GB2465450A - A translation and rotation feeding component of asymmetric and linear driving - Google Patents

A translation and rotation feeding component of asymmetric and linear driving Download PDF

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Publication number
GB2465450A
GB2465450A GB0915739A GB0915739A GB2465450A GB 2465450 A GB2465450 A GB 2465450A GB 0915739 A GB0915739 A GB 0915739A GB 0915739 A GB0915739 A GB 0915739A GB 2465450 A GB2465450 A GB 2465450A
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GB
United Kingdom
Prior art keywords
linear
platform
branched chain
moving platform
sliding table
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
GB0915739A
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GB0915739D0 (en
Inventor
Qiang Liu
Wenjing Wu
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Beihang University
Original Assignee
Beihang University
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Filing date
Publication date
Application filed by Beihang University filed Critical Beihang University
Publication of GB0915739D0 publication Critical patent/GB0915739D0/en
Publication of GB2465450A publication Critical patent/GB2465450A/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
    • B23Q1/4857—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair followed perpendicularly by a single rotating pair

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Machine Tool Units (AREA)
  • Transmission Devices (AREA)

Abstract

A translation and rotation feeding component of asymmetric and linear driving includes a static platform (1), a dynamic platform (2), and two chains that is a main branched chain (3) and an accessory branched chain (4). The static platform (1) is a base. The dynamic platform (2) is a movement output element on which is installed an end executor. A linear sliding-guide (11) of the main branched chain (3) is installed on the static platform (1). A sliding platform (10) is installed on the sliding-guide (11). A circular bearing bracket (12) is fixed on the sliding platform (10). A circular bearing (13) is installed on the circular bearing bracket (12). A linear drive system (7) is installed between the static platform (1) and the sliding platform (10). A branched linear sliding-guide (18) of the branched chain (4) is installed on the static platform (1). A branched sliding platform (17) is installed on the branched sliding-guide (18). A hinge bracket (19) is fixed on the branched sliding platform (17). At both ends of a connecting rod (20) are connected to hinge connections (21), one of which is connected to the hinge bracket (19) and the other is connected to the dynamic platformn (2). A branched linear drive system (14) being installed between the static platformn (1) and the branched sliding platform (17) provides driving force for the branched sliding platform (17). The dynamic platform (2) can perform translation and rotation driven by the linear drive system (7) and the branched sliding platform (17).

