CN206869873U - A kind of 3-dof parallel robot - Google Patents
A kind of 3-dof parallel robot Download PDFInfo
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- CN206869873U CN206869873U CN201720770809.1U CN201720770809U CN206869873U CN 206869873 U CN206869873 U CN 206869873U CN 201720770809 U CN201720770809 U CN 201720770809U CN 206869873 U CN206869873 U CN 206869873U
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Abstract
The utility model discloses a kind of 3-dof parallel robot, belongs to robotic technology field, including moving platform, silent flatform, actuator one, actuator two and actuator three, it is characterised in that：Also include the first master arm, the first slave arm, the second master arm, the second slave arm, the 3rd master arm and the 3rd slave arm, first master arm and the second master arm orthographic projection are on the same line or parallel, one end of first master arm is connected with actuator one, the other end is hinged with the first slave arm, one end of second master arm is connected with actuator two, the other end is hinged with the second slave arm, one end of 3rd master arm is connected with actuator three, the other end is hinged with the 3rd slave arm, and the first slave arm, the second slave arm and the 3rd slave arm are hinged with moving platform respectively.In pick-and-place object, moving platform only by the active force in two rectilinear directions, is not easy to rock the utility model, and the degree of accuracy of pick-and-place object can be effectively ensured, and improves pick-and-place object success rate.
Description
Technical field
It the utility model is related to robotic technology field, more particularly to a kind of 3-dof parallel robot.
Background technology
Parallel robot, i.e. moving platform are connected with silent flatform by least two independent kinematic chains, have two or
The two or more free degree, and a kind of close loop mechanism driven with parallel way.
For parallel robot is compared with traditional industry serial manipulator, parallel robot has many advantages, such as,
Such as：Without accumulated error, precision is higher, large carrying capacity etc..
Parallel robot, classify by forms of motion, plane mechanism and space mechanism can be divided into；Subdivision can be divided into planar movement
Mechanism, planar movement rotating mechanism, the pure travel mechanism in space, the pure rotating mechanism in space and spatial mixing motion etc..By certainly
Classified by degree, two degrees of freedom, Three Degree Of Freedom, four-degree-of-freedom, five degree of freedom and six degree of freedom etc. can be divided into.
It is common on the market to be：Two degrees of freedom and 3-dof parallel robot.Wherein, two-degree-of-freedoparallel parallel robot,
Simple in construction, for moving platform only by active force caused by two master arms, pick-and-place object is stable, is not easy to rock, the success of pick-and-place object
Rate is higher.3-dof parallel robot, species form are more；Predominantly planar three freedom parallel robot and sphere three from
By the major class of degree parallel robot two；Planar three freedom parallel robot has two mobile and rotations；And sphere three is certainly
By all kinematic pairs of degree parallel robot axis junction space a bit, this point is referred to as the center of mechanism, and the institute in mechanism is a little
Motion be all around the rotational motion.
In recent years, the application of Delta robots is more extensive, is mainly used in adding for food, medicine and electronic product etc.
Work and assembling.Delta robots are typical 3-dof parallel robots.Three masters of the Delta robots of prior art
Swing arm is distributed on silent flatform in 120 degree, have it is in light weight, movement velocity is fast the characteristics of, but install when overall space take compared with
Greatly.
Publication No. CN103802094A, publication date disclose a kind of shifting for the Chinese patent literature on May 21st, 2014
Dynamic formula parallel robot, including central motor, robot bottom plate, motor reducer assembly, upper arm, underarm, low bottom-disc, center are stretched
Contracting bar, it is characterised in that described motor reducer assembly is arranged on the lower section of robot bottom plate, with the center of robot bottom plate
In 120 degree of distributions, described upper arm connects one arm of composition with underarm by spherical joint head, and motor reducer assembly is with
Chassis is connected by three arms, the center steering axle of described center expansion link connection central motor and low bottom-disc.
, following defects be present in the prior art using above-mentioned patent document as representative：
In pick-and-place object, the Work Space Range of whole moving platform is in rounding mesa-shaped, and Work Space Range is narrower, object
It captures the point position of object and is relatively fixed during being transmitted in transmission belt, and object motion track is limited, and point position is captured to object
Required precision it is higher, add maintenance cost.When capturing and launching object, due to being formed between the master arm of arbitrary neighborhood two
Angle be 120 degree, moving platform is just by the active force in three rectilinear directions, when pick-and-place object frequencies are too fast, at three
Moving platform is easy for rocking under active force, causes the degree of accuracy of pick-and-place object to be difficult to ensure that, influences the success rate of pick-and-place object.
