CN205238046U - Cross and retrain high rigidity robot with three symmetric motion performances - Google Patents
Cross and retrain high rigidity robot with three symmetric motion performances Download PDFInfo
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- CN205238046U CN205238046U CN201520621007.5U CN201520621007U CN205238046U CN 205238046 U CN205238046 U CN 205238046U CN 201520621007 U CN201520621007 U CN 201520621007U CN 205238046 U CN205238046 U CN 205238046U
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- side chain
- adjustment device
- length adjustment
- outer ring
- fixed mount
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Abstract
The utility model provides a cross and retrain high rigidity robot with three symmetric motion performances, is including moving the platform and setting up move the terminal positioning head of platform to and set up respectively through the mount move first side chain, second side chain, third side chain and fourth side chain on the platform, the end of first side chain run through the center of mount, fixed connection is in move on the platform, the connection that the middle part of second side chain, third side chain and fourth side chain can rotate is in the periphery of mount, the end of second side chain, third side chain and fourth side chain articulates respectively on moving the platform, and the second side chain is located the place ahead of first side chain, third side chain and fourth side chain are located respectively the left back and the right back of first side chain. The utility model discloses a cross and retrain high rigidity robot with three symmetric motion performances under the prerequisite of kinematics performance of not destroying three symmetries, reduces hinge degree of freedom figure in the mechanism, has improved the rigidity of mechanism.
Description
Technical field
The utility model relates to a kind of robot. Particularly relate to a kind of mistake with three symmetric motion performances and retrain high rigidity robot.
Background technology
The spatial series-parallel robot of patent SE8502327 (or US4732525) and the disclosed class band positioning head of EP0674969 (or US6336375), comprises three active adjustment devices that can elongate or shorten vertically; One end of described adjusting device is anchored on fixed mount by hinge, and the other end is connected with moving platform by hinge; In this structure, also have a driven adjusting device, described driven adjusting device one end is fixedly connected with described positioning head, and another end is connected with fixed mount by hinge, to limit certain several free degree of positioning head. Described three initiatively the chain connection point of length adjustment devices and fixed mount be 120 ° and be evenly distributed on chain connection point taking described driven adjusting device and fixed mount on the circumference in the center of circle; Described three active length adjustment devices adopt same layout with the chain connection point of positioning head. The layout of three symmetries makes described robot have three good symmetric motion performances. It is Three Degree Of Freedom hinge with the hinge of active length adjustment device that this type of robot connects positioning head.
Disclosed a kind of mistake of patent CN102699899A retrains high rigidity multi-coordinate series-parallel robot, comprises equally three active adjustment devices that can elongate or shorten vertically and a driven adjusting device; Wherein two active adjustment devices are connected with moving platform by single-degree-of-freedom hinge, be arranged on symmetrically the left and right sides of driven adjusting device, and the plane of movement of described two active adjustment devices and driven adjusting device are same plane; Another one active adjustment device is connected with moving platform by the spherical hinge of Three Degree Of Freedom, is arranged on the below of driven adjusting device. This robot has reduced hinge free degree number in mechanism, for crossing constraint mechanism. But adopting described arrangement to make mechanism is face symmetrical mechanism, no longer has the kinematics performance of three symmetries.
Summary of the invention
Technical problem to be solved in the utility model is, provides a kind of under the prerequisite of kinematics performance of not destroying three symmetries, reduces mistake that hinge number of degrees of freedom, object in mechanism has three symmetric motion performances and retrains high rigidity robot.
The technical scheme that the utility model adopts is: a kind of mistake with three symmetric motion performances retrains high rigidity robot, comprise moving platform and the positioning head that is arranged on described moving platform end, and be separately positioned on the first side chain on described moving platform by fixed mount, the second side chain, the 3rd side chain and the 4th side chain, the end of the first described side chain runs through the center of described fixed mount, be fixedly connected on described moving platform, described the second side chain, the periphery that is connected to described fixed mount that the middle part of the 3rd side chain and the 4th side chain can rotate, described the second side chain, the end of the 3rd side chain and the 4th side chain is hinged on respectively on described moving platform, and described the second side chain is positioned at the front of the first side chain, described the 3rd side chain and the 4th side chain lay respectively at left back and the right back of described the first side chain.
Angle between angle, the 3rd side chain and the 4th side chain between the second described side chain and the 3rd side chain and the angle between the 4th side chain and the second side chain are 120 °.
