-shaped, and four ends of cross axle (26) are provided with Hooke's hinge bearing (25), is connected between two Hooke's hinge end caps (24) by cross axle (26).
Described Three-degree of freedom hinge (4) is made up of the Three-degree of freedom hinge end cap (23) of a pair fork-shaped, cross axle (26), Pivoting bearing (27), revolute pair top cover (28) and revolute pair bearing (29), four ends of cross axle (26) are provided with Pivoting bearing (27), are connected between the Three-degree of freedom hinge end cap (23) of two fork-shapeds by cross axle (26); One of them Three-degree of freedom hinge end cap (23) is connected with wedge block (16) by M3 bolt (22), another Three-degree of freedom hinge end cap (23) is connected with revolute pair top cover (28) by M3 bolt (22), and revolute pair top cover (28) is connected with connecting rod (3) interference fit by revolute pair bearing (29) again.Connecting rod (3) both can rotate in revolute pair bearing (29), can swing again with cross axle (26) all around.
The utility model has 6 side chains, and on every root side chain, one of connecting rod (3) is connected with Hooke's hinge (2) by M3 bolt (22), and the other end of connecting rod (3) is by revolute pair bearing (29) and Three-degree of freedom hinge (4) interference fit joint.The utility model complete machine structure owing to arranging in pyramid, therefore is called hexagonal pyramid formula parallel institution.
When the utility model is installed, adopt the arrangement of radial, linear electric motors base (6) in angle γ=45 ° is fixed on mechanism base (8) by alignment pin (9) and M10 bolt (10) according to the angle of α=30 ° and β=90 ° successively, linear electric motors (7) are connected with linear electric motors base (6) by locking nut (11), linear electric motors central shaft (12), linear motor rotor axle (13), ensure δ=45 °, angle of inclination of linear electric motors two axles.
The utility model operationally, changes the position of linear electric motors (7) guide rail upper hinge by drive system, then realizes the motion on six-freedom degree by six roots of sensation connecting rod (3) common driving load platform.Different from traditional ball pivot connecting mode, the utility model employing Hooke's hinge and Three-degree of freedom hinge connect, transmission, its advantage is that hard-over can reach 90 °, therefore the utility model is made to have good rotating property, the hard-over θ of its load platform (1) can reach 51 °, can meet the simulation of automobile six-degree of freedom vibration under cross-country road conditions.
Described control system by linear electric motors as actuator, the sensor related to comprises displacement transducer and current sensor, by the double-closed-loop control of chip microcontroller displacement and electric current, thus improve the control accuracy of drive system, ensure high speed, high accuracy, high response frequency during mechanism kinematic.
Operation principle of the present utility model is: for given load platform (1) characteristics of motion, the characteristics of motion of each linear electric motors is gone out by calculated with mathematical model, comprise the Changing Pattern of displacement, speed, acceleration and driving force, by displacement and the current double closed-loop control of single-chip microcomputer, make linear electric motors (7) according to the regular movement of expection.Electric mover (20) drives wedge block (16) linearly electric mover axle (13) reciprocating motion by contiguous block (14), wedge block (16) promotes Three-degree of freedom hinge (4), connecting rod (3) and Hooke's hinge (2) and moves on the six-freedom degree of space, the acting in conjunction of six Hooke's hinges (2) is in load platform (1), make load platform (1) pose for given six linear electric motors position existence anduniquess corresponding with it, realize the six-freedom degree motion of load platform.
Described hexagonal pyramid formula parallel institution has good rotating property, the hard-over θ of load platform (1) can reach 51 °, and there is the features such as high speed, high accuracy, fast response time, the simulation of automobile six-degree of freedom vibration under cross-country road conditions can be met.