Utility model content
The defects of the utility model is in order to overcome above-mentioned prior art, there is provided a kind of 3-dof parallel robot, this reality
With on the same line or parallel after two new master arm orthographic projections so that in pick-and-place object, moving platform is only by two
Active force in individual rectilinear direction, it is not easy to rock, can effectively ensure that the degree of accuracy of pick-and-place object, improves the success of pick-and-place object
Rate.
The utility model is achieved through the following technical solutions：
A kind of 3-dof parallel robot, including moving platform, silent flatform, the actuator one being fixed on silent flatform, drive
Moving part two and actuator three, it is characterised in that：Also include the first master arm, the first slave arm, the second master arm, second driven
Arm, the 3rd master arm and the 3rd slave arm, first master arm and the second master arm orthographic projection are on the same line or parallel,
One end of first master arm is connected with actuator one, and the other end is hinged with the first slave arm, one end of the second master arm with
Actuator two is connected, and the other end is hinged with the second slave arm, and one end of the 3rd master arm is connected with actuator three, the other end and
Three slave arms are hinged, and first slave arm, the second slave arm and the 3rd slave arm are hinged with moving platform respectively.
The actuator one, actuator two and actuator three are located in same level.
The vertical height of the actuator three is respectively higher than the vertical height of actuator one and actuator two.
The length of first slave arm and the second slave arm is identical, the length of the 3rd slave arm be longer than the first slave arm and
The length of second slave arm.
The actuator one, actuator two and actuator three form by servomotor and decelerator connection.
First slave arm, the second slave arm and the 3rd slave arm are two, fixed between two first slave arms
Be connected with rectangle frame, be fixedly connected between two second slave arms cross section be in I-shaped link, two the 3rd from
The fixed mount that cross section is in " X " type is fixedly connected between swing arm.
The first locating rod, the second locating rod and the 3rd locating rod are hinged with the silent flatform, is hinged on the first master arm
Have the first crank, the second crank be hinged with the second master arm, be hinged with the 3rd crank on the 3rd master arm, the first locating rod with
First crank is hinged, and the second locating rod is hinged with the second crank, and the 3rd locating rod is hinged with the 3rd crank.
The bottom of the silent flatform is provided with support pedestal, supports and groove is provided with pedestal, and the bottom insertion of silent flatform is recessed
In groove, support and rubber blanket is bonded with the lower surface of pedestal.
Operation principle of the present utility model is as follows：
In use, moving platform will be fixed on for the manipulator for capturing object, by actuator one, actuator two and drive
Moving part three drives the first master arm, the second master arm and the 3rd master arm to rotate respectively, so as to drive the first slave arm, second from
Swing arm and the motion of the 3rd slave arm, and then moving platform is swung, realize the pick-and-place action of object.Due to two master arm orthographic projections
It is afterwards on the same line or parallel so that in pick-and-place object, moving platform is similar only by the active force in two rectilinear directions
In two axle parallel robots, therefore it is not easy to rock during moving platform work, stability is more preferable, can effectively ensure that the standard of pick-and-place object
Exactness.
The beneficial effects of the utility model are mainly manifested in following aspect：
First, the utility model, the first master arm and the second master arm orthographic projection are on the same line or parallel, and first actively
One end of arm is connected with actuator one, and the other end is hinged with the first slave arm, and one end of the second master arm is connected with actuator two,
The other end is hinged with the second slave arm, and one end of the 3rd master arm is connected with actuator three, and the other end is hinged with the 3rd slave arm,
First slave arm, the second slave arm and the 3rd slave arm are hinged with moving platform respectively, compared with prior art three-freedom parallel device
For people is using structure of three master arms in 120 degree of distributions, due on the same line or flat after two master arm orthographic projections
OK so that in pick-and-place object, moving platform is only by the active force in two rectilinear directions, similar to two axle parallel robots,
Therefore it is not easy to rock during moving platform work, can effectively ensure that the degree of accuracy of pick-and-place object, improves the success rate of pick-and-place object.
2nd, the utility model, actuator one, actuator two and actuator three are located in same level so that three freely
It is balanced, compact to spend parallel robot overall structure, there is good rigidity, bearing capacity is strong.
3rd, the utility model, the vertical height of actuator three are respectively higher than the vertical height of actuator one and actuator two,
Silent flatform entirety center of gravity is moved up, and then makes moving platform slimmer and more graceful when moving, speed is high, and dynamic response is good, pick-and-place object effect
Rate is higher.