Described positioning head is the series connection rotary head with two or three frees degree.
The first described side chain includes: end is fixedly connected on the expansion link on described moving platform, on described expansion link, be provided with vertically guide rail, described expansion link is that the first articulated elements by having two rotational freedoms and described fixed mount are hinged, and the first described articulated elements is enclosed within on described expansion link and can slides along described guide rail.
Described first articulated elements with two rotational freedoms includes: the first outer ring that is hinged on described fixed mount center by having the hinge of a rotational freedom, be hinged on the inner ring of described the first inner side, outer ring by thering is the hinge of a rotational freedom, the inner side of described inner ring is provided with the slide block that can slide along described guide rail, wherein, the pivot center that connects described the first outer ring and described fixed mount intersects vertically with the pivot center that is connected described inner ring and described the first outer ring.
The second described side chain includes: the second length adjustment device, the end of described the second length adjustment device is hinged on described moving platform by a T shape, the top of described the second length adjustment device is connected with one makes described the second length adjustment device become the initiatively drive unit of moving sets, the middle part of described the second length adjustment device is hinged by the second outer ring and described fixed mount, wherein, the inner side that is connected to described the second outer ring that the second described length adjustment device can rotate, the outside of described the second outer ring is hinged by hinge and the described fixed mount with a rotational freedom, wherein, the pivot center that connects described the second outer ring and described fixed mount intersects vertically with the pivot center that is connected described the second length adjustment device and described the second outer ring, the rotation that connects described T shape hinge and described the second length adjustment device is parallel to the moving direction of described the second length adjustment device.
Described T shape is cut with scissors the transverse axis that includes the longitudinal axis and intersect vertically with one end of the described longitudinal axis, and the other end of the described longitudinal axis is rotatably connected with the end of described the second length adjustment device, and the two ends of described transverse axis are rotatably connected with described moving platform respectively.
The 3rd described side chain is identical with the 4th branched structure, include: the 3rd length adjustment device/four length adjustment device, the end of described the 3rd length adjustment device/four length adjustment device is hinged on described moving platform by the 3rd ball pivot/four ball pivot, described the 3rd ball pivot/four ball pivot is the hinge with three rotational freedoms, and not conllinear but intersect at a point of the pivot center of three rotational freedoms, the top of described the 3rd length adjustment device/four length adjustment device is connected with one makes described the 3rd length adjustment device/four length adjustment device become initiatively the second drive unit of moving sets, the middle part of described the 3rd length adjustment device/four length adjustment device is enclosed all round with described fixed mount and is hinged by the 3rd outer ring/the, what the 3rd described length adjustment device/four length adjustment device can rotate is connected to the inner side that described the 3rd outer ring/the enclosed all round, the outside that described the 3rd outer ring/the enclosed is all round hinged by hinge and the described fixed mount with a rotational freedom, wherein, connect described the 3rd outer ring/the enclose all round with the pivot center of described fixed mount be connected the pivot center that described the 3rd length adjustment device/four length adjustment device and the 3rd outer ring/the enclose all round and intersect vertically.
In the first side chain, the pivot center of the first outer ring and fixed mount is through being connected the second outer ring in the second side chain and the pivot center of fixed mount, and the intersection point of these two axis of pivot center of length adjustment device in connection the second side chain and the second outer ring; Connect the pivot center of the first side chain inner ring and the first outer ring, and connect T shape hinge in the second side chain and these two axis of pivot center of moving platform are parallel to each other.
The intersection point of the pivot center forming between the pivot center forming between the second outer ring on the second side chain and fixed mount and the second length adjustment device and the second outer ring, the intersection point of the pivot center forming between the pivot center forming between the 3rd outer ring on the 3rd side chain and fixed mount and the 3rd length adjustment device and the 3rd outer ring, and the 4th pivot center of forming between circle and fixed mount all round of the on side chain, and the intersection point of the pivot center forming between the 3rd length adjustment device and the 3rd outer ring is the intersection point of these the two articles of axis of pivot center that form between 120 ° of inner rings on pivot center and described the first side chain being evenly distributed on to form between the first outer ring on described the first side chain and fixed mount and the first outer ring on the circumference in the center of circle, the intersection point of the three articles of axis of the 4th ball pivot on intersection point and the 4th side chain of the three articles of axis of the 3rd ball pivot on described the second side chain on the transverse axis of T shape hinge and intersection point, the 3rd side chain of the longitudinal axis be 120 ° be evenly distributed on taking the axis of moving platform and three intersection points the intersection point of definite plane on the circumference in the center of circle.