Claims (7)

1. a hexagonal pyramid formula six-degree-of-freedom parallel connection mechanism, be made up of load platform (1), mechanism base (8) and six groups of side chains, undertaken in parallel by six groups of side chains between load platform (1) with mechanism base (8), it is characterized in that: six groups of side chain radials are arranged, often organize that to be followed successively by α=30 ° and β=90 between side chain ° uniform, make load platform (1), arrange in hexagonal pyramid shape between mechanism base (8) and six groups of side chains; Described side chain of often organizing is made up of Hooke's hinge (2), connecting rod (3), Three-degree of freedom hinge (4) and linear electric motors (7), and linear electric motors (7) tilting is fixed on mechanism base (8); Linear electric motors (7) are provided with electric mover axle (13) and can go up the wedge block (16) of oscillating rectilinear motion at electric mover axle (13); The upper end of connecting rod (3) is connected by Hooke's hinge (2) and load platform (1); Lower one end of connecting rod (3) is connected by Three-degree of freedom hinge (4) and the wedge block (16) on electric mover axle (13).
2. a kind of hexagonal pyramid formula six-degree-of-freedom parallel connection mechanism as claimed in claim 1, it is characterized in that: described linear electric motors (7), comprise motor center axle (12), magnetic steel of motor (19), electric mover (20), electric mover axle (13), motor housing (18) and electric motor end cap (17), electric mover axle (13) and motor center axle (12) be arranged in parallel; Magnetic steel of motor (19) is located on motor center axle (12), and electric mover (20) is enclosed within the outside of magnetic steel of motor (19), and electric mover (20) is connected by contiguous block (14) and the wedge block (16) be located on electric mover axle (13).
3. a kind of hexagonal pyramid formula six-degree-of-freedom parallel connection mechanism as claimed in claim 1 or 2, it is characterized in that: δ=45, inclination angle ° between the electric mover axle (13) of linear electric motors (7) and mechanism base (8) are arranged, between the electric mover axle (13) often organizing side chain, also become 30 ° and 90 ° of settings successively.
4. a kind of hexagonal pyramid formula six-degree-of-freedom parallel connection mechanism as claimed in claim 1 or 2, it is characterized in that: described Hooke's hinge (2) comprises Hooke's hinge end cap (24) and the cross axle (26) of a pair fork-shaped, four ends of cross axle (26) are provided with Hooke's hinge bearing (25), are connected between two Hooke's hinge end caps (24) by cross axle (26).
5. a kind of hexagonal pyramid formula six-degree-of-freedom parallel connection mechanism as claimed in claim 1 or 2, it is characterized in that: described Three-degree of freedom hinge (4) comprises the Three-degree of freedom hinge end cap (23) of a pair fork-shaped, cross axle (26), Pivoting bearing (27), revolute pair top cover (28) and revolute pair bearing (29), four ends of cross axle (26) are provided with Pivoting bearing (27), are connected between the Three-degree of freedom hinge end cap (23) of two fork-shapeds by cross axle (26); One of them Three-degree of freedom hinge end cap (23) is fixedly connected with wedge block (16), and another Three-degree of freedom hinge end cap (23) is connected with connecting rod (3) with revolute pair bearing (29) by the revolute pair top cover (28) be connected; Connecting rod (3) both can rotate in revolute pair bearing (29), can swing again with cross axle (26) all around.
6. a kind of hexagonal pyramid formula six-degree-of-freedom parallel connection mechanism as claimed in claim 1 or 2, is characterized in that: the driving of linear electric motors (7) adopts the double-closed-loop control of chip microcontroller displacement and electric current.
7. a kind of hexagonal pyramid formula six-degree-of-freedom parallel connection mechanism as claimed in claim 1 or 2, it is characterized in that: linear electric motors (7) are fixed on mechanism base (8) by linear electric motors base (6), angle γ=45 ° between linear electric motors base (6) and mechanism base (8).
CN201520537859.6U 2015-07-23 2015-07-23 Hexagonal pyramid formula six -degree -of -freedom parallel mechanism Active CN204819514U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520537859.6U CN204819514U (en) 2015-07-23 2015-07-23 Hexagonal pyramid formula six -degree -of -freedom parallel mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520537859.6U CN204819514U (en) 2015-07-23 2015-07-23 Hexagonal pyramid formula six -degree -of -freedom parallel mechanism

