WO2018195762A1 - 一种具有弧形移动副的三自由度并联机构 - Google Patents

一种具有弧形移动副的三自由度并联机构 Download PDF

Info

Publication number
WO2018195762A1
WO2018195762A1 PCT/CN2017/081823 CN2017081823W WO2018195762A1 WO 2018195762 A1 WO2018195762 A1 WO 2018195762A1 CN 2017081823 W CN2017081823 W CN 2017081823W WO 2018195762 A1 WO2018195762 A1 WO 2018195762A1
Authority
WO
WIPO (PCT)
Prior art keywords
arc
curved
parallel mechanism
platform
connecting rod
Prior art date
Application number
PCT/CN2017/081823
Other languages
English (en)
French (fr)
Inventor
赵国如
王永奉
Original Assignee
中国科学院深圳先进技术研究院
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 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Priority to US16/479,920 priority Critical patent/US10994410B2/en
Priority to PCT/CN2017/081823 priority patent/WO2018195762A1/zh
Publication of WO2018195762A1 publication Critical patent/WO2018195762A1/zh

Links

Images

Classifications

    • 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
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • 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
    • 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
    • B25J17/0208—Compliance devices
    • B25J17/0216—Compliance devices comprising a stewart mechanism
    • 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
    • B25J17/0283—Three-dimensional joints