A kind of mistake with three symmetric motion performances of the present utility model retrains high rigidity robot, under the prerequisite of kinematics performance of not destroying three symmetries, reduces hinge free degree number in mechanism, has improved the rigidity of mechanism.
Brief description of the drawings
Fig. 1 is the structural representation that the mistake that the utlity model has three symmetric motion performances retrains high rigidity robot;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the mark schematic diagram of each axis in Fig. 1;
Fig. 4 is the structural representation of the first side chain and end moving platform and positioning head in the utility model;
Fig. 5 is the structural representation of the second side chain in the utility model;
Fig. 6 is the structural representation of T shape hinge in the utility model;
Fig. 7 is the structural representation of the 3rd side chain, the 4th side chain in the utility model.
1: the first side chain 11: expansion link
12: the first articulated elements 13: guide rail
121: the first outer rings 122: inner ring
123: 2: the second side chains of slide block
21: 22: the second outer rings of drive unit
23: the second length adjustment device 24:T shape hinges
241: the longitudinal axis 242: transverse axis
31/41: the second drive unit of 3: the three side chains
33: the three length adjustment devices in 32: the three outer rings
4: the four side chains of 34: the three ball pivots
All round enclose 42: the four length adjustment devices at 41: the
44: the four ball pivots 5: fixed mount
6: moving platform 7: positioning head
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, a kind of mistake with three symmetric motion performances of the present utility model being retrained to high rigidity robot is described in detail.
As shown in Figure 1 and Figure 2, a kind of mistake with three symmetric motion performances of the present utility model retrains high rigidity robot, comprise moving platform 6 and the positioning head 7 that is arranged on described moving platform 6 ends, and being separately positioned on the first side chain 1, the second side chain 2, the 3rd side chain 3 and the 4th side chain 4 on described moving platform 6 by fixed mount 5, described positioning head 7 is for having the series connection rotary head of two or three frees degree. The end of the first described side chain 1 runs through the center of described fixed mount 5, be fixedly connected on described moving platform 6, the periphery that is connected to described fixed mount 5 that the middle part of described the second side chain 2, the 3rd side chain 3 and the 4th side chain 4 can rotate, the end of described the second side chain 2, the 3rd side chain 3 and the 4th side chain 4 is hinged on respectively on described moving platform 6, and described the second side chain 2 is positioned at the front of the first side chain 1, described the 3rd side chain 3 and the 4th side chain 4 lay respectively at left back and the right back of described the first side chain 1. Angle between angle and the 4th side chain 4 and the second side chain 2 between angle, the 3rd side chain 3 and the 4th side chain 4 between described the second side chain 2 and the 3rd side chain 3 is 120 °.
As shown in Figure 4, the first described side chain 1 includes: end is fixedly connected on the expansion link 11 on described moving platform 6, on described expansion link 11, be provided with vertically guide rail 13, described expansion link 11 is that the first articulated elements 12 by having two rotational freedoms is hinged with described fixed mount 5, and the first described articulated elements 12 is enclosed within on described expansion link 11 and can slides along described guide rail 13.
Described first articulated elements 12 with two rotational freedoms includes: the first outer ring 121 that is hinged on described fixed mount 5 centers by having the hinge of a rotational freedom, be hinged on the inner ring 122 of 121 inner sides, described the first outer ring by thering is the hinge of a rotational freedom, the inner side of described inner ring 122 is provided with the slide block 123 that can slide along described guide rail 13, wherein, the pivot center 1a that connects described the first outer ring 121 and described fixed mount 5 intersects vertically with the pivot center 1b that is connected described inner ring 122 and described the first outer ring 121.
As shown in Figure 5, the second described side chain 2 includes: the second length adjustment device 23, the end of described the second length adjustment device 23 is connected with one by T shape hinge 24 tops that are hinged on described moving platform 6 the above the second length adjustment device 23 makes described the second length adjustment device 23 become the initiatively drive unit 21 of moving sets, the middle part of described the second length adjustment device 23 is hinged by the second outer ring 22 and described fixed mount 5, wherein, the inner side that is connected to described the second outer ring 22 that the second described length adjustment device 23 can rotate, the outside of described the second outer ring 22 is hinged by hinge and the described fixed mount 5 with a rotational freedom, wherein, the pivot center 2a that connects described the second outer ring 22 and described fixed mount 5 intersects vertically with the pivot center 2b that is connected described the second length adjustment device 23 and described the second outer ring 22, the rotation 2c that connects described T shape hinge 24 and described the second length adjustment device 23 is parallel to the moving direction of described the second length adjustment device 23.
