CN113319829A - High-rigidity motion decoupling three-translation parallel mechanism - Google Patents
High-rigidity motion decoupling three-translation parallel mechanism Download PDFInfo
- Publication number
- CN113319829A CN113319829A CN202110769516.2A CN202110769516A CN113319829A CN 113319829 A CN113319829 A CN 113319829A CN 202110769516 A CN202110769516 A CN 202110769516A CN 113319829 A CN113319829 A CN 113319829A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- saddle
- rotatably connected
- motion
- plane
- 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.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/003—Program-controlled manipulators having parallel kinematics
- B25J9/0033—Program-controlled manipulators having parallel kinematics with kinematics chains having a prismatic 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—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a high-rigidity motion decoupling three-translation parallel mechanism which comprises a fixed upright post, three groups of guide rails, three groups of ball screw systems, three servo motors, three sliding saddles, two plane motion branched chains, a reinforcing rib plate and a movable platform. Under the independent drive of the three motors, the sliding saddles can slide along the corresponding guide rails, and the three-degree-of-freedom translation of the movable platform is realized. The invention has the characteristics of high rigidity of the whole machine, large working space, complete motion decoupling and easy control, and can be applied to the fields of high-end equipment manufacturing and the like.
Description
Technical Field
The invention relates to the technical field of processing robots, in particular to a high-rigidity motion decoupling three-translation parallel mechanism.
Background
The parallel mechanism is composed of a plurality of moving branched chains, has the structural characteristics, has the advantages of strong bearing capacity, high movement precision, good reconfigurability and the like compared with a serial mechanism, and is widely applied to the fields of movement simulation, sea wave compensation, equipment manufacturing and the like. Among them, in the field of equipment manufacturing, a parallel mechanism with less degrees of freedom is favored by the academic world and the industrial world due to its advantages of less driving/members, low manufacturing cost, simple control, etc., and the parallel mechanism with three degrees of freedom is a research hotspot in the field of processing robots.
The existing three-degree-of-freedom parallel mechanism mainly comprises two types: 1. the device consists of a two-degree-of-freedom plane parallel mechanism and a guide rail vertical to the plane mechanism; 2. is composed of three branched chains which are symmetrically/asymmetrically arranged in space. It should be noted that, the former generally has the disadvantages of low overall rigidity (CN1267587A, CN1075418C), and the latter generally has the disadvantages of small working space, complex control (CN1524663A, CN2476392Y), etc., and is difficult to meet the requirements of processing and manufacturing large structural members such as wind power hubs and aircraft skins. Therefore, the invention is needed to create a novel parallel mechanism with the characteristics of large working space, high overall rigidity, simple control and the like.
Disclosure of Invention
In order to overcome the defects of the existing technology of the three-degree-of-freedom parallel processing robot, the invention provides a high-rigidity motion decoupling three-translation parallel mechanism, and solves the problems of low overall rigidity, small working space and complex control of the three-degree-of-freedom parallel mechanism in the prior art.
The invention is realized by the following technical scheme:
a high-rigidity motion decoupling three-translation parallel mechanism comprises a fixed upright post, three groups of guide rails, three groups of ball screw systems, three servo motors, three sliding saddles, two plane motion branched chains and a moving platform;
the three groups of guide rails are arranged vertically, the first guide rail is fixedly connected to the fixed upright post, and the second guide rail and the third guide rail are fixedly connected to the first saddle and are vertical to each other; the three sliding saddles are respectively connected with the three groups of guide rails in a sliding manner; the servo motors are respectively connected with the three groups of ball screw systems through couplers or synchronous belts; under the independent driving of the servo motors, the three sliding saddles can generate mutually vertical linear motion;
two groups of plane motion branched chains are arranged between the second saddle and the third saddle, have the same structure and size and are arranged in parallel or symmetrically; the plane motion branched chain is composed of four connecting rods respectively; one end of a first connecting rod of the plane motion branched chain A is rotatably connected with the second saddle, and the other end of the first connecting rod is rotatably connected with one end of a second connecting rod; one end of the third connecting rod is rotatably connected with the second connecting rod; the other end of the third connecting rod is rotatably connected with one end of the fourth connecting rod and is rotatably connected to the third saddle together; the other end of the fourth connecting rod is rotatably connected with the first connecting rod; similarly, one end of a fifth connecting rod of the plane motion branched chain B is rotatably connected with the second saddle, and the other end of the fifth connecting rod is rotatably connected with one end of a sixth connecting rod; one end of the seventh connecting rod is rotatably connected with the sixth connecting rod; the other end of the seventh connecting rod is rotatably connected with one end of the eighth connecting rod and is rotatably connected to the third saddle together; the other end of the eighth connecting rod is rotatably connected with the fifth connecting rod; the plane motion branched chain A consisting of a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod is of a parallelogram structure; the plane motion branched chain B consisting of a fifth connecting rod, a sixth connecting rod, a seventh connecting rod and an eighth connecting rod is also of a parallelogram structure;
the movable platform is rotatably connected with the tail ends of the second connecting rod and the sixth connecting rod; under the driving action of the second saddle and the third saddle, the movable platform is driven by two groups of plane mechanisms to generate mutually vertical linear motion, and the vertical movement of the first saddle is matched, so that the translation of the movable platform in three directions is realized.