Definitions

  • the invention relates to the technical field of parallel mechanisms, in particular to a three-degree-of-freedom parallel mechanism with curved moving pairs.
  • the parallel robot Since the parallel robot was first proposed in 1938, it has been widely used in various fields of society because of its large rigidity, strong bearing capacity, small error, high precision, small self-weight load ratio, good dynamic performance and easy control.
  • the spherical parallel mechanism belongs to a 3-rotation parallel mechanism, which can realize the arbitrary rotation of the spherical center of the spherical surface around the reference point of the moving platform.
  • the mechanism moves, all the points on the moving platform of the mechanism are around the spherical center and fixed by one. The radius rotates.
  • the advantage of spherical parallel connection with respect to the general parallel mechanism is that the working space is large, flexible and reliable, and it is not easy to interfere.
  • a three-degree-of-freedom spherical parallel mechanism (CN101306534) with a central spherical hinge, which has a typical 3-RRR type mechanism, is proposed by Professor Yan and others of Yanshan University. Achieve three directions of rotation around the fixed center.
  • a three-degree-of-freedom spherical parallel mechanism (CN104827463) with a curved moving pair proposed by Lin Rongfu and others of Shanghai Jiaotong University.
  • the shape of the curved moving pair is used to realize the rotation of the moving platform at the midpoint of the arc in three directions.
  • a three-degree-of-freedom parallel mechanism with a curved moving pair comprising a fixed platform, a moving platform, and three curved branches disposed between the fixed platform and the moving platform;
  • Each of the curved branches includes a first curved link and a second curved link of a common arc center, and one end of the first curved rod and the fixed platform are connected by a rotating pair, the second One end of the curved rod is disposed in a cavity at the other end of the first curved rod, and the second curved rod is reciprocable along a tangential direction of an arc of the first curved rod, The other end of the second curved rod and the moving platform are connected by a ball joint, and the axes of the three rotating pairs of the three curved branches are coincident with each other and perpendicular to the fixed platform.
  • the three arcuate branches are coaxially located, and the arc center is located on the axes of the three rotating pairs.
  • the cavity of the first curved rod has a circular, elliptical or square cross section.
  • the three curved branches have different radii.
  • the radius of the three arcuate branches in a direction away from the fixed platform is gradually reduced.
  • the axes of the rotating pairs coincide with each other and perpendicular to the fixed platform, and the moving platform of the parallel mechanism is surrounded by the arcs of three curved branches as the X-axis, the Y-axis and the Z-axis of the three-dimensional coordinate system of the origin of the three-dimensional coordinate system. Rotation, the rotation of the moving platform about the Z axis is decoupled from the rotation of the other two directions.
  • FIG. 1 is a schematic structural view of a three-degree-of-freedom parallel mechanism having a curved moving pair according to an embodiment
  • Figure 2 is a schematic illustration of the arc of three arcuate branches of a three degree of freedom parallel mechanism with curved moving pairs.
  • a three-degree-of-freedom parallel mechanism 100 having a curved moving pair includes a fixed platform 110 , a moving platform 120 , and three curved branches disposed between the fixed platform 110 and the moving platform 120 . 130.
  • each of the arcuate branches 130 includes a first arcuate link 132 and a second arcuate link 134 that are coaxial.
  • One end of the first curved rod 132 and the fixed platform 110 are connected by a rotating pair 136.
  • One end of the second curved rod 134 is disposed in the cavity at the other end of the first curved rod 132, and the second curved rod 134 is reciprocable along the tangential direction of the circular arc of the first curved rod 132.
  • the other end of the second curved rod 134 and the movable platform 120 are connected by a ball joint 138.
  • the fixed platform 110 is configured as a circular plate. It can be understood that the structure of the fixed platform 110 is designed into a square plate, a rectangular plate and the like according to requirements.
  • the structure of the movable platform 120 is a triangular plate. The three vertices of the triangular plate are respectively connected to one end of the fixed platform 110 by three ball joints 138 and three curved branches 130.
  • the axes of the three rotating pairs 136 of the three curved branches 130 coincide with each other and are perpendicular to the fixed platform 110.
  • the three curved branches 130 are coaxially located and the arc center is located on the axis of the three rotating pairs 136.
  • the first curved rod 132 can be a curved tubular structure.
  • the cross section of the cavity of the first curved rod 132 may be a circular, elliptical or square structure.
  • the cross section of the second curved link 134 may be a circular, elliptical or square structure that matches the cavity structure of the first curved rod 132.
  • the second curved rod 134 can reciprocate along the tangential direction of the arc of the first curved rod 132, that is, the second curved rod 134 can enter or extend the first curved rod 132, thereby adjusting the movable platform 120 and fixing The distance between the platforms 110.
  • the three curved branches 130 have different radii. Specifically, the radius of the three arcuate branches 130 along the direction away from the fixed platform 110 gradually decreases.
  • the three-degree-of-freedom parallel mechanism 100 having a curved moving pair is connected at one end of the curved branch 130 to the fixed platform 110 via a rotating pair 136, and the other end of the curved branch 130 is connected to the moving platform 120 via a ball joint 138.
  • the axes of the three rotating pairs 136 of the three curved branches 130 coincide with each other and are perpendicular to the fixed platform 110.
  • the three curved branches 130 are coaxially located on the axis of the driving pair 136 by driving the first curved shape.
  • the rod 132 is rotated about the axis of the rotating pair 136 to realize the rotation of the movable platform 120 around the X-axis, the Y-axis and the Z-axis of the three-dimensional coordinate system in which the arc centers of the three curved branches 130 are the origin of the three-dimensional coordinate system.
  • the center of rotation of the parallel mechanism moving platform 110 is the arc center O of the three curved branches 130
  • the rotation of the moving platform 120 about the Z axis is decoupled from the rotation of the other two directions, the Z axis
  • the extending direction is the extending direction of the axis of the rotating pair 136.
  • the above-mentioned three-degree-of-freedom parallel mechanism 100 having a curved moving pair, the moving platform 120 rotates around the X-axis, the Y-axis and the Z-axis of the three-dimensional coordinate system of the three-dimensional coordinate system origin with the arc-shaped branch of the three-dimensional coordinate system, and the moving platform
  • the rotation of 120 about the Z axis (the axis of the rotating pair 136) is decoupled from the rotation of the other two directions.
  • the three-degree-of-freedom parallel mechanism 100 with the curved moving pair has the advantages of simple and reliable structure, strong driving capability, high flexibility, and stable movement of the movable platform 120, and can be applied to virtual axis machine tools, industrial robots, aviation simulation equipment, medical equipment, etc. field.

Landscapes

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

Abstract

一种具有弧形移动副的三自由度并联机构，包括固定平台（110）、动平台（120），及设于固定平台（110）和动平台（120）之间的三个弧形支链（130）；每个弧形支链（130）包括共弧心的第一弧形连杆（132）和第二弧形连杆（134），第一弧形连杆（132）的一端和固定平台（110）之间采用转动副（136）连接，第二弧形连杆（134）的一端设于第一弧形连杆（132）另一端的空腔内，且第二弧形连杆（134）沿第一弧形连杆（132）的圆弧的切线方向可作往复运动，第二弧形连杆（134）的另一端和动平台（120）之间采用球铰（138）的方式连接，三个弧形支链（130）的三个转动副（136）的轴线相互重合，并垂直于固定平台。该并联机构动平台（120）绕以三个弧形支链（130）的弧心为圆心的坐标系的X轴、Y轴、Z轴转动，动平台（120）绕Z轴的旋转相对其它两个方向的旋转具有解耦性。