As shown in Figure 6, described T shape hinge 24 transverse axis 242 that include the longitudinal axis 241 and intersect vertically with one end of the described longitudinal axis 241, the other end of the described longitudinal axis 241 is rotatably connected with the end of described the second length adjustment device 23, and the two ends of described transverse axis 242 are rotatably connected with described moving platform 6 respectively.
As shown in Figure 7, the 3rd described side chain 3 is identical with the 4th side chain 4 structures, include: the 3rd length adjustment device 33/ the 4th length adjustment device 43, the end of described the 3rd length adjustment device 33/ the 4th length adjustment device 43 is hinged on described moving platform 6 by the 3rd ball pivot 34/ the 4th ball pivot 44, described the 3rd ball pivot 34/ the 4th ball pivot 44 is for having the hinge of three rotational freedoms, and not conllinear but intersect at a point of the pivot center of three rotational freedoms, the top of described the 3rd length adjustment device 33/ the 4th length adjustment device 43 is connected with one makes described the 3rd length adjustment device 33/ the 4th length adjustment device 43 become initiatively the second drive unit 31/41 of moving sets, the middle part of described the 3rd length adjustment device 33/ the 4th length adjustment device 43 is enclosed all round 42 by the 3rd outer ring 32/ the and is hinged with described fixed mount 5, what the 3rd described length adjustment device 33/ the 4th length adjustment device 43 can rotate be connected to described the 3rd outer ring 32/ encloses 42 inner side all round, described the 3rd outer ring 32/ is enclosed all round 42 outside and is hinged by hinge and the described fixed mount 5 with a rotational freedom, wherein, connect described the 3rd outer ring 32/ enclose all round 42 with the pivot center 3a/4a of described fixed mount 5 be connected described the 3rd length adjustment device 33/ the 4th length adjustment device 43 and the 3rd outer ring 32/ and enclose all round 42 pivot center 3b/4b and intersect vertically.
As shown in Figure 2,3, the first outer ring 121 on the first side chain 1 and the pivot center 1a of fixed mount 5 be through being connected the second outer ring 22 in the second side chain 2 and the pivot center 2a of fixed mount 5, and the intersection point of these two axis of pivot center 2b of length adjustment device 23 on connection the second side chain 2 and the second outer ring 22; Connect the pivot center 1b of the first side chain 1 inner ring 12 and the first outer ring 121, and connect T shape hinge 24 in the second side chain 2 and these two axis of pivot center 2d of moving platform 6 are parallel to each other.
The intersection point of the pivot center 2b forming between the pivot center 2a forming between the second outer ring 22 on the second side chain 2 and fixed mount 5 and the second length adjustment device 23 and the second outer ring 22, the intersection point of the pivot center 3b forming between the pivot center 3a forming between the 3rd outer ring 32 on the 3rd side chain 3 and fixed mount 5 and the 3rd length adjustment device 33 and the 3rd outer ring 32, and the 4th the on side chain 4 enclose all round 42 and fixed mount 5 between the pivot center 4a that forms, and the intersection point of pivot center 4b forming between the 3rd length adjustment device 33 and the 3rd outer ring 32 is the intersection point of these two articles of axis of pivot center 1b of formation between 120 ° of inner rings 12 on pivot center 1a and described the first side chain 1 being evenly distributed on to form between the first outer ring 121 on described the first side chain 1 and fixed mount 5 and the first outer ring 121 on the circumference in the center of circle, the intersection point of the 44 3 articles of axis of the 4th ball pivot on intersection point and the 4th side chain 4 of the 34 3 articles of axis of the 3rd ball pivot on described the second side chain 2 on the transverse axis 242 of T shape hinge 24 and intersection point, the 3rd side chain 3 of the longitudinal axis 241 be 120 ° be evenly distributed on taking the axis of moving platform 6 and three intersection points the intersection point of definite plane on the circumference in the center of circle.
Although by reference to the accompanying drawings preferred embodiment of the present utility model is described above; but the utility model is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present utility model; not departing from the scope situation that the utility model aim and claim protect, can also make a lot of forms, within these all belong to protection domain of the present utility model.