In another embodiment of the invention, the high-rigidity motion decoupling three-translation parallel mechanism does not comprise a third connecting rod and a seventh connecting rod.
All rotation axes in the plane movement branched chain A and the plane movement branched chain B are parallel to each other and are perpendicular to the plane of the branched chain.
The invention has the following technical characteristics:
according to the high-rigidity motion decoupling three-translation parallel mechanism, on the premise that the relative geometric relationship between each kinematic pair and each connecting rod is not changed, the geometric parameters of each connecting rod can be adjusted at will, and the working distance of the three sliding saddles moving in the direction corresponding to the axis of the guide rail can be adjusted according to specific requirements, so that the high-rigidity motion decoupling three-translation parallel mechanism has the characteristic of large working space.
The three groups of guide rails in the high-rigidity motion decoupling three-translation parallel mechanism are mutually vertical, and the three sliding saddles are respectively connected with the corresponding ball screw systems to slide along the axial direction of the screw rod; the motion of the three moving pairs is independently controlled by the three servo motors, so that the high-rigidity motion decoupling three-translation parallel mechanism has the characteristics of complete motion decoupling and simple control.
According to the high-rigidity motion decoupling three-translation parallel mechanism, the two plane motion branched chains are respectively composed of four connecting rods, the whole mechanism is in a telescopic parallelogram structure during motion, and the two plane motion branched chains are completely the same in structure and size and are arranged in parallel or symmetrically; on the premise of keeping the integral geometric constraint condition of the mechanism unchanged, the size and the section parameters of each part of the mechanism can be adjusted at will; therefore, the high-rigidity motion decoupling three-translation parallel mechanism has the characteristic of high rigidity.
Drawings
FIG. 1 is a schematic diagram of a complete machine of a high-rigidity motion decoupling three-translation parallel mechanism;
FIG. 2 is a schematic diagram of a planar motion branched chain structure included in the high-rigidity motion decoupling three-translation parallel mechanism;
FIG. 3 is a schematic top view of a planar motion branched chain structure included in the high-rigidity motion decoupling three-translation parallel mechanism;
the reference numerals in the figures denote the following meanings:
1-a fixed upright post, 2-a first guide rail, 3-a second guide rail, 4-a third guide rail, 5-a first ball screw system, 6-a second ball screw system, 7-a third ball screw system, 8-a first servo motor, 9-a second servo motor, 10-a third servo motor, 11-a first saddle, 12-a second saddle, 13-a third saddle, 14-a reinforcing rib plate and 15-a movable platform;
the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the third connecting rod, the L4, the L5, the fifth connecting rod, the L6, the sixth connecting rod, the L7, the seventh connecting rod and the L8 are arranged in the A-plane movement branched chain A, the B-plane movement branched chain B, the L1, the L2, the second connecting rod, the L3, the third connecting rod, the L4, the fourth connecting rod, the L5, the fifth connecting rod, the L6, the sixth connecting rod, the L7, the seventh connecting rod and the L8;
r12-a first rotating pair, R23-a second rotating pair, R34-a third rotating pair, R14-a fourth rotating pair, R1-a first rotating pair of a rotating platform and R2-a second rotating pair of a rotating platform.
