CN209440147U - A kind of four-degree-of-freedparallel parallel manipulator - Google Patents
A kind of four-degree-of-freedparallel parallel manipulator Download PDFInfo
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Abstract
The utility model discloses a kind of four-degree-of-freedparallel parallel manipulators, including fixed platform, moving platform, three branches, three branches to be made of complicated branch I, simple branch II, simple branch III；By three branch chain links, the compound motion of three branches constitutes the output campaign of moving platform for the fixed platform, moving platform.The utility model constructs parallel manipulator using a complicated branch and two simple branch chain link moving platforms and fixed platform based on orientative feature collection theory, the structure is simple, it is easily controllable, it is able to achieve the movement of space bidimensional and bidimensional rotation, it can be used for industry complex-curved processing and weld job, it is a kind of novel parallel manipulator, help can be provided for processing and manufacturing.
Description
Technical field
The utility model relates to a kind of four-degree-of-freedparallel parallel manipulators, belong to parallel robot technical field.
Background technique
At present to the comprehensive aspect of parallel institution, domestic and foreign scholars are made that huge contribution, however most machines
Structure is instantaneous mechanism, can lack which results in the freedom degree of mechanism during the motion, mechanism and either increase, and which results in need
The temporal properties of mechanism freedom are differentiated, this seriously inhibits the development in terms of theory of mechanisms.
In present industrial circle, it is not necessarily to have space three-dimensional translation and three-dimensional turn in some special occasions
Dynamic mechanism in six degree of freedom, because control is more complicated for such mechanism, manufacture processing is also inconvenient.Such as in a certain height in space
Goods and materials be moved to another place, the machinery of such occasion four freedom degrees in fact from a place in a plane
Hand is sufficient.Therefore, such also for increasing in order to meet the needs of specific occasion is to two two rotating parallel tool hands of translation
The configuration library of mechanism, to be referred to for designer, it is necessary to propose a kind of Novel four-degree-of-freedparallel parallel manipulator.
Summary of the invention
The utility model provides a kind of four-degree-of-freedparallel parallel manipulator, and by three branch chain links, dynamic, fixed platform is constructed
Parallel institution can be realized the movement of space bidimensional and bidimensional rotation.
The technical solution of the utility model is: a kind of four-degree-of-freedparallel parallel manipulator, including fixed platform N, moving platform M, three
Branch, three branches are made of complicated branch I, simple branch II, simple branch III；
The fixed platform N, moving platform M constitute moving platform M's by three branch chain links, the compound motion of three branches
Output movement；
The complexity branch I generates the effect of bidimensional movement and bidimensional rotation to moving platform M；
The simple branch II is the serial chain for being able to achieve the movement of space 6DOF, is not generated about to moving platform M movement
Beam；
The simple branch III is the serial chain for being able to achieve the movement of space 6DOF, is not generated about to moving platform M movement
Beam；
The structure that the simple branch II uses is identical as simple branch III.
The moving platform M is configured using arbitrary triangle form；Fixed platform N is configured using arbitrary form.
Described complexity I one end of branch is connect with mono- welded corner joint of moving platform M, simple branch II, III one end of simple branch
Kinematic pair is connect with other two angle of moving platform M respectively, three branches of complicated I other end of branch, II other end of simple branch,
The kinematic pair of III other end of simple branch is connect with fixed platform N respectively, the kinematic pair connection of three branches of complicated I other end of branch
Fixed platform N constitute a right angled triangle, the kinematic pair connection of simple II other end of branch, III other end of simple branch
Any position fixed platform N, three branches are non-intersecting.
One end that three articles of branch one end connecting with three angles of moving platform M are respectively as follows: complicated branch I is the 8th connecting rod
8, simple branch II, III one end of simple branch are ball pair or Hooke's hinge；The complicated branch that with fixed platform N connect secondary as driving
I branch of the other end three, II other end of simple branch, III other end of simple branch kinematic pair are as follows: complicated I other end three of branch
The kinematic pair of a branch be revolute pair or prismatic pair, simple branch II, III other end of simple branch kinematic pair be revolute pair or
Prismatic pair.
The complexity branch I is made of sub- parallel institution X, Hooke's hinge U, the 7th connecting rod 7, the 8th connecting rod 8；Wherein,
One end of sub- parallel institution X is connect with fixed platform N, and the sub- parallel institution X other end passes through the 7th connecting rod 7 and the one end Hooke's hinge U
Connection, the Hooke's hinge U other end are connect by the 8th connecting rod 8 with a welded corner joint of moving platform M.