Description

A FEEDING UNIT WITH ONE TRANSLATION AND ONE ROTATION USING
ASYMMETRICAL LINEAR DRIVE
FIELD OF THE INVENTION
The present invention relates to the field of machine tool technology. More specification, the present invention relates a feeding unit with one translation and one rotation using asymmetrical linear drive.
BACKGROUND OF THE INVENTION
Machine tool integrates kinds of function unit, such as main spindle unit, ball screw unit, rotary table, CNC system, etc, with machine bed or upright column. So the function units are important compositions of a machine tool. The main task of the machine tool manufacturer is to manufacture the machine bed and the upright column and integrate the needed function units on them. The comprehensive technology of machine tool is interdependent with the development of the technology of function units. Therefore the advancement of machine tool industry does not only depend on the researching of machine tool manufacturer itself, the innovation of function units can make a great influence on the machine tool development. Function unit is the upper course of machine tool industry, and the machine tool industry is downstream of function units.
The present invention is a two-dimensional function unit integrated in machine tool, which can make the tool table achieve a linear feed movement and a rotary movement. Considering the existing technology, the function unit that can achieve the same function is usually designed in a series style. Commonly, one motor with relevant mechanism, such as rotary motor with ball screw unit or linear motor with linear sliding guide, is used to achieve the tool table's linear motion, and another motor, normally rotary motor, is used to complete the rotary motion. The normal design proposal always has a large mechanism and inertia. So the mechanism of full machine becomes large, the dynamic performance is not very well. Another design of existing technology is to use parallel mechanism. But the parallel used in machine tools is always symmetric, that every branched chain linked with the moving platform has the same mechanism, and the moving platform is located in the geometrical center of the branched chains. Thus, the motion in every direction of the moving platform is coupled with the motions of all the branched chains, which bring much trouble in the control system design.
SUMMARY OF THE INVENTION
The object of the present invention is to provide a kind of two-dimensional function unit with one translation and one rotation that is used in CNC machine tools and to overcome the common disadvantages mentioned above using asymmetrical linear drive technology.
A preferred embodiment of the two-dimensional function unit in accordance with the present invention is characterized by a quiet platform, a moving platform, and two branched chains named main branched chain and secondary branched chain linking between the quiet platform and the moving platform.
The quiet platform in accordance with the presently preferred embodiment of the invention is characterized by, a mounting plate having relevant base used to install the branched chains, some tap holes and relevant space in the mounting plate used to install the motors and guide rail.
The moving platform in accordance with the presently preferred embodiment of the invention is characterized by, motion output of all the mechanism, with end actuator like tool, electrical spindle or rotary tool spindle, etc, junctions like hinges on the moving platform used to install every branched chains.
The main branched chain according to the present invention is a PR assembly, which has one prismatic pair and one revolute pair. The revolute pair in accordance with the present invention is implemented by the rolling bearing. Meanwhile, the prismatic pair is implemented by the linear guide system. The main branched chain in accordance with the presently preferred embodiment of the invention is characterized by, constructing with linear driving system, sliding table, bearing bracket, linear guide system and rolling bearing, the linear guide system installing on the quiet platform, the sliding table installing on the linear guide system, bearing bracket fixing on the sliding table, rolling bearing installing on the bearing bracket used to install the moving platform, linear driving system installing between the quiet platform and the sliding table to provide the driving force for the sliding table.
The linear driving system in accordance with the presented invention can be implemented by linear motor or rotary motor with the ball screw system.
The secondary branched chain according to the present invention is a PRR assembly, which has one prismatic pair implemented by linear guide system and two revolute pairs implemented by hinges. The secondary branched chain in accordance with the presently preferred embodiment of the invention is characterized by, constructing with secondary linear driving system, secondary sliding table, hinge bracket, secondary linear guide system and connecting rod, the secondary linear guide system installing on the quiet platform, the secondary sliding table installing on the secondary linear guide system, hinge bracket fixing on the secondary sliding table.