Detailed Description
The high-rigidity motion decoupling three-translation parallel mechanism is described in detail below with reference to the accompanying drawings and specific implementation, and the specific implementation is only for explanation and not for limitation of the invention.
Example 1
As shown in fig. 1, the high-rigidity motion decoupling three-translation parallel mechanism comprises a fixed upright 1, three groups of guide rails 2, 3 and 4, three groups of ball screw systems 5, 6 and 7, three servo motors 8, 9 and 10, three sliding saddles 11, 12 and 13, two motion branched chains A, B, a reinforcing rib plate 14 and a moving platform 15.
As shown in fig. 1, the three sets of guide rails 2, 3, 4 are perpendicular to each other, and the first guide rail 2 is mounted on the fixed column 1, and forms a vertically moving pair together with the first ball screw system 5 and the first saddle 11; the second guide rail 3 and the third guide rail 4 are respectively installed on two mutually perpendicular base bottom plates of the first saddle 11, and the two mutually perpendicular base bottom plates are connected with the second and third ball screw systems 6 and 7 and the corresponding second and third saddles 12 and 13 to form two moving pairs in the horizontal direction; the movement of the three moving pairs is controlled by three servo motors 8, 9 and 10 respectively. The reinforcing rib 14 is installed between two base bottom plates perpendicular to each other of the saddle 11.
As shown in fig. 2, the two planar motion branches A, B are identical in structure and are symmetrically arranged about the third saddle; the plane movement branched chain A consists of four connecting rods L1, L2, L3 and L4, and the four connecting rods are connected through revolute pairs R12, R23, R34 and R14. The first link L1 and the fifth link L5 are equal in length, the second link L2 and the sixth link L6 are equal in length, the third link L3 and the seventh link L7 are equal in length, and the fourth link L4 and the eighth link L8 are equal in length; one end of each of the first link L1 and the fifth link L5 is connected to the second saddle 12 through the revolute pair, and the other end is connected to the other links through the revolute pair; one end of each of the fourth link L4 and the eighth link L8 is connected to the third saddle 13 through the revolute pair, and the other end is connected to the other links through the revolute pair; the two plane motion branched chains A, B are connected with the movable platform 15 through a movable platform revolute pair R1 and R2.
As shown in fig. 2, the plane moving branched chain a composed of four links L1, L2, L3 and L4 is in a parallelogram structure; the plane motion branched chain B consisting of the four connecting rods L5, L6, L7 and L8 is also in a parallelogram structure; and the two plane motion branched chains A and B are symmetrically arranged. During the movement, the first link L1 and the fifth link L5, the second link L2 and the sixth link L6, the third link L3 and the seventh link L7, and the fourth link L4 and the eighth link L8 respectively maintain symmetry with respect to the third saddle 13.
As shown in fig. 1, the second saddle 12 and the third saddle 13 are kept stationary, the first servo motor 8 drives the first ball screw 5 to rotate, and the nut of the first ball screw system 5 drives the first saddle 11 to slide along the axial direction of the guide rail 2, so as to realize the axial movement of the movable platform 15 in a single degree of freedom in a vertical direction; keeping the first saddle 11 and the third saddle 13 stationary, the second servo motor 9 drives the second ball screw 6 to rotate, and the nut of the second ball screw system 6 drives the second saddle 12 to slide along the axial direction of the second guide rail 3; keeping the first saddle 11 and the second saddle 12 stationary, the third servo motor 10 driving the third ball screw 7 to rotate, and the nut of the third ball screw system 7 driving the third saddle 13 to slide along the axial direction of the third guide rail 4; the motion of the second saddle 12 and the third saddle 13 jointly realizes the two-degree-of-freedom translation of the movable platform 15 in the horizontal plane.