The sub- parallel institution X is made of complicated branch E, simple branch F, simple branch G, sub- moving platform P, sub- moving platform
P is right angled triangle；Wherein complicated branch E, simple branch F, the one end simple branch G kinematic pair and fixed platform N constitute it is straight
The connection of angle three sides of a triangle, tri- complicated branch E, simple branch F, the simple branch G other end and sub- moving platform P sides connect
It connects, sub- moving platform P is connect with the 7th connecting rod 7, and complicated branch E, simple branch F, simple branch G mutually disjoint, complicated branch E
The movement secondary axis that kinematic pair, the simple branch G connecting with fixed platform N are connect with fixed platform N is vertical and two kinematic pairs connect
Right angled triangle two sides be right-angle side.
The parallelogram mechanism that the complexity branch E is made of 2, four first connecting rod 1, the second connecting rod revolute pairs
ABCD, revolute pair R11, revolute pair R12, revolute pair R13 composition；Wherein 1 one end of first connecting rod passes through revolute pair R11 and allocates
Platform N connection, 1 other end of first connecting rod are connect by revolute pair R12 with parallelogram mechanism ABCD a line midpoint, in parallel
Another opposite side midpoint on quadrangular mechanism this of ABCD side is connect by revolute pair R13 with 2 one end of the second connecting rod, the second connection
2 other end of bar is directly welded on the side of sub- moving platform P, and the end output movement of complexity branch E is three-dimensional mobile and one-dimensional
Rotation；
The simple branch F is made of revolute pair R31, ball secondary S32, ball secondary S33, third connecting rod 3, the 4th connecting rod 4；
Wherein one end of third connecting rod 3 is connect by revolute pair R31 with fixed platform N, and 3 other end of third connecting rod passes through ball secondary S32
It is connect with 4 one end of the 4th connecting rod, the other end of the 4th connecting rod 4 is connect by ball secondary S33 with the side sub- moving platform P, this is simple
Branch F is no constrained motion chain, and the freedom degree of end output is 6；
The simple branch G is by revolute pair R21, revolute pair R22, revolute pair R23, the 5th connecting rod 5, the 6th connecting rod 6
Composition；Wherein one end of the 5th connecting rod 5 is connect by revolute pair R21 with fixed platform N, and 5 other end of the 5th connecting rod is by turning
Dynamic secondary R22 is connect with 6 one end of the 6th connecting rod, and the other end of the 6th connecting rod 6 is connected by revolute pair R23 and the side sub- moving platform P
It connects, the movement of the end simple branch G output is bidimensional movement and one-dimensional rotation；
Revolute pair R11, revolute pair R21, revolute pair R31 as driving pair can be replaced by prismatic pair；Revolute pair R11, turn
Dynamic secondary R12, the axis of revolute pair R13 are parallel, and revolute pair R21, revolute pair R22, the axis of revolute pair R23 are parallel.
The simple branch II is by revolute pair R51, ball secondary S52, ball secondary S53, the 11st connecting rod 11, the 12nd connecting rod
12 compositions；Wherein, 11 one end of the 11st connecting rod is connect by revolute pair R51 with fixed platform N, 11 other end of the 11st connecting rod
It is connect by ball secondary S52 with 12 one end of the 12nd connecting rod, 12 other end of the 12nd connecting rod passes through ball secondary S53 and moving platform M
Angle connection；
The revolute pair R51 secondary as driving can be replaced using prismatic pair, so that the branch is PSS structure, the work of the mechanism
It is of equal value with effect and RSS branch function and effect；Ball secondary S53 can be replaced by Hooke's hinge.
The simple branch III is by revolute pair R41, ball secondary S42, ball secondary S43, the 9th connecting rod 9,10 groups of the tenth connecting rod
At；Wherein, 9 one end of the 9th connecting rod is connect by revolute pair R41 with fixed platform N, and 9 other end of the 9th connecting rod passes through ball pair
S42 is connect with 10 one end of the tenth connecting rod, and the other end of the tenth connecting rod 10 is connect by ball secondary S43 with the angle of moving platform M；
The revolute pair R41 secondary as driving can be replaced using prismatic pair, so that the branch is PSS structure, the work of the mechanism
It is of equal value with effect and RSS branch function and effect；Ball secondary S43 can be replaced by Hooke's hinge.