The connecting rod in accordance with the presently preferred embodiment of the invention is characterized by two hinge junctions on each end with one end linking with the hinge bracket and the other end linking with the moving platform. The secondary linear driving system in accordance with the presented invention is installed between the quiet platform and the secondary sliding table to provide driving force for the secondary sliding table, which can be implemented by linear motor or rotary motor with the ball screw system.
The linear driving system, linear guide system of the main branched chain and the secondary linear driving system, the secondary linear guide system of the secondary branched chain in accordance with the presented invention are assembled on the quiet platform. The bearing bracket of the main branched chain and the moving platform in accordance with the presented invention are linked by the rolling bearing, while the moving platform can rotate by the axis of the rolling bearing and the spin axis is through the geometry centre of the moving platform. The connecting rod of the secondary branched chain is linked with the erection joint of the moving platform. So the moving platform in accordance with the presently preferred embodiment of the invention can achieve one translation and one rotation with the drive of the two linear driving systems in the branched chains.
wherein said the linear driving system can be implemented by linear motor or rotary motor with the ball screw system.
wherein said the secondary linear driving system can be implemented by linear motor or rotary motor with the ball screw system.
wherein said the moving platform can rotate by the axis of the rolling bearing and the spin axis is through the geometry centre of the moving platform.
The presented invention of the feeding unit with one translation and one rotation using asymmetrical linear drive has many merits as follows: 1. Using asymmetrical branched chains of PR and PRR, the geometry centre of the moving platform is on the axis of revolute pairs in the branched chain PR, that the position coordinate of the moving platform is the same as the translation position coordinate of the branched chain PR, independent with the position of branched chain PRR. That is a mechanical decoupling design and propitious to design the control system.
2. Using parallel mechanism design, the two branched chain have a brief assembly, pressing transmission, low inertia and high stiffness, which can achieve high machining precision.
3. Simple kinematic link, high motion precision, high mechanical stiffness, easy to control and more practical in machine tools.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG.1 shows a three-dimensional view of the EMBODIMENT I in accordance with the present invention.
FiG.2 shows a perspective view of the main branched chain of the EMBODIMENT I in accordance with the present invention.
FiG.3 shows a perspective view of the secondary branched chain of the EMBODIMENT I in accordance with the present invention.
FIG.4 shows a three-dimensional view of the EMBODIMENT II in accordance with the present invention.
FIG.5 shows an exploded view of the EMBODIMENT II in accordance with the present invention.
FIG.6 shows a three-dimensional view of the EMBODIMENT III in accordance with the present invention.
FIG.7 shows a three-dimensional view of the EMBODIMENT IV in accordance with the present invention.
FIG.8 shows a three-dimensional view of the EMBODIMENT V in accordance with the present invention.
DETAILED DESCRIPTION OF THE INVENTION
EMBODIMENT I
Referring to FIG.1, the EMBODIMENT I in accordance with the present invention is characterized by a quiet platform 1, a moving platform 2, and two branched chains named main branched chain 3 and secondary branched chain 4 linking between the quiet platform 1 and the moving platform 2.
Referring to FIG.1, the quiet platform 1 is characterized by, a mounting plate having relevant base used to install the main branched chain 3 and secondary branched chain 4, three parallel long protuberant tables used to mount linear guide rail 11 and secondary linear guide rail 18, main motor stator 8 and secondary motor stator mounting between the three parallel long protuberant tables.
Referring to FIG.1, the moving platform 2 is characterized by, motion output of all the mechanism, mounting with electric spindle 5, with hinge connection 6 on one side face.
Referring to FIG.2, the main branched chain 3 is a PR assembly, which has one prismatic pair and one revolute pair. The revolute pair in accordance with the present invention is implemented by the rolling bearing 13. Meanwhile, the prismatic pair is implemented by the linear guide rail 11. The main branched chain 3 consists of linear driving system 7, sliding table 10, bearing bracket 12, linear guide rail 11 and rolling bearing 13. There are two linear guide rails 11 parallel mounting on the quiet platform 1. The sliding table 10 is installed on the linear guide rail 11.