As shown in fig. 3, when the second saddle 12 slides along the axial direction of the second guide rail 3, the third saddle 13 is kept stationary, the second saddle 12 drives the first link L1 and the fifth link L5 to swing around the revolute pair axis relative to the second saddle 12, the third link L3 and the fourth link L4, and the seventh link L7 and the eighth link L8 respectively rotate around the revolute pair axis relative to the third saddle 13, and the second link L2, the sixth link L6, and the movable platform 15 realize single translation in the horizontal plane, at this time, the first planar motion branch chain a of the parallelogram structure formed by the links performs telescopic transformation along with the left sliding of the second saddle 12; when the third saddle 13 slides along the axial direction of the third rail 4, the second saddle 12 is kept stationary, the third saddle 13 drives the third link L3 and the fourth link L4, and the seventh link L7 and the eighth link L8 to rotate around the revolute pair axis relative to the third saddle 13, respectively, and further the first link L1 and the fifth link L5 to swing around the revolute pair axis relative to the second saddle 12, respectively, the second link L2, the sixth link L6, and the movable platform 15 realize single-degree-of-freedom translation in the horizontal plane, and at this time, the second planar moving branch chain B of the parallelogram structure formed by the links performs telescopic transformation along with the forward and backward sliding of the third saddle 13; the motion of the second saddle 12 and the third saddle 13 together realize the two-degree-of-freedom translation of the movable platform 15 in the horizontal plane.
As shown in fig. 2, under the control of the three servo motors, when each of the saddles slides on the corresponding guide rail for different displacements, the three-degree-of-freedom translation of the moving platform 15 in the high-rigidity motion decoupling three-translation parallel mechanism can be realized. The movement of the three sliding saddles along the axial direction of the corresponding guide rail is controlled by the corresponding servo motors respectively, the movement of each sliding saddle is relatively independent, and each servo motor can complete the control work respectively.
As shown in fig. 2, after the third link L3 and the seventh link L7 are removed, the parallelogram structures of the first planar moving branched chain a and the second planar moving branched chain B are no longer maintained, and the obtained parallel mechanism still maintains the three-degree-of-freedom motion decoupling characteristic.
Example 2
The parallel mechanism in the embodiment has the same motion form as the high-rigidity motion decoupling three-translation parallel mechanism in the embodiment 1, and the connection modes of each kinematic pair, the branched chain, the saddle and the like are completely the same. The difference lies in that: in this embodiment the two planar moving branches a and B are arranged in parallel. When moving, the first branch chain L1 and the fifth branch chain L5, the second branch chain L2 and the sixth branch chain L6, the third branch chain L3 and the seventh branch chain L7, and the fourth branch chain L4 and the eighth branch chain L8 respectively keep parallel.
While the present invention has been described in connection with the appended drawings, the present invention is not limited to the specific embodiments described above, which are intended to be illustrative rather than restrictive. Those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention.
Claims (3)
1. The utility model provides a high rigidity motion decoupling zero three translation parallel mechanism which characterized in that: the device comprises a fixed upright post, three groups of guide rails, three groups of ball screw systems, three servo motors, three sliding saddles, two plane motion branched chains and a movable platform;
the three groups of guide rails are arranged vertically, the first guide rail is fixedly connected to the fixed upright post, and the second guide rail and the third guide rail are fixedly connected to the first saddle and are vertical to each other; the three sliding saddles are respectively connected with the three groups of guide rails in a sliding manner; the servo motors are respectively connected with the three groups of ball screw systems through couplers or synchronous belts; under the independent driving of the servo motors, the three sliding saddles can generate mutually vertical linear motion;
two groups of plane motion branched chains are arranged between the second saddle and the third saddle, have the same structure and size and are arranged in parallel or symmetrically; the plane motion branched chain is composed of four connecting rods respectively; one end of a first connecting rod of the plane motion branched chain A is rotatably connected with the second saddle, and the other end of the first connecting rod is rotatably connected with one end of a second connecting rod; one end of the third connecting rod is rotatably connected with the second connecting rod; the other end of the third connecting rod is rotatably connected with one end of the fourth connecting rod and is rotatably connected to the third saddle together; the other end of the fourth connecting rod is rotatably connected with the first connecting rod; similarly, one end of a fifth connecting rod of the plane motion branched chain B is rotatably connected with the second saddle, and the other end of the fifth connecting rod is rotatably connected with one end of a sixth connecting rod; one end of the seventh connecting rod is rotatably connected with the sixth connecting rod; the other end of the seventh connecting rod is rotatably connected with one end of the eighth connecting rod and is rotatably connected to the third saddle together; the other end of the eighth connecting rod is rotatably connected with the fifth connecting rod; the plane motion branched chain A consisting of a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod is of a parallelogram structure; the plane motion branched chain B consisting of a fifth connecting rod, a sixth connecting rod, a seventh connecting rod and an eighth connecting rod is also of a parallelogram structure;
the movable platform is rotatably connected with the tail ends of the second connecting rod and the sixth connecting rod; under the driving action of the second saddle and the third saddle, the movable platform is driven by two groups of plane mechanisms to generate mutually vertical linear motion, and the vertical movement of the first saddle is matched, so that the translation of the movable platform in three directions is realized.