Claims (10)
1. a mistake with three symmetric motion performances retrains high rigidity robot, comprise moving platform (6) and be arranged on the positioning head (7) of described moving platform (6) end, and be separately positioned on the first side chain (1) on described moving platform (6) by fixed mount (5), the second side chain (2), the 3rd side chain (3) and the 4th side chain (4), it is characterized in that, the end of described the first side chain (1) runs through the center of described fixed mount (5), be fixedly connected on described moving platform (6), described the second side chain (2), the periphery that is connected to described fixed mount (5) that the middle part of the 3rd side chain (3) and the 4th side chain (4) can rotate, described the second side chain (2), the end of the 3rd side chain (3) and the 4th side chain (4) is hinged on respectively on described moving platform (6), and described the second side chain (2) is positioned at the front of the first side chain (1), described the 3rd side chain (3) and the 4th side chain (4) lay respectively at left back and the right back of described the first side chain (1).
2. a kind of mistake with three symmetric motion performances according to claim 1 retrains high rigidity robot, it is characterized in that, the angle between angle, the 3rd side chain (3) and the 4th side chain (4) between described the second side chain (2) and the 3rd side chain (3) and the angle between the 4th side chain (4) and the second side chain (2) are 120 °.
3. a kind of mistake with three symmetric motion performances according to claim 1 retrains high rigidity robot, it is characterized in that, described positioning head (7) is for having the series connection rotary head of two or three frees degree.
4. a kind of mistake with three symmetric motion performances according to claim 1 retrains high rigidity robot, it is characterized in that, described the first side chain (1) includes: end is fixedly connected on the expansion link (11) on described moving platform (6), on described expansion link (11), be provided with vertically guide rail (13), described expansion link (11) is that the first articulated elements (12) by having two rotational freedoms is hinged with described fixed mount (5), described the first articulated elements (12) is enclosed within described expansion link (11) above and can slides along described guide rail (13).
5. a kind of mistake with three symmetric motion performances according to claim 4 retrains high rigidity robot, it is characterized in that, described first articulated elements (12) with two rotational freedoms includes: the first outer ring (121) that is hinged on described fixed mount (5) center by having the hinge of a rotational freedom, be hinged on the inner ring (122) of inner side, described the first outer ring (121) by thering is the hinge of a rotational freedom, the inner side of described inner ring (122) is provided with the slide block (123) that can slide along described guide rail (13), wherein, the pivot center (1a) that connects described the first outer ring (121) and described fixed mount (5) intersects vertically with the pivot center (1b) that is connected described inner ring (122) and described the first outer ring (121).
6. a kind of mistake with three symmetric motion performances according to claim 5 retrains high rigidity robot, it is characterized in that, described the second side chain (2) includes: the second length adjustment device (23), the end of described the second length adjustment device (23) cuts with scissors (24) by a T shape and is hinged on described moving platform (6), the top of described the second length adjustment device (23) is connected with one makes described the second length adjustment device (23) become the initiatively drive unit (21) of moving sets, the middle part of described the second length adjustment device (23) is hinged by the second outer ring (22) and described fixed mount (5), wherein, the inner side that is connected to described the second outer ring (22) that described the second length adjustment device (23) can rotate, the outside of described the second outer ring (22) is hinged by hinge and the described fixed mount (5) with a rotational freedom, wherein, the pivot center (2a) that connects described the second outer ring (22) and described fixed mount (5) intersects vertically with the pivot center (2b) that is connected described the second length adjustment device (23) and described the second outer ring (22), the rotation (2c) that connects described T shape hinge (24) and described the second length adjustment device (23) is parallel to the moving direction of described the second length adjustment device (23).
7. a kind of mistake with three symmetric motion performances according to claim 6 retrains high rigidity robot, it is characterized in that, the transverse axis (242) that described T shape hinge (24) includes the longitudinal axis (241) and intersects vertically with one end of the described longitudinal axis (241), the other end of the described longitudinal axis (241) is rotatably connected with the end of described the second length adjustment device (23), and the two ends of described transverse axis (242) are rotatably connected with described moving platform (6) respectively.