The bearing bracket 12 is a h-shaped structure with bearing sockets used to install the rolling bearing 13 on the open end of h-shape. The bearing bracket 12 is fixed on the sliding tablel0. The rolling bearing 13 is installed on the bearing bracket 12 used to install the moving platform2. The linear driving system 7 is a linear motor driving system and consists of motor stator 8, motor primary 9. The motor stator 8 is mounted on the quiet platform 1 and the motor primary 9 is mounted on the lower surface of the sliding table 10. There is a small air gap between the motor stator 8 and the motor primary 9. The linear driving system 7 provides driving force for the sliding table 10 when the assembly is in working.
Referring to FIG.3, the secondary branched chain 4 according to the present invention is a PRR assembly, which has one prismatic pair implemented by secondary linear guide rail 18 and two revolute pairs implemented by hinges. The secondary branched chain 4 consists of secondary linear driving system 14, secondary sliding table 17, hinge bracket 19, secondary linear guide rail 18 and connecting rod 20. There are two secondary linear guide rails 18 parallel mounting on the quiet platform 1. The secondary sliding table 17 is mounted on the secondary linear guide rail 18. The hinge bracket 19 is fixed on the secondary sliding tablel7. The connecting rod 20 is characterized by two hinge junctions on each end with one end linking with the hinge bracket 19 and the other end linking with the moving platform 2. The secondary linear driving system 14 is a linear motor driving system and consists of secondary motor stator 15, secondary motor primary 9. The motor stator 8 is mounted on the quiet platform 1 and the motor primary 9 is mounted on the lower surface of the sliding table 10. There is a small air gap between the motor stator 8 and the motor primary 9. The linear driving system 7 provides driving force for the sliding table 10 when the assembly is in working.
Referring to FIG.1, FIG.2, FIG.3, the linear driving system 7, linear guide rail 11 of the main branched chain 3 and the secondary linear driving system 14, the secondary linear guide rail 18 of the secondary branched chain 4 in accordance with the presented invention are mounted on the quiet platform 1. The two linear guide rails 11 and the two secondary linear guide rails 18 are parallel assembled. The bearing bracket 12 of the main branched chain 3 and the moving platform 2 are linked by the rolling bearing 13, while the moving platform 2 can rotate by the axis of the rolling bearing 13 and the spin axis is through the geometry centre of the moving platform 2. The connecting rod 20 of the secondary branched chain 4 is linked with the erection joint 6 of the moving platform 2. The moving platform 2 can achieve one translation and one rotation with the drive of the linear driving system 7 and the secondary linear driving system 14.
EMBODIMENT II
Referring to FIG.4, FIG.5, the EMODIMENT II is based on EMBODIMENT I, where the linear driving system 7 and the secondary linear driving system 14 in the EMBODIMENT I is replaced by rotary motor driving system 22.
There are two sets of rotary motor driving system 22 used to drive the main branched chain 3 and secondary branched chain 4 respectively. Referring to FIG.5, the rotary motor driving system 22 consists of rotary motor 23, coupling 24, back base 25, lead screw 26, square nut 27, front base 28. The rotary motor 23 is fixed on the back base 25 by bolting. The output shaft of rotary motor 23 is linked with one end of the lead screw 26 by the coupling 24. The other end of the lead screw 26 is linked with the front base 28. The front base 28 and the back base25 are fixed on the quiet platform 1 by bolting. The square nut 27 is installed on the lead screw 26.
The square nut 27 and the lead screw 26 constitute a lead crew pair where the square nut 27 is fixed on the sliding table 10 or secondary sliding table 17.
EMBODIMENT III
The EMBODIMENT Ill modifies the type of cutter in moving platform 2 based on the EMBODIMENT I. Referring to FIG.6, the electric spindle 5 in EMBODIMENT I is replaced by lathe tool 29, that the function unit in accordance with the EMBODIMENT Ill can be equipped in turning center.
EMBODIMENT IV
The EMBODIMENT IV adds one tool in the electric spindle 5 of moving platform 2 based on the EMBODIMENT I. Referring to FIG.7, milling cutter I 30 installed on the electric spindle 5, that the function unit in accordance with the EMBODIMENT IV can be equipped in the turning-milling composite machine tools.
EMBODIMENT V
The EMBODIMENT V modifies the electric spindle 5 and the moving platform 2 based on the EMBODIMENT I. Referring to FIG.8, the moving platform 2 in EMBODIMENT I is replaced by a Y-shaped moving platform 31, and the open end of V-shaped moving platform 31 has a pendulum shaft 32 that is driven by a torque motor. A tool spindle 33 with milling cutter II 34 is fixed on the pendulum shaft 32. So the tool spindle 33 can achieve a jigging motion by the drive of the pendulum shaft 32.
The compact design of EMBODIMENT V makes the tool spindle 33 easily achieve one translation and two pendulum motion, that the EMBODIMENT V can be equipped in the Five-axis machining centers.