Description

一种具有弧形移动副的三自由度并联机构 技术领域
本发明涉及并联机构技术领域，尤其涉及一种具有弧形移动副的三自由度并联机构。
背景技术
自1938年首次提出并联机器人以来，因其具较大刚度、较强的承载能力、误差小、精度高、自重负荷比小、动力性能好、控制容易等特点，广泛应用于社会的各个领域。目前，常见的有2自由度、3自由度、4自由度、6自由度并联机构；目前，3自由度并联机构是研究最多、应用最广的一类少自由度并联机构。它按动平台自由度的类型可以分为四类：3转动并联机构、2转动1移动并联机构、1转动2移动并联机构、3移动并联机构。其中，球面并联机构属于3转动并联机构，其能实现绕动平台参考点运动球面的球心的任意转动，当机构运动时，机构动平台上所有的点都绕着该球心、以一个固定半径转动。球面并联相对于一般的并联机构的优势是工作空间大、灵活可靠、不易发生干涉等。
如燕山大学高峰教授等人提出的一种具有中心球面铰链的偏置输出三自由度球面并联机构(CN101306534)，其具有典型的3-RRR型机构特征。实现绕固定中心做三个方向转动。
燕山大学黄真教授提出一种具有对称结构且无伴随运动的并联机构(CN102962840)。其能够定、动平台中间对称平面内的任意一条轴或者任意一点连续转动，能有效的避免伴随运动的发生。
上海大学沈龙提出的一种球面三自由度并联机构天线结构系统(CN101924266)。其较一般的3自由度球型机构相比，具有较大的工作空间。
上海交通大学林荣富等人提出的具有弧形移动副的三自由度球面并联机构(CN104827463)。采用弧形移动副的形式来实现动平台绕弧形的中点做三个方向的转动。
这些机构支链的运动副配置大多包含RR或者RRR，并且这些运动副的轴线相交于一点，来实现动平台的3个自由度的运动，其中上海交通大学林荣富采用弧形移动副，使得通过运动副的弧形配置，让动平台受到三个方向的力约束，而仅仅能够绕弧形的中心做三个方向的转动，不具备部分解耦性。
发明内容
鉴于此，有必要提供一种具备部分解耦性的具有弧形移动副的三自由度并联机构。
一种具有弧形移动副的三自由度并联机构，包括固定平台、动平台，及设于所述固定平台和所述动平台之间的三个弧形支链；
每个弧形支链包括共弧心的第一弧形连杆和第二弧形连杆，所述第一弧形杆的一端和所述固定平台之间采用转动副连接，所述第二弧形杆的一端设于所述第一弧形杆另一端的空腔内，且所述第二弧形杆沿所述第一弧形杆的圆弧的切线方向可作往复运动，所述第二弧形杆的另一端和所述动平台之间采用球铰的方式连接，三个所述弧形支链的三个所述转动副的轴线相互重合，并垂直于所述固定平台，三个所述弧形支链共弧心，且所述弧心位于三个所述转动副的轴线上。
在其中一个实施例中，所述第一弧形杆的空腔的横截面为圆形、椭圆形或方形。
在其中一个实施例中，三个所述弧形支链的半径不同。
在其中一个实施例中，沿远离所述固定平台方向的三个所述弧形支链的半径逐渐减小。
上述具有弧形移动副的三自由度并联机构，弧形支链的一端通过转动副和固定平台连接，弧形支链的另一端通过球铰和动平台连接，三个弧形支链的三 个转动副的轴线相互重合，并垂直于固定平台，并且该并联机构的动平台绕以三个弧形支链的弧心为三维坐标系原点的三维坐标系的X轴、Y轴和Z轴转动，动平台绕Z轴的旋转相对其它两个方向的旋转具有解耦性。
附图说明
图1为一实施方式的具有弧形移动副的三自由度并联机构的结构示意图；
图2为具有弧形移动副的三自由度并联机构的三个弧形支链的弧心的示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清晰，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
请参阅图1，一实施方式的具有弧形移动副的三自由度并联机构100，包括固定平台110、动平台120，及设于固定平台110和动平台120之间的三个弧形支链130。
请同时参考图2，每个弧形支链130包括共弧心的第一弧形连杆132和第二弧形连杆134。第一弧形杆132的一端和固定平台110之间采用转动副136连接。第二弧形杆134的一端设于第一弧形杆132另一端的空腔内，且第二弧形杆134沿第一弧形杆132的圆弧的切线方向可作往复运动。第二弧形杆134的另一端和动平台120之间采用球铰138的方式连接。
在本实施方式中，固定平台110结构为圆形板块。可以理解，固定平台110的结构根据需要设计成方形板块、长方形板块等结构。动平台120的结构为三角形板块。三角形板块的三个顶点分别通过三个球铰138和三个弧形支链130远离固定平台110的一端连接。
三个弧形支链130的三个转动副136的轴线相互重合，并垂直于固定平台110。三个弧形支链130共弧心，且弧心位于三个转动副136的轴线上。
第一弧形杆132可以为弧形的管状结构。第一弧形杆132的空腔的横截面可以为圆形、椭圆形或方形等结构。第二弧形连杆134的横截面可以为与第一弧形杆132空腔结构相匹配的圆形、椭圆或方形等结构。
第二弧形杆134沿第一弧形杆132的圆弧的切线方向可作往复运动，即第二弧形杆134可以进入或者伸出第一弧形杆132，从而调节动平台120与固定平台110之间的距离。
三个弧形支链130的半径不同。具体的，沿远离固定平台110方向的三个弧形支链130的半径逐渐减小。
该具有弧形移动副的三自由度并联机构100，弧形支链130的一端通过转动副136和固定平台110连接，弧形支链130的另一端通过球铰138和动平台120连接。三个弧形支链130的三个转动副136的轴线相互重合，并垂直于固定平台110，三个弧形支链130共弧心且位于驱动副136的轴线上，通过驱动第一弧形杆132绕转动副136的轴线转动，来实现动平台120绕以三个弧形支链130的弧心为三维坐标系原点的三维坐标系的X轴、Y轴和Z轴转动。请参考图2，即上述并联机构动平台110的转动中心为三个弧形支链130的弧心O，动平台120绕Z轴的旋转相对其它两个方向的旋转具有解耦性，Z轴的延伸方向即为转动副136的轴线的延伸方向。
上述具有弧形移动副的三自由度并联机构100，动平台120绕以三个弧形支链的弧心为三维坐标系原点的三维坐标系的X轴、Y轴和Z轴转动，动平台120绕Z轴(转动副136的轴线)的旋转相对其它两个方向的旋转具有解耦性。上述具有弧形移动副的三自由度并联机构100，结构简单可靠，驱动能力强，灵活度较高，动平台120运动平稳，可应用于虚轴机床、工业机器人、航空模拟设备、医疗设备等领域。
以上仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术 人员，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (4)