4th, the length of the utility model, the first slave arm and the second slave arm is identical, and the length of the 3rd slave arm is longer than
The length of one slave arm and the second slave arm, in pick-and-place object, the Work Space Range of whole moving platform is wider, and object is grabbed
Take rear movement locus more flexible, point position is captured to object does not have considered critical, has preferable flexibility, easy to maintain.
5th, the utility model, actuator one, actuator two and actuator three by servomotor and decelerator connection and
Into servomotor and decelerator are standard component, and easy for installation, cost is low.
6th, the utility model, the first slave arm, the second slave arm and the 3rd slave arm are two, and two first driven
Rectangle frame is fixedly connected between arm, the link that cross section is in I-shaped is fixedly connected between two second slave arms,
The fixed mount that cross section is in " X " type is fixedly connected between two the 3rd slave arms, it is possible to increase whole three-freedom parallel
The structural strength and bearing capacity of device people, it is easy to capture heavier object；By setting rectangle frame between two first slave arms,
The link of I-shaped is set between two second slave arms, the fixed mount of " X " type, profit are set between two the 3rd slave arms
Stability when moving platform motion is ensured, effectively improve the efficiency of pick-and-place object.
7th, the utility model, the first locating rod, the second locating rod and the 3rd locating rod, the first master are hinged with silent flatform
The first crank is hinged with swing arm, the second crank is hinged with the second master arm, the 3rd crank is hinged with the 3rd master arm, the
A positioning rod is hinged with the first crank, and the second locating rod is hinged with the second crank, and the 3rd locating rod is hinged with the 3rd crank, is passed through
The cooperation of crank, locating rod, stability during moving platform motion can be further ensured that, so as to effectively improve pick-and-place object
Accuracy.
8th, the utility model, the bottom of silent flatform are provided with support pedestal, support and are provided with groove on pedestal, silent flatform
In bottom insertion groove, support and rubber blanket is bonded with the lower surface of pedestal, silent flatform can be made to be stably fixed to branch support group
On seat, by the adhesive rubber pad on the lower surface of support pedestal, when silent flatform is fixedly mounted, can increasing friction force, it is anti-
Slip is only produced after silent flatform long-term use, beneficial to the use reliability for ensureing whole 3-dof parallel robot and stably
Property.
Brief description of the drawings
The utility model is described in further detail below in conjunction with specification drawings and specific embodiments, its
In：
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of the utility model embodiment 4；
Fig. 3 is the left view of 3-dof parallel robot in the utility model embodiment 4；
Marked in figure：1st, moving platform, 2, silent flatform, 3, actuator one, 4, actuator two, 5, actuator three, 6, first lead
Swing arm, the 7, first slave arm, the 8, second master arm, the 9, second slave arm, the 10, the 3rd master arm, the 11, the 3rd slave arm, 12, square
Shape frame, 13, link, 14, fixed mount, the 15, first locating rod, the 16, second locating rod, the 17, the 3rd locating rod, 18, first is bent
Handle, the 19, second crank, the 20, the 3rd crank, 21, support pedestal, 22, groove, 23, rubber blanket.
Embodiment
Embodiment 1
A kind of 3-dof parallel robot, including moving platform 1, silent flatform 2, the actuator one being fixed on silent flatform 2
3rd, actuator 24 and actuator 35, in addition to the first master arm 6, the first slave arm 7, the second master arm 8, the second slave arm 9,
3rd master arm 10 and the 3rd slave arm 11, the orthographic projection of 6 and second master arm of the first master arm 8 are on the same line or flat
OK, one end of first master arm 6 is connected with actuator 1, and the other end and the first slave arm 7 are be hinged, the second master arm 8
One end is connected with actuator 24, and the other end and the second slave arm 9 are be hinged, and one end and the actuator 35 of the 3rd master arm 10 connect
Connect, the other end and the 3rd slave arm 11 are be hinged, and first slave arm 7, the second slave arm 9 and the 3rd slave arm 11 are respectively with moving
Platform 1 is be hinged.