The beneficial effects of the utility model are: the utility model be based on orientative feature collection theory using a complicated branch and
Two simple branch chain link moving platforms and fixed platform construct parallel manipulator, and the structure is simple, easily controllable, are able to achieve space
Bidimensional is mobile and bidimensional rotates, and can be used for industry complex-curved processing and weld job, is a kind of novel parallel manipulator,
Help can be provided for processing and manufacturing.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Each label in figure are as follows: N- fixed platform, M- moving platform, P- moving platform, X- parallel institution, U- Hooke's hinge, 1-
One connecting rod, the second connecting rod of 2-, 3- third connecting rod, the 4th connecting rod of 4-, the 5th connecting rod of 5-, the 6th connecting rod of 6-, 7-
7th connecting rod, the 8th connecting rod of 8-, the 9th connecting rod of 9-, the tenth connecting rod of 10-, the 11st connecting rod of 11-, 12- the 12nd
Connecting rod, Rij- revolute pair, Sij- ball are secondary, ij indicates subscript.
Specific embodiment
With reference to the accompanying drawings and examples, the utility model is described in further detail, but the content of the utility model is not
It is limited to the range.
Embodiment 1: as shown in Figure 1, a kind of four-degree-of-freedparallel parallel manipulator, including fixed platform N, moving platform M, three branch
Chain, three branches are made of complicated branch I, simple branch II, simple branch III；The fixed platform N, moving platform M pass through three
Branch chain link, the compound motion of three branches constitute the output campaign of moving platform M；The complexity branch I generates moving platform M
The mobile effect with bidimensional rotation of bidimensional；The simple branch II is the serial chain for being able to achieve the movement of space 6DOF, not to dynamic
Platform M movement generates constraint；The simple branch III is the serial chain for being able to achieve the movement of space 6DOF, is not transported to moving platform M
The raw constraint of movable property；The structure that the simple branch II uses is identical as simple branch III.
(such as acute triangle, obtuse angle are configured it is possible to further which the moving platform M is arranged using arbitrary triangle form
Triangle, right angled triangle etc.)；Fixed platform N is configured using arbitrary form.
It is connect it is possible to further which described complicated I one end of branch is arranged with mono- welded corner joint of moving platform M, simple branch II,
The kinematic pair of simple III one end of branch is connect with other two angle of moving platform M respectively, three branches of complicated I other end of branch,
Simple II other end of branch, III other end of simple branch kinematic pair connect respectively with fixed platform N, complicated I other end three of branch
The fixed platform N of the kinematic pair connection of a branch constitutes a right angled triangle, and simple II other end of branch, simple branch III are another
Any position fixed platform N of the kinematic pair connection of one end, three branches are non-intersecting.
It is respectively as follows: complicated branch I it is possible to further which three branch one end connecting with three angles of moving platform M are arranged
One end be the 8th connecting rod 8, simple branch II, III one end of simple branch are that ball is secondary or Hooke's hinge；As driving it is secondary with it is fixed
I other end of complicated branch, three branches of platform N connection, II other end of simple branch, III other end of simple branch kinematic pair
Are as follows: the kinematic pair of complicated I three branches of the other end of branch is revolute pair or prismatic pair, and simple branch II, simple branch III are another
The kinematic pair at end is revolute pair or prismatic pair.
It is possible to further which the complicated branch I is arranged by sub- parallel institution X, Hooke's hinge U, the 7th connecting rod the 7, the 8th
Connecting rod 8 is constituted；Wherein, one end of sub- parallel institution X is connect with fixed platform N, and the sub- parallel institution X other end passes through the 7th connection
Bar 7 is connect with the one end Hooke's hinge U, and the Hooke's hinge U other end is connect by the 8th connecting rod 8 with a welded corner joint of moving platform M.