  1. 一种具有弧形移动副的三自由度并联机构，其特征在于，包括固定平台、动平台，及设于所述固定平台和所述动平台之间的三个弧形支链；
    每个弧形支链包括共弧心的第一弧形连杆和第二弧形连杆，所述第一弧形杆的一端和所述固定平台之间采用转动副连接，所述第二弧形杆的一端设于所述第一弧形杆另一端的空腔内，且所述第二弧形杆沿所述第一弧形杆的圆弧的切线方向可作往复运动，所述第二弧形杆的另一端和所述动平台之间采用球铰的方式连接，三个所述弧形支链的三个所述转动副的轴线相互重合，并垂直于所述固定平台，三个所述弧形支链共弧心，且所述弧心位于三个所述转动副的轴线上。
  2. 如权利要求1所述的具有弧形移动副的三自由度并联机构，其特征在于，所述第一弧形杆的空腔的横截面为圆形、椭圆形或方形。
  3. 如权利要求1所述的具有弧形移动副的三自由度并联机构，其特征在于，三个所述弧形支链的半径不同。
  4. 如权利要求3所述的具有弧形移动副的三自由度并联机构，其特征在于，沿远离所述固定平台方向的三个所述弧形支链的半径逐渐减小。
PCT/CN2017/081823 2017-04-25 2017-04-25 一种具有弧形移动副的三自由度并联机构 WO2018195762A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US16/479,920 US10994410B2 (en) 2017-04-25 2017-04-25 Three-degree-of-freedom parallel mechanism with curved sliding pairs
PCT/CN2017/081823 WO2018195762A1 (zh) 2017-04-25 2017-04-25 一种具有弧形移动副的三自由度并联机构

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/081823 WO2018195762A1 (zh) 2017-04-25 2017-04-25 一种具有弧形移动副的三自由度并联机构

Publications (1)

Publication Number Publication Date
WO2018195762A1 true WO2018195762A1 (zh) 2018-11-01

Family

ID=63918077

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/081823 WO2018195762A1 (zh) 2017-04-25 2017-04-25 一种具有弧形移动副的三自由度并联机构

Country Status (2)