The present embodiment is most basic embodiment, simple in construction, and the first master arm and the second master arm orthographic projection are same
On one straight line or parallel, one end of the first master arm is connected with actuator one, and the other end is hinged with the first slave arm, and second actively
One end of arm is connected with actuator two, and the other end is hinged with the second slave arm, and one end of the 3rd master arm is connected with actuator three,
The other end is hinged with the 3rd slave arm, and the first slave arm, the second slave arm and the 3rd slave arm are hinged with moving platform respectively, more existing
For having technology 3-dof parallel robot using structure of three master arms in 120 degree of distributions, due to two master arms just
It is on the same line or parallel after projection so that in pick-and-place object, moving platform only by the active force in two rectilinear directions,
Similar to two axle parallel robots, therefore it is not easy to rock during moving platform work, can effectively ensure that the degree of accuracy of pick-and-place object, carry
The success rate of high pick-and-place object.
Embodiment 2
A kind of 3-dof parallel robot, including moving platform 1, silent flatform 2, the actuator one being fixed on silent flatform 2
3rd, actuator 24 and actuator 35, in addition to the first master arm 6, the first slave arm 7, the second master arm 8, the second slave arm 9,
3rd master arm 10 and the 3rd slave arm 11, the orthographic projection of 6 and second master arm of the first master arm 8 are on the same line or flat
OK, one end of first master arm 6 is connected with actuator 1, and the other end and the first slave arm 7 are be hinged, the second master arm 8
One end is connected with actuator 24, and the other end and the second slave arm 9 are be hinged, and one end and the actuator 35 of the 3rd master arm 10 connect
Connect, the other end and the 3rd slave arm 11 are be hinged, and first slave arm 7, the second slave arm 9 and the 3rd slave arm 11 are respectively with moving
Platform 1 is be hinged.
The actuator 1, actuator 24 and actuator 35 are located in same level.
The present embodiment is a better embodiment, and actuator one, actuator two and actuator three are located in same level,
So that 3-dof parallel robot overall structure is balanced, compact, there is good rigidity, bearing capacity is strong.
Embodiment 3
A kind of 3-dof parallel robot, including moving platform 1, silent flatform 2, the actuator one being fixed on silent flatform 2
3rd, actuator 24 and actuator 35, in addition to the first master arm 6, the first slave arm 7, the second master arm 8, the second slave arm 9,
3rd master arm 10 and the 3rd slave arm 11, the orthographic projection of 6 and second master arm of the first master arm 8 are on the same line or flat
OK, one end of first master arm 6 is connected with actuator 1, and the other end and the first slave arm 7 are be hinged, the second master arm 8
One end is connected with actuator 24, and the other end and the second slave arm 9 are be hinged, and one end and the actuator 35 of the 3rd master arm 10 connect
Connect, the other end and the 3rd slave arm 11 are be hinged, and first slave arm 7, the second slave arm 9 and the 3rd slave arm 11 are respectively with moving
Platform 1 is be hinged.
The vertical height of the actuator 35 is respectively higher than the vertical height of actuator 1 and actuator 24.
First slave arm 7 is identical with the length of the second slave arm 9, and it is driven that the length of the 3rd slave arm 11 is longer than first
The length of the slave arm 9 of arm 7 and second.
The actuator 1, actuator 24 and actuator 35 form by servomotor and decelerator connection.
The present embodiment is another better embodiment, and the vertical height of actuator three is respectively higher than actuator one and actuator
Two vertical height, silent flatform entirety center of gravity is moved up, and then make moving platform slimmer and more graceful when moving, speed is high, dynamic response
Good, pick-and-place object is more efficient.
The length of first slave arm and the second slave arm is identical, and the length of the 3rd slave arm is longer than the first slave arm and second
The length of slave arm, in pick-and-place object, the Work Space Range of whole moving platform is wider, and object is crawled rear movement locus more
To be flexible, point position is captured to object does not have considered critical, has preferable flexibility, easy to maintain.
Actuator one, actuator two and actuator three form by servomotor and decelerator connection, servomotor and subtract
Fast device is standard component, easy for installation, and cost is low.
Embodiment 4
A kind of 3-dof parallel robot, including moving platform 1, silent flatform 2, the actuator one being fixed on silent flatform 2
3rd, actuator 24 and actuator 35, in addition to the first master arm 6, the first slave arm 7, the second master arm 8, the second slave arm 9,
3rd master arm 10 and the 3rd slave arm 11, the orthographic projection of 6 and second master arm of the first master arm 8 are on the same line or flat
OK, one end of first master arm 6 is connected with actuator 1, and the other end and the first slave arm 7 are be hinged, the second master arm 8
One end is connected with actuator 24, and the other end and the second slave arm 9 are be hinged, and one end and the actuator 35 of the 3rd master arm 10 connect
Connect, the other end and the 3rd slave arm 11 are be hinged, and first slave arm 7, the second slave arm 9 and the 3rd slave arm 11 are respectively with moving
Platform 1 is be hinged.