It is dynamic by complicated branch E, simple branch F, simple branch G, son it is possible to further which the sub- parallel institution X is arranged
Platform P composition, sub- moving platform P are right angled triangle；Wherein complicated branch E, simple branch F, the one end simple branch G kinematic pair
It is connect with three sides of the fixed platform N right angled triangle constituted, complicated branch E, simple branch F, the simple branch G other end and son
Tri- side connections of moving platform P, sub- moving platform P are connect with the 7th connecting rod 7, and complicated branch E, simple branch F, simple branch G are mutual
Non-intersecting, the movement secondary axis that kinematic pair that complicated branch E is connect with fixed platform N, simple branch G are connect with fixed platform N is vertical
And two sides of the right angled triangle of two kinematic pairs connection are right-angle side (i.e. R11, R12 axis is vertical).
It is possible to further which the complexity branch E is arranged by 2, four first connecting rod 1, the second connecting rod revolute pair structures
At parallelogram mechanism ABCD, revolute pair R11, revolute pair R12, revolute pair R13 composition；Wherein 1 one end of first connecting rod
It is connect by revolute pair R11 with fixed platform N, 1 other end of first connecting rod passes through revolute pair R12 and parallelogram mechanism ABCD
The midpoint another opposite side AB of the connection of the midpoint a line CD, parallelogram mechanism this of ABCD side passes through revolute pair R13 and second
The connection of 2 one end of connecting rod, 2 other end of the second connecting rod are directly welded on the side of sub- moving platform P, the end of complexity branch E
Output movement is three-dimensional movement and one-dimensional rotation；The simple branch F is connected by revolute pair R31, ball secondary S32, ball secondary S33, third
Extension bar 3, the 4th connecting rod 4 composition；Wherein one end of third connecting rod 3 is connect by revolute pair R31 with fixed platform N, and third connects
3 other end of extension bar connect by ball secondary S32 with 4 one end of the 4th connecting rod, the other end of the 4th connecting rod 4 pass through ball secondary S33 and
The connection of the side sub- moving platform P, the simple branch F are no constrained motion chain, and the freedom degree of end output is 6；The simple branch G by
Revolute pair R21, revolute pair R22, revolute pair R23, the 5th connecting rod 5, the 6th connecting rod 6 composition；Wherein the one of the 5th connecting rod 5
End is connect by revolute pair R21 with fixed platform N, and 5 other end of the 5th connecting rod passes through 6 one end revolute pair R22 and the 6th connecting rod
The other end of connection, the 6th connecting rod 6 is connect by revolute pair R23 with the side sub- moving platform P, the end simple branch G output
Movement is bidimensional movement and one-dimensional rotation；Revolute pair R11, revolute pair R21, revolute pair R31 as driving pair can be by prismatic pairs
Instead of (when revolute pair R11, revolute pair R21 are changed to prismatic pair, also needing to guarantee that its axis is vertical)；Revolute pair R11, turn
Dynamic secondary R12, the axis of revolute pair R13 are parallel, and revolute pair R21, revolute pair R22, the axis of revolute pair R23 are parallel.
It is possible to further which the simple branch II is arranged by revolute pair R51, ball secondary S52, ball secondary S53, the 11st connection
Bar 11, the 12nd connecting rod 12 composition；Wherein, 11 one end of the 11st connecting rod is connect by revolute pair R51 with fixed platform N, the
11 connecting rod, 11 other end is connect by ball secondary S52 with 12 one end of the 12nd connecting rod, and 12 other end of the 12nd connecting rod is logical
Ball secondary S53 is crossed to connect with the angle of moving platform M；The revolute pair R51 secondary as driving can be replaced using prismatic pair, so that the branch is
PSS structure, the function and effect and RSS branch function and effect of the mechanism are of equal value；Ball secondary S53 can be replaced by Hooke's hinge.
It is possible to further which the simple branch III is arranged by revolute pair R41, ball secondary S42, ball secondary S43, the 9th connecting rod
9, the tenth connecting rod 10 forms；Wherein, 9 one end of the 9th connecting rod is connect by revolute pair R41 with fixed platform N, the 9th connecting rod 9
The other end is connect by ball secondary S42 with 10 one end of the tenth connecting rod, and the other end of the tenth connecting rod 10 by ball secondary S43 and moves flat
The angle of platform M connects；The revolute pair R41 secondary as driving can be replaced using prismatic pair, so that the branch is PSS structure, the mechanism
Function and effect and RSS branch function and effect it is of equal value；Ball secondary S43 can be replaced by Hooke's hinge.