2. The high-rigidity motion decoupling three-translation parallel mechanism is characterized in that: the third link and the seventh link are not included.
3. The high-rigidity motion decoupling three-translation parallel mechanism as claimed in claim 1 or 2, characterized in that: all rotation axes in the plane movement branched chain A and the plane movement branched chain B are parallel to each other and are perpendicular to the plane of the branched chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110769516.2A CN113319829A (en) | 2021-07-07 | 2021-07-07 | High-rigidity motion decoupling three-translation parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110769516.2A CN113319829A (en) | 2021-07-07 | 2021-07-07 | High-rigidity motion decoupling three-translation parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113319829A true CN113319829A (en) | 2021-08-31 |
Family
ID=77425885
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110769516.2A Pending CN113319829A (en) | 2021-07-07 | 2021-07-07 | High-rigidity motion decoupling three-translation parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113319829A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113843780A (en) * | 2021-10-25 | 2021-12-28 | 燕山大学 | Five-degree-of-freedom hybrid robot based on planar parallel mechanism |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201143680Y (en) * | 2008-01-25 | 2008-11-05 | 常熟理工学院 | Four degrees of freedom full decoupling linear transmission cylindrical coordinate manipulator |
| EP2679349A1 (en) * | 2012-06-28 | 2014-01-01 | University College Cork | Compliant parallel manipulator system |
| CN104526685A (en) * | 2015-01-09 | 2015-04-22 | 天津大学 | Redundancy drive plane two-degree-of-freedom parallel-connection mechanical arm comprising parallelogram branch chains |
| CN104708617A (en) * | 2015-02-28 | 2015-06-17 | 天津大学 | Three-freedom-degree locating mechanism and multiple-freedom-degree hybrid manipulator robot with same |
| CN105904133A (en) * | 2016-07-06 | 2016-08-31 | 苏州睿牛机器人技术有限公司 | Vehicle-mounted parallel welding robot system |
| JP2018515354A (en) * | 2015-05-26 | 2018-06-14 | ハン、ファンユアンHAN, Fangyuan | Multi-motion platform parallel robot construction method and parallel robot |
| CN112338902A (en) * | 2020-11-24 | 2021-02-09 | 廊坊师范学院 | Four-degree-of-freedom decoupling parallel mechanism |
| CN112621730A (en) * | 2021-01-10 | 2021-04-09 | 于江涛 | Three-degree-of-freedom decoupling parallel translation mechanism |
| CN112975911A (en) * | 2021-03-05 | 2021-06-18 | 天津大学 | Two-translation freedom parallel mechanism |
-
2021
- 2021-07-07 CN CN202110769516.2A patent/CN113319829A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201143680Y (en) * | 2008-01-25 | 2008-11-05 | 常熟理工学院 | Four degrees of freedom full decoupling linear transmission cylindrical coordinate manipulator |
| EP2679349A1 (en) * | 2012-06-28 | 2014-01-01 | University College Cork | Compliant parallel manipulator system |
| CN104526685A (en) * | 2015-01-09 | 2015-04-22 | 天津大学 | Redundancy drive plane two-degree-of-freedom parallel-connection mechanical arm comprising parallelogram branch chains |
| CN104708617A (en) * | 2015-02-28 | 2015-06-17 | 天津大学 | Three-freedom-degree locating mechanism and multiple-freedom-degree hybrid manipulator robot with same |
| JP2018515354A (en) * | 2015-05-26 | 2018-06-14 | ハン、ファンユアンHAN, Fangyuan | Multi-motion platform parallel robot construction method and parallel robot |
| CN105904133A (en) * | 2016-07-06 | 2016-08-31 | 苏州睿牛机器人技术有限公司 | Vehicle-mounted parallel welding robot system |
| CN112338902A (en) * | 2020-11-24 | 2021-02-09 | 廊坊师范学院 | Four-degree-of-freedom decoupling parallel mechanism |
| CN112621730A (en) * | 2021-01-10 | 2021-04-09 | 于江涛 | Three-degree-of-freedom decoupling parallel translation mechanism |