The vertical height of the actuator 35 is respectively higher than the vertical height of actuator 1 and actuator 24.
First slave arm 7 is identical with the length of the second slave arm 9, and it is driven that the length of the 3rd slave arm 11 is longer than first
The length of the slave arm 9 of arm 7 and second.
The actuator 1, actuator 24 and actuator 35 form by servomotor and decelerator connection.
First slave arm 7, the second slave arm 9 and the 3rd slave arm 11 are two, between two first slave arms 7
Be fixedly connected with rectangle frame 12, be fixedly connected between two second slave arms 9 cross section be in I-shaped link 13, two
The fixed mount 14 that cross section is in " X " type is fixedly connected between the slave arm 11 of root the 3rd.
The first locating rod 15, the second locating rod 16 and the 3rd locating rod 17, the first master arm are hinged with the silent flatform 2
The first crank 18 is hinged with 6, the second crank 19 is hinged with the second master arm 8, it is bent that the 3rd is hinged with the 3rd master arm 10
Handle 20, the first locating rod 15 and the first crank 18 are be hinged, and the second locating rod 16 is be hinged with the second crank 19, the 3rd locating rod 17 and
3rd crank 20 is be hinged.
The bottom of the silent flatform 2 is provided with support pedestal 21, supports and is provided with groove 22, the bottom of silent flatform 2 on pedestal 21
In portion's insertion groove 22, support and be bonded with rubber blanket 23 on the lower surface of pedestal 21.
The present embodiment is preferred forms, and the first slave arm, the second slave arm and the 3rd slave arm are two, two
Rectangle frame is fixedly connected between first slave arm, cross section is fixedly connected between two second slave arms in I-shaped
Link, the fixed mount that cross section is in " X " type is fixedly connected between two the 3rd slave arms, it is possible to increase whole Three Degree Of Freedom
The structural strength and bearing capacity of parallel robot, it is easy to capture heavier object；By being set between two first slave arms
Rectangle frame, the link of I-shaped is set between two second slave arms, consolidating for " X " type is set between two the 3rd slave arms
Determine frame, beneficial to stability when ensureing moving platform motion, effectively improve the efficiency of pick-and-place object.
The first locating rod, the second locating rod and the 3rd locating rod are hinged with silent flatform, is hinged with the first master arm
One crank, the second crank is hinged with the second master arm, the 3rd crank, the first locating rod and first are hinged with the 3rd master arm
Crank is hinged, and the second locating rod is hinged with the second crank, the 3rd locating rod is hinged with the 3rd crank, passes through crank, locating rod
Coordinate, stability during moving platform motion can be further ensured that, so as to effectively improve the accuracy of pick-and-place object.
The bottom of silent flatform is provided with support pedestal, supports and groove is provided with pedestal, in the bottom insertion groove of silent flatform,
Support and be bonded with rubber blanket on the lower surface of pedestal, silent flatform can be made to be stably fixed to support on pedestal, by supporting
Adhesive rubber pad on the lower surface of pedestal, when silent flatform is fixedly mounted, can increasing friction force, prevent that silent flatform is long-term use of
Slip is produced afterwards, beneficial to the use reliability and stability for ensureing whole 3-dof parallel robot.
Claims (8)
1. a kind of 3-dof parallel robot, including moving platform（1）, silent flatform（2）, be fixed on silent flatform（2）On driving
Part one（3）, actuator two（4）With actuator three（5）, it is characterised in that：Also include the first master arm（6）, the first slave arm
（7）, the second master arm（8）, the second slave arm（9）, the 3rd master arm（10）With the 3rd slave arm（11）, first master arm
（6）With the second master arm（8）Orthographic projection is on the same line or parallel, first master arm（6）One end and actuator one
（3）Connection, the other end and the first slave arm（7）It is be hinged, the second master arm（8）One end and actuator two（4）Connection, the other end
With the second slave arm（9）It is be hinged, the 3rd master arm（10）One end and actuator three（5）Connection, the other end and the 3rd slave arm
（11）It is be hinged, first slave arm（7）, the second slave arm（9）With the 3rd slave arm（11）Respectively with moving platform（1）It is be hinged.
A kind of 2. 3-dof parallel robot according to claim 1, it is characterised in that：The actuator one（3）, drive
Moving part two（4）With actuator three（5）In same level.