The working principle of the utility model is:
The mechanism is that bidimensional is mobile because of the output campaign of the sub- moving platform P of the sub- parallel institution X in complicated branch I,
Connected the Hooke's hinge U of two-dimensional rotary on the basis of this, therefore the complexity I can export that space bidimensional is mobile and bidimensional rotation
(2T2R).When simple branch IV is as simple V structure of branch, then effect is the same, their effect is to improve parallel institution
Strength and stiffness, and make the revolute pair of fixed platform bottom as driving input.Complicated branch I, simple branch II and simple
Branch III seeks common ground, and is still bidimensional movement and bidimensional rotating mechanism.
The specific embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the utility model is not
Be limited to above embodiment, within the knowledge of a person skilled in the art, can also do not depart from it is practical
Various changes can be made under the premise of novel objective.
Claims (9)
1. a kind of four-degree-of-freedparallel parallel manipulator, it is characterised in that: including fixed platform (N), moving platform (M), three branches, three
Branch is made of complicated branch I, simple branch II, simple branch III；
By three branch chain links, the compound motion of three branches constitutes moving platform (M) for the fixed platform (N), moving platform (M)
Output campaign；
The complexity branch I generates the mobile effect with bidimensional rotation of bidimensional to moving platform (M)；
The simple branch II is the serial chain for being able to achieve the movement of space 6DOF, does not move to moving platform (M) and generates constraint；
The simple branch III is the serial chain for being able to achieve the movement of space 6DOF, does not move to moving platform (M) and generates constraint；
The structure that the simple branch II uses is identical as simple branch III.
2. four-degree-of-freedparallel parallel manipulator according to claim 1, it is characterised in that: the moving platform (M) is using any
Triangular form configuration；Fixed platform (N) is configured using arbitrary form.
3. four-degree-of-freedparallel parallel manipulator according to claim 1, it is characterised in that: described complexity I one end of branch and dynamic
Platform (M) welded corner joint connection, simple branch II, III one end of simple branch kinematic pair respectively with moving platform (M) in addition
The connection of two angles, three branches of complicated I other end of branch, II other end of simple branch, III other end of simple branch kinematic pair
It is connect respectively with fixed platform (N), the fixed platform (N) of the kinematic pair connection of three branches of complicated I other end of branch constitutes one
Right angled triangle, simple II other end of branch, III other end of simple branch kinematic pair connection any position fixed platform (N),
Three branches are non-intersecting.
4. four-degree-of-freedparallel parallel manipulator according to claim 3, it is characterised in that: connect with three angles of moving platform (M)
One end that the three articles of branch one end connect are respectively as follows: complicated branch I is the 8th connecting rod (8), simple branch II, simple branch III 1
End is ball pair or Hooke's hinge；I other end of complicated branch, three branches being connect with fixed platform (N), simple branch as driving pair
The kinematic pair of II other end of chain, III other end of simple branch are as follows: the kinematic pair of complicated I three branches of the other end of branch is revolute pair
Or prismatic pair, simple branch II, III other end of simple branch kinematic pair be revolute pair or prismatic pair.
5. four-degree-of-freedparallel parallel manipulator according to claim 1, it is characterised in that: the complexity branch I is by sub in parallel
Mechanism (X), Hooke's hinge (U), the 7th connecting rod (7), the 8th connecting rod (8) are constituted；Wherein, one end of sub- parallel institution (X) with
Fixed platform (N) connection, sub- parallel institution (X) other end are connect by the 7th connecting rod (7) with the one end Hooke's hinge (U), Hooke's hinge
(U) other end is connect by the 8th connecting rod (8) with a welded corner joint of moving platform (M).
6. four-degree-of-freedparallel parallel manipulator according to claim 5, it is characterised in that: the sub- parallel institution (X) is by multiple
Miscellaneous branch E, simple branch F, simple branch G, sub- moving platform (P) composition, sub- moving platform (P) are right angled triangle；It is wherein complicated
Branch E, simple branch F, three sides of right angled triangle that the kinematic pair and fixed platform (N) of the one end simple branch G are constituted are connect,
Complicated branch E, simple branch F, the simple branch G other end are connect with three sides of sub- moving platform (P), sub- moving platform (P) and the 7th
Connecting rod (7) connection, complicated branch E, simple branch F, simple branch G mutually disjoint, and complicated branch E is connect with fixed platform (N)
Kinematic pair, the movement right angled triangle that secondary axis is vertical and two kinematic pairs connect that is connect with fixed platform (N) of simple branch G
Two sides be right-angle side.