Publications (1)

Publication Number Publication Date
CN204819514U true CN204819514U (en) 2015-12-02

Family

ID=54677155

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201520537859.6U Active CN204819514U (en) 2015-07-23 2015-07-23 Hexagonal pyramid formula six -degree -of -freedom parallel mechanism

Country Status (1)

Country Link
CN (1) CN204819514U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105171728A (en) * 2015-07-23 2015-12-23 盐城工学院 Hexagonal pyramid type six-freedom-degree parallel mechanism
CN109017875A (en) * 2018-07-20 2018-12-18 盐城工学院 A kind of signal connection executing agency for rail vehicle signal debugging
CN110216655A (en) * 2019-05-30 2019-09-10 中国科学院长春光学精密机械与物理研究所 A kind of single leg anti-self-rotating mechanism of parallel robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105171728A (en) * 2015-07-23 2015-12-23 盐城工学院 Hexagonal pyramid type six-freedom-degree parallel mechanism
CN109017875A (en) * 2018-07-20 2018-12-18 盐城工学院 A kind of signal connection executing agency for rail vehicle signal debugging
CN109017875B (en) * 2018-07-20 2019-11-22 盐城工学院 A kind of signal connection executing agency for rail vehicle signal debugging
CN110216655A (en) * 2019-05-30 2019-09-10 中国科学院长春光学精密机械与物理研究所 A kind of single leg anti-self-rotating mechanism of parallel robot
CN110216655B (en) * 2019-05-30 2021-05-18 中国科学院长春光学精密机械与物理研究所 Single-leg anti-rotation device of parallel robot

Similar Documents

Publication Publication Date Title
CN105171728A (en) Hexagonal pyramid type six-freedom-degree parallel mechanism
CN204819514U (en) Hexagonal pyramid formula six -degree -of -freedom parallel mechanism
CN203045724U (en) Two-degree-freedom space parallel mechanism
CN100413656C (en) Spacial non-symmetric two freedom rotary parallel mechanism
CN104002302B (en) A kind of have virtual axle two, Three Degree Of Freedom tilter
CN102962848A (en) Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot
CN102240911A (en) Incompletely-symmetrical four-freedom-degree space in-parallel mechanism with two-dimensional rotation and two-dimensional movement
CN206263947U (en) Six-DOF robot parallel-connection structure
CN103381601A (en) Six- free-degree 3-3 orthogonal type parallel robot
CN1544210A (en) Rotating parallel robot mechanism with two degrees of freedom
CN104121929A (en) Novel three-axle swinging platform
CN1769005A (en) Large-workspace three-dimensional moving parallel robot mechansim
CN202399270U (en) Controllable mechanism six-degree-of-freedom parallel robot platform
CN104678885A (en) Six-freedom-degree parallel platform in driving orthogonal arrangement
CN105082112A (en) Fully-isotropic parallel robot mechanism with three-dimensional movement function and two-dimensional rotation function
CN102357881A (en) Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains
CN1557609A (en) Structure decoupling three degrees of freedom parallel robot mechanism
CN103722547B (en) There is the decoupling space parallel mechanism of two one turn of Three Degree Of Freedom of shifting
CN102528796A (en) Controllable mechanism type parallel robot platform with six degrees of freedom
CN205363812U (en) Parallelly connected principal and subordinate hybrid -driven diaxon antenna test tilter mechanism
CN107932482B (en) Five-freedom-degree parallel mechanism capable of realizing three-dimensional rotation and two-dimensional movement
CN100366400C (en) Flexible rope driven three and four degree of freedom decoupling parallel mechanism
CN202378046U (en) Robot mechanism with seven ranges of motion in space
CN108656087A (en) A kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement
CN102626870A (en) Three-DOF (Degree of Freedom) parallel spindle head with single-DOF hinge

Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model