A kind of 3. 3-dof parallel robot according to claim 1, it is characterised in that：The actuator three（5）'s
Vertical height is respectively higher than actuator one（3）With actuator two（4）Vertical height.
A kind of 4. 3-dof parallel robot according to claim 1, it is characterised in that：First slave arm（7）
With the second slave arm（9）Length it is identical, the 3rd slave arm（11）Length be longer than the first slave arm（7）With the second slave arm
（9）Length.
A kind of 5. 3-dof parallel robot according to claim 1, it is characterised in that：The actuator one（3）, drive
Moving part two（4）With actuator three（5）Formed by servomotor and decelerator connection.
A kind of 6. 3-dof parallel robot according to claim 1, it is characterised in that：First slave arm（7）、
Second slave arm（9）With the 3rd slave arm（11）It is two, two first slave arms（7）Between be fixedly connected with rectangle frame
（12）, two second slave arms（9）Between be fixedly connected with cross section be in I-shaped link（13）, two the 3rd driven
Arm（11）Between be fixedly connected with cross section be in " X " type fixed mount（14）.
A kind of 7. 3-dof parallel robot according to claim 1 or 6, it is characterised in that：The silent flatform（2）On
It is hinged with the first locating rod（15）, the second locating rod（16）With the 3rd locating rod（17）, the first master arm（6）On be hinged with first
Crank（18）, the second master arm（8）On be hinged with the second crank（19）, the 3rd master arm（10）On be hinged with the 3rd crank
（20）, the first locating rod（15）With the first crank（18）It is be hinged, the second locating rod（16）With the second crank（19）Be hinged, the 3rd is fixed
Position bar（17）With the 3rd crank（20）It is be hinged.
A kind of 8. 3-dof parallel robot according to claim 1, it is characterised in that：The silent flatform（2）Bottom
Portion is provided with support pedestal（21）, support pedestal（21）On be provided with groove（22）, silent flatform（2）Bottom insertion groove（22）
It is interior, support pedestal（21）Lower surface on be bonded with rubber blanket（23）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720770809.1U CN206869873U (en) | 2017-06-29 | 2017-06-29 | A kind of 3-dof parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720770809.1U CN206869873U (en) | 2017-06-29 | 2017-06-29 | A kind of 3-dof parallel robot |
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| Publication Number | Publication Date |
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| CN206869873U true CN206869873U (en) | 2018-01-12 |
Family
ID=61331199
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| CN201720770809.1U Expired - Fee Related CN206869873U (en) | 2017-06-29 | 2017-06-29 | A kind of 3-dof parallel robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850259A (en) * | 2018-12-21 | 2019-06-07 | 广东赛德英斯智能装备有限公司 | The soft touching gripping-type article packaging facilities of one kind and its packing method |
| CN110340876A (en) * | 2019-08-13 | 2019-10-18 | 唐山市德丰机械设备有限公司 | A kind of coal gangues automation selection parallel flexible Three Degree Of Freedom robot |
| CN113478461A (en) * | 2021-07-06 | 2021-10-08 | 广州市新豪精密科技有限公司 | Three-degree-of-freedom parallel robot and modeling method thereof |
| CN113500583A (en) * | 2021-07-06 | 2021-10-15 | 广州市新豪精密科技有限公司 | Three-degree-of-freedom parallel robot and calibration method thereof |
-
2017
- 2017-06-29 CN CN201720770809.1U patent/CN206869873U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850259A (en) * | 2018-12-21 | 2019-06-07 | 广东赛德英斯智能装备有限公司 | The soft touching gripping-type article packaging facilities of one kind and its packing method |
| CN110340876A (en) * | 2019-08-13 | 2019-10-18 | 唐山市德丰机械设备有限公司 | A kind of coal gangues automation selection parallel flexible Three Degree Of Freedom robot |
| CN113478461A (en) * | 2021-07-06 | 2021-10-08 | 广州市新豪精密科技有限公司 | Three-degree-of-freedom parallel robot and modeling method thereof |
| CN113500583A (en) * | 2021-07-06 | 2021-10-15 | 广州市新豪精密科技有限公司 | Three-degree-of-freedom parallel robot and calibration method thereof |
| CN113478461B (en) * | 2021-07-06 | 2022-11-18 | 广州市新豪精密科技有限公司 | Three-degree-of-freedom parallel robot and modeling method thereof |
| CN113500583B (en) * | 2021-07-06 | 2023-02-28 | 广州市新豪精密科技有限公司 | Three-degree-of-freedom parallel robot and calibration method thereof |
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