WO2005025816A8 - A robot with five-freedom mix couple structure - Google Patents

A robot with five-freedom mix couple structure

Info

Publication number
WO2005025816A8
WO2005025816A8 PCT/CN2004/000479 CN2004000479W WO2005025816A8 WO 2005025816 A8 WO2005025816 A8 WO 2005025816A8 CN 2004000479 W CN2004000479 W CN 2004000479W WO 2005025816 A8 WO2005025816 A8 WO 2005025816A8
Authority
WO
WIPO (PCT)
Prior art keywords
hinge
fixed frame
freedom
setting
length
Prior art date
Application number
PCT/CN2004/000479
Other languages
French (fr)
Chinese (zh)
Other versions
WO2005025816A1 (en
Inventor
Tian Huang
Meng Li
Zhanxian Li
Jiangping Mei
Xueman Zhao
Dawei Zhang
Original Assignee
Univ Tianjin
Tian Huang
Meng Li
Zhanxian Li
Jiangping Mei
Xueman Zhao
Dawei Zhang
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Univ Tianjin, Tian Huang, Meng Li, Zhanxian Li, Jiangping Mei, Xueman Zhao, Dawei Zhang filed Critical Univ Tianjin
Publication of WO2005025816A1 publication Critical patent/WO2005025816A1/en
Publication of WO2005025816A8 publication Critical patent/WO2005025816A8/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

A robot with five-freedom mix couple structure is disclosed, which comprises a fixed frame, a first setting adjustable in length, a second setting adjustable in length, a third setting adjustable in length, a positioning head, a movable table. Thereinto, a first hinge is provided in the middle of the fixed frame. The top of the first setting is mounted on the fixed frame via the first hinge and a shift pair that is formed by the first setting and the first hinge, the end of which connects the movable table. A second hinge and a third hinge are provided symmetrically on an end face of the fixed frame, the tops of them are mounted respectively and symmetrically on the end face of the fixed frame, and the ends connect apart with the movable table. The invention can be designed in modularization and used conveniently; the amount of moving components can be reduced, which can avoid the interference among moving components. The end performer can move with five-freedom and holds the performance of high speed, high precision, high rigidity and the trait of broad working space.
PCT/CN2004/000479 2003-09-16 2004-05-14 A robot with five-freedom mix couple structure WO2005025816A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CNB031442811A CN100446940C (en) 2003-09-16 2003-09-16 Asymmetric space 5-degree of freedom series-parallel robot
CN03144281.1 2003-09-16

Publications (2)

Publication Number Publication Date
WO2005025816A1 WO2005025816A1 (en) 2005-03-24
WO2005025816A8 true WO2005025816A8 (en) 2005-07-14

Family

ID=34286602

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2004/000479 WO2005025816A1 (en) 2003-09-16 2004-05-14 A robot with five-freedom mix couple structure

Country Status (2)

Country Link
CN (1) CN100446940C (en)
WO (1) WO2005025816A1 (en)