8. a kind of mistake with three symmetric motion performances according to claim 6 retrains high rigidity robot, it is characterized in that, the 3rd described side chain (3) is identical with the 4th side chain (4) structure, include: the 3rd length adjustment device (33)/4th length adjustment device (43), the end of described the 3rd length adjustment device (33)/4th length adjustment device (43) is hinged on described moving platform (6) by the 3rd ball pivot (34)/4th ball pivot (44), described the 3rd ball pivot (34)/4th ball pivot (44) is for having the hinge of three rotational freedoms, and not conllinear but intersect at a point of the pivot center of three rotational freedoms, the top of described the 3rd length adjustment device (33)/4th length adjustment device (43) is connected with one makes described the 3rd length adjustment device (33)/4th length adjustment device (43) become initiatively second drive unit (31/41) of moving sets, the middle part of described the 3rd length adjustment device (33)/4th length adjustment device (43) is enclosed all round (42) by the 3rd outer ring (32)/the and is hinged with described fixed mount (5), what the 3rd described length adjustment device (33)/4th length adjustment device (43) can rotate be connected to described the 3rd outer ring (32)/the encloses the inner side of (42) all round, the outside that described the 3rd outer ring (32)/the enclosed (42) is all round hinged by hinge and the described fixed mount (5) with a rotational freedom, wherein, connect pivot center (3a/4a) that described the 3rd outer ring (32)/the enclose (42) and described fixed mount (5) all round and be connected the pivot center (3b/4b) that described the 3rd length adjustment device (33)/4th length adjustment device (43) and the 3rd outer ring (32)/the enclose (42) all round and intersect vertically.
9. a kind of mistake with three symmetric motion performances according to claim 6 retrains high rigidity robot, it is characterized in that, in the first side chain (1), the pivot center (1a) of the first outer ring (121) and fixed mount (5) is through being connected the second outer ring (22) in the second side chain (2) and the pivot center (2a) of fixed mount (5), and the intersection point of these two axis of pivot center (2b) of length adjustment device (23) in connection the second side chain (2) and the second outer ring (22); Connect the pivot center (1b) of the first side chain (1) inner ring (12) and the first outer ring (121), and connect T shape hinge (24) in the second side chain (2) and these two axis of pivot center (2d) of moving platform (6) are parallel to each other.
10. a kind of mistake with three symmetric motion performances according to claim 8 retrains high rigidity robot, it is characterized in that, the intersection point of the pivot center (2b) forming between the pivot center (2a) forming between the second outer ring (22) on the second side chain (2) and fixed mount (5) and the second length adjustment device (23) and the second outer ring (22), the intersection point of the pivot center (3b) forming between the pivot center (3a) forming between the 3rd outer ring (32) on the 3rd side chain (3) and fixed mount (5) and the 3rd length adjustment device (33) and the 3rd outer ring (32), and the 4th the on side chain (4) pivot center (4a) of formation between circle (42) and fixed mount (5) all round, and the intersection point of pivot center (4b) forming between the 3rd length adjustment device (33) and the 3rd outer ring (32) is the intersection point of these two articles of axis of pivot center (1b) of formation between 120 ° of inner rings (12) on pivot center (1a) and described the first side chain (1) being evenly distributed on to form between the first outer ring (121) on described the first side chain (1) and fixed mount (5) and the first outer ring (121) on the circumference in the center of circle, the intersection point of (44) the three articles of axis of the 4th ball pivot on intersection point and the 4th side chain (4) of (34) the three articles of axis of the 3rd ball pivot on the upper T shape hinge transverse axis (242) of (24) of described the second side chain (2) and the intersection point of the longitudinal axis (241), the 3rd side chain (3) be 120 ° be evenly distributed on taking the axis of moving platform (6) and three intersection points the intersection point of definite plane on the circumference in the center of circle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520621007.5U CN205238046U (en) | 2015-08-17 | 2015-08-17 | Cross and retrain high rigidity robot with three symmetric motion performances |
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| CN201520621007.5U CN205238046U (en) | 2015-08-17 | 2015-08-17 | Cross and retrain high rigidity robot with three symmetric motion performances |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058376A (en) * | 2015-08-17 | 2015-11-18 | 天津大学 | Overconstrained high-rigidity robot with tri-symmetric kinematics performance |
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2015
- 2015-08-17 CN CN201520621007.5U patent/CN205238046U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058376A (en) * | 2015-08-17 | 2015-11-18 | 天津大学 | Overconstrained high-rigidity robot with tri-symmetric kinematics performance |
| CN105058376B (en) * | 2015-08-17 | 2017-03-01 | 天津大学 | A kind of Planar Mechanisms high rigidity robot with three symmetric motion performances |
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