7. four-degree-of-freedparallel parallel manipulator according to claim 6, it is characterised in that: the complexity branch E is connected by first
Parallelogram mechanism ABCD that extension bar (1), the second connecting rod (2), four revolute pairs are constituted, revolute pair R11, revolute pair R12,
Revolute pair R13 composition；Wherein first connecting rod (1) one end is connect by revolute pair R11 with fixed platform (N), first connecting rod (1)
The other end is connect by revolute pair R12 with parallelogram mechanism ABCD a line midpoint, parallelogram mechanism ABCD this
Another opposite side midpoint on side is connect by revolute pair R13 with the second connecting rod (2) one end, and the second connecting rod (2) other end is direct
It is welded on the side of sub- moving platform (P), the end output movement of complexity branch E is three-dimensional movement and one-dimensional rotation；
The simple branch F is made of revolute pair R31, ball secondary S32, ball secondary S33, third connecting rod (3), the 4th connecting rod (4)；
Wherein one end of third connecting rod (3) is connect by revolute pair R31 with fixed platform (N), and third connecting rod (3) other end passes through ball
Secondary S32 is connect with the 4th connecting rod (4) one end, and the other end of the 4th connecting rod (4) passes through ball secondary S33 and the side sub- moving platform (P)
Connection, the simple branch F are no constrained motion chain, and the freedom degree of end output is 6；
The simple branch G is by revolute pair R21, revolute pair R22, revolute pair R23, the 5th connecting rod (5), the 6th connecting rod (6)
Composition；Wherein one end of the 5th connecting rod (5) is connect by revolute pair R21 with fixed platform (N), the 5th connecting rod (5) other end
It is connect by revolute pair R22 with the 6th connecting rod (6) one end, the other end of the 6th connecting rod (6) is dynamic by revolute pair R23 and son
The connection of the platform side (P), the movement of the end simple branch G output are bidimensional movement and one-dimensional rotation；
Revolute pair R11, revolute pair R21, revolute pair R31 as driving pair can be replaced by prismatic pair；Revolute pair R11, revolute pair
R12, the axis of revolute pair R13 are parallel, and revolute pair R21, revolute pair R22, the axis of revolute pair R23 are parallel.
8. four-degree-of-freedparallel parallel manipulator according to claim 1, it is characterised in that: the simple branch II is by revolute pair
R51, ball secondary S52, ball secondary S53, the 11st connecting rod (11), the 12nd connecting rod (12) composition；Wherein, the 11st connecting rod
(11) one end is connect by revolute pair R51 with fixed platform (N), and the 11st connecting rod (11) other end passes through ball secondary S52 and the tenth
The connection of two connecting rods (12) one end, the 12nd connecting rod (12) other end are connect by ball secondary S53 with the angle of moving platform (M)；
The revolute pair R51 secondary as driving can be replaced using prismatic pair, so that the branch is PSS structure, the effect of the PSS structure
Effect and RSS branch function and effect are of equal value；Ball secondary S53 can be replaced by Hooke's hinge.
9. four-degree-of-freedparallel parallel manipulator according to claim 1, it is characterised in that: the simple branch III is by revolute pair
R41, ball secondary S42, ball secondary S43, the 9th connecting rod (9), the tenth connecting rod (10) composition；Wherein, the 9th connecting rod (9) one end is logical
It crosses revolute pair R41 to connect with fixed platform (N), the 9th connecting rod (9) other end passes through ball secondary S42 and the tenth connecting rod (10) one end
The other end of connection, the tenth connecting rod (10) is connect by ball secondary S43 with the angle of moving platform (M)；
The revolute pair R41 secondary as driving can be replaced using prismatic pair, so that the branch is PSS structure, the effect of the PSS structure
Effect and RSS branch function and effect are of equal value；Ball secondary S43 can be replaced by Hooke's hinge.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109278026A (en) * | 2018-11-06 | 2019-01-29 | 昆明理工大学 | A kind of four-degree-of-freedparallel parallel manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278026A (en) * | 2018-11-06 | 2019-01-29 | 昆明理工大学 | A kind of four-degree-of-freedparallel parallel manipulator |
| CN109278026B (en) * | 2018-11-06 | 2024-03-08 | 昆明理工大学 | Four-degree-of-freedom parallel manipulator |
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