Claims (7)

  1. Claims: 1. A feeding unit with one translation and one rotation using asymmetrical linear drive consists of a quiet platform, a moving platform, and two branched chains named main branched chain and secondary branched chain, linking between the quiet platform and the moving platform.The quiet platform is characterized by, a mounting plate having relevant base used to install the branched chains, some tap holes and relevant space in the mounting plate used to install the motors and guide rail.The moving platform is characterized by, motion output of all the mechanism, with end actuator, junctions on the moving platform used to install every branched chain.The main branched chain consists of linear driving system, sliding table, bearing bracket, linear guide system and rolling bearing. The linear guide system is mounted on the quiet platform. The sliding table is installed on the linear guide system. The bearing bracket is fixed on the sliding table. The rolling bearing is installed on the bearing bracket used to install the moving platform. The linear driving system is installed between the quiet platform and the sliding table to provide the driving force for the sliding table.The secondary branched chain consists of secondary linear driving system, secondary sliding table, hinge bracket, secondary linear guide system and connecting rod. The secondary linear guide system is installed on the quiet platform.The secondary sliding table is installed on the secondary linear guide system. The hinge bracket is fixed on the secondary sliding table. The connecting rod is characterized by two hinge junctions on each end with one end linking with the hinge bracket and the other end linking with the moving platform. The secondary linear driving system in accordance with the presented invention is installed between the quiet platform and the secondary sliding table to provide driving force for the secondary sliding table.The linear driving system, linear guide system of the main branched chain and the secondary linear driving system, the secondary linear guide system of the secondary branched chain are assembled on the quiet platform. The bearing bracket of the main branched chain and the moving platform are linked by the rolling bearing. The connecting rod of the secondary branched chain is linked with the erection joint of the moving platform. The moving platform can achieve one translation and one rotation with the drive of the two linear driving systems in the branched chains.
  2. 2. The feeding unit with one translation and one rotation using asymmetrical linear drive of claim 1, wherein said junction on moving platform is hinge bracket.
  3. 3. The feeding unit with one translation and one rotation using asymmetrical linear drive of claim 1, wherein said the linear driving system can be implemented by linear motor.
  4. 4. The feeding unit with one translation and one rotation using asymmetrical linear drive of claim 1, wherein said the linear driving system can be implemented by rotary motor with the ball screw system.
  5. 5. The feeding unit with one translation and one rotation using asymmetrical linear drive of claim 1, wherein said the secondary linear driving system can be implemented by linear motor.
  6. 6. The feeding unit with one translation and one rotation using asymmetrical linear drive of claim 1, wherein said the secondary linear driving system can be implemented by rotary motor with the ball screw system.
  7. 7. The feeding unit with one translation and one rotation using asymmetrical linear drive of claim 1, wherein said the moving platform can rotate by the axis of the rolling bearing and the spin axis is through the geometry centre of the moving platform.
GB0915739A 2008-07-16 2008-07-16 A translation and rotation feeding component of asymmetric and linear driving Withdrawn GB2465450A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2008/001325 WO2010006466A1 (en) 2008-07-16 2008-07-16 A translation and rotation feeding component of asymmetric and linear driving

Publications (2)

Publication Number Publication Date
GB0915739D0 GB0915739D0 (en) 2009-10-07
GB2465450A true GB2465450A (en) 2010-05-26

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Application Number Title Priority Date Filing Date
GB0915739A Withdrawn GB2465450A (en) 2008-07-16 2008-07-16 A translation and rotation feeding component of asymmetric and linear driving

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WO (1) WO2010006466A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
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CN105682852A (en) * 2013-08-01 2016-06-15 格鲁博-工厂有限及两合公司 Machine tool for machining

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US8414233B2 (en) * 2006-06-19 2013-04-09 Jtekt Corporation Machine tool with turnable moving section
CN112040192B (en) * 2020-09-09 2021-12-14 广东省科学院半导体研究所 Parallel moving target vision tracking device

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ATE216939T1 (en) * 1997-10-20 2002-05-15 Hueller Hille Gmbh MACHINE TOOL FOR 3-AXIS PROCESSING OF WORKPIECES
JP3746730B2 (en) * 2002-04-24 2006-02-15 株式会社目白プレシジョン Stage equipment
WO2007004413A1 (en) * 2005-06-30 2007-01-11 Kabushiki Kaisha Yaskawa Denki Translating/turning 2-degree-of-freedom stage device and 3-degree-of-freedom stage device using the same
CA2629355A1 (en) * 2005-11-17 2007-06-07 Socovar, Societe En Commandite Planar parallel mechanism and method
CN100446944C (en) * 2007-04-20 2008-12-31 天津大学 Parallel mechanism capable of implementing two degrees of freedom in rotation, and one degree of freedom in translation

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105682852A (en) * 2013-08-01 2016-06-15 格鲁博-工厂有限及两合公司 Machine tool for machining

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WO2010006466A1 (en) 2010-01-21
GB0915739D0 (en) 2009-10-07

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