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Publication number Priority date Publication date Assignee Title
CN100348375C (en) * 2005-07-11 2007-11-14 天津大学 Robot with five degrees of freedom
CN100348386C (en) * 2005-09-15 2007-11-14 天津大学 Multi-coordinate serioparallel robot with redundant freedom
JP4598864B2 (en) * 2009-01-29 2010-12-15 ファナック株式会社 Parallel robot
CN102049786A (en) * 2009-11-05 2011-05-11 鸿富锦精密工业（深圳）有限公司 Rotating mechanism and robot with same
SE535182C2 (en) * 2010-06-17 2012-05-08 Exechon Ab A parallel kinematic machine with card holder
CN102069496A (en) * 2010-12-15 2011-05-25 天津大学 Linearly-driven four-degree of freedom hybrid mechanical arm
CN102285390B (en) * 2011-06-03 2012-09-26 哈尔滨工程大学 Elastically driven walking leg in hybrid connection for walking robot
CN102320041B (en) * 2011-08-17 2015-01-28 中国农业大学 Three freedom degree series-parallel mechanical arm
CN102431032A (en) * 2011-12-28 2012-05-02 广西大学 Spatial seven-mobility multifunctional robot mechanism
CN102431030A (en) * 2011-12-28 2012-05-02 广西大学 Spatial six-mobility drilling robot mechanism
CN102530120A (en) * 2011-12-28 2012-07-04 燕山大学 Six-user requirement specification (URS) six-foot walking robot
CN102431031A (en) * 2011-12-28 2012-05-02 广西大学 Six-mobility grabbing robot mechanism
CN102601793B (en) * 2012-03-29 2014-04-09 天津大学 Spatially-symmetrical four-degree-of-freedom parallel mechanism
CN102672708B (en) * 2012-05-18 2014-12-17 天津大学 Multi-coordinate hybrid robot
CN102699902B (en) * 2012-06-06 2015-08-05 天津大学 Planar Mechanisms robot with five degrees of freedom
CN102699899B (en) * 2012-06-06 2014-08-06 天津大学 Highly over-constrained high-rigidity multi-coordinate hybrid robot
CN102699900B (en) * 2012-06-06 2015-05-27 天津大学 Over-constraint hybrid robot with double platforms and five degrees of freedom
CN102699898B (en) * 2012-06-06 2015-04-29 天津大学 Five-degree-of-freedom over-constrained hybrid robot
CN102699901B (en) * 2012-06-06 2014-12-17 天津大学 Over-constrained five-degree-of-freedom hybrid robot
CN102975201A (en) * 2012-11-12 2013-03-20 天津理工大学 Three degree-of-freedom parallel mechanism with symmetrical space surfaces
CN103252774B (en) * 2013-05-07 2015-04-15 天津大学 Space five-degree-of-freedom hybrid robot
CN103252683A (en) * 2013-05-07 2013-08-21 天津大学 Five-freedom-degree parallel-serial numerically-controlled machine tool
CN103252771B (en) * 2013-05-07 2015-04-15 天津大学 Asymmetrical five-degree-of-freedom parallel serial robot
CN104511783B (en) * 2013-09-30 2016-09-07 上银科技股份有限公司 Mechanical arm for processing machine
CN104985596B (en) * 2015-07-09 2017-01-11 天津大学 Five-freedom hybrid robot with multi-axis rotation brackets
CN106840642B (en) * 2017-04-01 2023-04-21 中北大学 Reconfigurable parallel/series-parallel mechanism experimental device component system
CN106826775B (en) * 2017-04-07 2024-03-01 河南科技大学 Isotropic space two-degree-of-freedom rotating parallel robot
CN108406740B (en) * 2018-02-02 2023-06-13 浙江工业大学 Grabbing and clamping manipulator with multiple freedom degree movement tracks
CN109128872B (en) * 2018-09-26 2019-09-17 燕山大学 A kind of symmetrical parallel three NC axes main tapping can be realized multi-direction Fixed-point Motion of A
CN109366463B (en) * 2018-11-06 2022-03-25 天津大学 Five-degree-of-freedom hybrid robot with double platforms
CN109834415B (en) * 2019-04-08 2023-07-25 安徽工程大学 Series-parallel five-degree-of-freedom welding robot
CN110774015B (en) * 2019-12-02 2024-06-04 福州大学 Series-parallel machine tool with overconstrained few-degree-of-freedom parallel modules and movement method
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

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US4790718A (en) * 1985-03-27 1988-12-13 The English Electric Company Plc Manipulators
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US5813287A (en) * 1994-03-02 1998-09-29 Renishaw Plc Coordinate positioning machine
SE512338C2 (en) * 1998-06-25 2000-02-28 Neos Robotics Ab System and method for controlling a robot
CN1212221C (en) * 2003-03-06 2005-07-27 天津大学 Four dimension mixed linking robot

Also Published As

Publication number Publication date
CN100446940C (en) 2008-12-31
CN1524662A (en) 2004-09-01
WO2005025816A1 (en) 2005-03-24

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