| CN112975911A (en) * | 2021-03-05 | 2021-06-18 | 天津大学 | Two-translation freedom parallel mechanism |
Non-Patent Citations (2)
| Title |
|---|
| SUN TAO，SONG YIMIN，DONG GANG，LIAN BINBIN: "Optimal design of a parallel mechanism with three rotational degrees of freedom", 《ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING》 * |
| 宋轶民，金雪莹，梁 栋，孙 涛: "两类平面并联机构凯恩动力学建模与比较研究", 《天津大学学报(自然科学与工程技术版)》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113843780A (en) * | 2021-10-25 | 2021-12-28 | 燕山大学 | Five-degree-of-freedom hybrid robot based on planar parallel mechanism |
| CN113843780B (en) * | 2021-10-25 | 2023-01-10 | 燕山大学 | Five-degree-of-freedom hybrid robot based on planar parallel mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112518721B (en) | Four-degree-of-freedom complete decoupling compound drive parallel mechanism | |
| CN112454337B (en) | Four-degree-of-freedom parallel mechanism with large-angle twisting platform and composite branched chain | |
| CN101844307B (en) | Redundancy-driven three-degree-of-freedom parallel mechanism | |
| CN103273356B (en) | A kind of multi-axes synchronous hybrid device based on four-freedom parallel mechanism | |
| CN111267076B (en) | A High Stiffness Redundant Drive Parallel Mechanism | |
| CN103753234B (en) | A kind of multi-axis linkages | |
| CN202448136U (en) | A six-degree-of-freedom parallel robot with few branches | |
| CN109079761B (en) | A parallel robot with two transfers and one transfer with closed-loop branches | |
| CN105855906A (en) | Parallel mechanism with three spatial degrees of freedom | |
| CN106426092A (en) | Movement redundancy five-freedom-degree parallel serial robot | |
| CN110238821A (en) | A Fully Symmetrical Parallel Mechanism Containing Closed-loop Units with High Redundancy Drive | |
| CN116713978A (en) | Three-branch four-degree-of-freedom high-speed parallel robot with linkage sliding table connecting rod | |
| CN114161391B (en) | Two-rotation one-movement few-joint multi-redundancy driving parallel mechanism | |
| CN112276912B (en) | Parallel mechanism containing orthogonal double-linear driving branched chain | |
| CN113319829A (en) | High-rigidity motion decoupling three-translation parallel mechanism | |
| CN108544471A (en) | A kind of two-dimensional translation parallel institution of big working space | |
| CN113211417B (en) | Three-translation parallel mechanism | |
| CN103252771A (en) | Asymmetrical five-degree-of-freedom parallel serial robot | |
| CN113386111A (en) | Three-translation redundant drive parallel mechanism with closed-loop unit | |
| CN117325138B (en) | A four-degree-of-freedom parallel mechanism containing a composite linear module | |
| CN113319826A (en) | Three-degree-of-freedom parallel mechanism with closed-loop branched chain | |
| CN114603538B (en) | Complete decoupling spherical 3R rotation parallel mechanism | |
| CN204976634U (en) | Asymmetric parallel robot mechanism with two change one moves three degrees of freedom | |
| CN110103202B (en) | Multi-mode series-parallel mechanical arm based on movement bifurcation mechanism | |
| CN110962113B (en) | A partially decoupled two-rotation two-movement parallel mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Panfeng Inventor after: Ma Shuai Inventor after: Sun Tao Inventor after: Zhao Xueman Inventor after: Song Diemin Inventor after: Wang Meng Inventor after: Lian Binbin Inventor after: Huo Xinming Inventor after: Chen Yuecheng Inventor before: Wang Panfeng Inventor before: Sun Tao Inventor before: Zhao Xueman Inventor before: Song Diemin Inventor before: Wang Meng Inventor before: Lian Binbin Inventor before: Huo Xinming Inventor before: Chen Yuecheng |
|
| CB03 | Change of inventor or designer information | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210831 |
|
| WD01 | Invention patent application deemed withdrawn after publication |