Country Link
US (1) US10994410B2 (zh)
WO (1) WO2018195762A1 (zh)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106346450B (zh) * 2016-10-17 2018-11-09 中国科学院深圳先进技术研究院 三支链三自由度并联机构
US11458614B2 (en) * 2017-06-09 2022-10-04 Shenzhen Institutes Of Advanced Technology 2 degree-of-freedoms decoupling parallel mechanism
CN108189014B (zh) * 2018-03-30 2024-05-17 四川大学 一种适用于球面加工的三自由度并联机器人
CN111136644B (zh) * 2020-02-05 2022-07-01 天津大学 一种新型变胞并联铰链机构
CN112008699A (zh) * 2020-09-18 2020-12-01 河南科技大学 一种完全解耦两转动一移动并联机构
CN115609561A (zh) * 2020-12-30 2023-01-17 诺创智能医疗科技(杭州)有限公司 并联平台的主从映射方法、机械臂系统和存储介质
CN113199462B (zh) * 2021-05-25 2022-09-20 燕山大学 可调式3-pxy并联机构
CN115476340B (zh) * 2022-09-19 2024-04-12 燕山大学 一类三独立螺旋运动自由度并联机构

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101244560A (zh) * 2008-03-22 2008-08-20 燕山大学 具有不同结构驱动分支的三自由度并联机器人机构
TW201121735A (en) * 2009-12-28 2011-07-01 Hon Hai Prec Ind Co Ltd Parallel robot
CN102528817A (zh) * 2012-01-13 2012-07-04 燕山大学 一种三自由度并联机械手腕
CN104827463A (zh) * 2015-05-07 2015-08-12 上海交通大学 具有弧形移动副的三自由度球面并联机构
CN206066431U (zh) * 2016-10-09 2017-04-05 邯郸学院 一种三自由度机器人

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2762940Y (zh) * 2005-01-04 2006-03-08 浙江理工大学 球面三自由度并联机构
CN103639712B (zh) * 2013-11-25 2016-04-27 浙江理工大学 一种三转动球形并联机构
CN110405727A (zh) * 2018-04-26 2019-11-05 天津职业技术师范大学 一种3自由度并联机构

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101244560A (zh) * 2008-03-22 2008-08-20 燕山大学 具有不同结构驱动分支的三自由度并联机器人机构
TW201121735A (en) * 2009-12-28 2011-07-01 Hon Hai Prec Ind Co Ltd Parallel robot
CN102528817A (zh) * 2012-01-13 2012-07-04 燕山大学 一种三自由度并联机械手腕
CN104827463A (zh) * 2015-05-07 2015-08-12 上海交通大学 具有弧形移动副的三自由度球面并联机构
CN206066431U (zh) * 2016-10-09 2017-04-05 邯郸学院 一种三自由度机器人

Also Published As

Publication number Publication date
US20190389050A1 (en) 2019-12-26
US10994410B2 (en) 2021-05-04

Similar Documents

Publication Publication Date Title
WO2018195762A1 (zh) 一种具有弧形移动副的三自由度并联机构
WO2018223363A1 (zh) 一种三自由度解耦球面并联机构
CN100363151C (zh) 带环形导轨的球面三自由度并联姿态控制机构
CN103433916B (zh) 二自由度等径球面纯滚并联转动机构
CN103639712B (zh) 一种三转动球形并联机构
CN102626919B (zh) 无汇交轴线的对称两转动一移动并联机构
CN104308834A (zh) 一种对称型三转动并联机构
CN104827463A (zh) 具有弧形移动副的三自由度球面并联机构
CN102626920B (zh) 含两自由度平面子链的无汇交轴对称三维转动并联机构
CN106903678B (zh) 一种具有弧形移动副的三自由度并联机构
CN108136588B (zh) 组合型连杆操作装置
CN101791804A (zh) 对称两转一移三自由度并联机构
CN104325457A (zh) 一种新型对称型三转动并联机构
CN104308835A (zh) 一种面对称型三转动并联机构
CN109514596B (zh) 一种双十字铰三自由度并联关节机构
CN106965161B (zh) 一种具有弧形移动副的三自由度并联机构
CN102962840A (zh) 一种具有对称结构且无伴随运动的并联机构
WO2018223362A1 (zh) 一种二自由度解耦的并联机构
CN105710867A (zh) 一种多转动中心两转一移并联机构
WO2018195769A1 (zh) 一种具有弧形移动副的三自由度并联机构
CN205614653U (zh) 一种无伴随运动两转一移并联机构
CN108544479A (zh) 具有三维移动和一维转动的三分支四自由度机器人
CN102848380B (zh) 无汇交轴线的对称三自由度转动并联机构
CN105904436A (zh) 一种无伴随运动两转一移并联机构
CN105710868A (zh) 一种具有多个转动中心的两转一移并联机构

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17907070

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17907070

Country of ref document: EP

Kind code of ref document: A1