CN109605333A - A spring-rope hybrid drive branch chain and a parallel robot with three rotational degrees of freedom - Google Patents
A spring-rope hybrid drive branch chain and a parallel robot with three rotational degrees of freedom Download PDFInfo
- Publication number
- CN109605333A CN109605333A CN201811653561.6A CN201811653561A CN109605333A CN 109605333 A CN109605333 A CN 109605333A CN 201811653561 A CN201811653561 A CN 201811653561A CN 109605333 A CN109605333 A CN 109605333A
- Authority
- CN
- China
- Prior art keywords
- rope
- spring
- silent flatform
- branch
- moving platform
- 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.)
- Granted
Links
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a kind of spring-rope combination drive branch and three-rotational DOF parallel robots, including silent flatform, moving platform, connect the branch chain component of the silent flatform and moving platform, the branch chain component includes the outer active branched chain of intermediate arm branch and the distribution of three space symmetrs, the outer active branched chain includes extension sleeve, the compressed spring being set in the extension sleeve, it successively shuttles in the silent flatform, extension sleeve, compressed spring and end connect the rope of the moving platform, the silent flatform is provided with the take-up mechanism for connecting the rope head end.Using the present invention, lighter weight of the present invention and inertia is smaller.The parallel robot that spring-rope combination drive branch of the invention is constituted can be realized three independent rotational freedoms, pure rotation can be realized around perpendicular to silent flatform direction, structure is simple, reduce the driving of the rod pieces such as electric cylinder, the quality of robot motion's component is reduced, realizes the lightness of robot to a certain extent.When intermediate arm branch has driving, the artificial three rotating parallel device people of translation of machine have bigger working space.
Description
Technical field
The present invention relates to a kind of parallel robot and its branch more particularly to a kind of spring-rope combination drive branch and its
The three-rotational DOF parallel robot of composition.
Background technique
Parallel robot is an important branch of robot research field.Sound platform is connected by multiple movement branched chains
Together, the close loop mechanism for no less than two degrees of freedom being generated under parallel drive effect is called parallel robot.Common parallel connection
Machine human branched chain is using rigid link as driving element, such as RRR, UPU, RPC, PUU, PRS, wherein U, P, R, S are respectively indicated
Hooke's hinge, prismatic pair, revolute pair and flexural pivot.Currently, some scholars are using driving elements such as rope, springs as research object, and with
This replaces rigid link.Relative to rigid link, rope weight is light, inertia is small, is able to satisfy specific performance requirement.But rope is only
Pulling force can be provided and thrust cannot be provided, the rope driving parallel robot of simple n freedom degree is at least by n+1 rope branch
Just it is able to achieve determining movement.Some scholars introduce spring in rope driving parallel robot, and spring is replaced a certain rope
Or spring is connected with rope, so that rope is able to satisfy one in the case that robot driver's number is equal with number of degrees of freedom
Fixed tensioning force request.But the spring introduced is generally passive matrix element, robot working space and rigid bar, rope etc.
The robot of driving is compared to smaller.
Parallel robot has been applied to industrial robot, motion simulator, parallel machine, the precision in micro-electronic manufacturing
High speed machine hand etc. in positioning device, force snesor and typical crawl operating environment.Wherein, three-rotational-freedom is simultaneously
Online structure is one kind particularly important in minority carrier generation lifetime.The parallel institution of three-rotational-freedom is generally used for robot
The Structure of need such as shoulder joint, the prompt eye of spirit, Satellite Tracking hunting gear and numerical control turntable are compact and require larger angle of revolution
Occasion.Existing three-rotation freedom parallel mechanism is generally spherical mechanism or the mobile vice mechanism of more rod pieces.Wherein spherical mechanism
With structural requirement harshness, the defects of more difficult, is assembled in manufacture, due to requiring active branched chain between rotatable platform and silent flatform
Many joints axes meet at a bit so that the load capacity of such mechanism and Static stiffness be not high.The mobile vice mechanism tool of more rod pieces
There are relatively large load ability and stronger rigidity, but mobile rod piece includes the driving parts such as electric cylinder, has larger inertia.Three ropes
The intermediate parallel robot by bar support of driving can also realize three-rotational-freedom, but because rope driving cannot generate thrust, should
Three rotational freedoms of robot are couplings, and three rotations are not that independently, can not achieve the rotation merely around Z axis.
It would therefore be highly desirable to a kind of structure is simple, light weight, inertia are small parallel manipulator human branched chain and a kind of be made of the branch
Structure it is simple, be easily installed, quality is smaller, load capacity is larger and the stronger three-rotational DOF parallel robot of rigidity.
Summary of the invention
The technical problem to be solved by the embodiment of the invention is that providing a kind of spring-rope combination drive branch and three turns
Dynamic DOF parallel robot.Can make realize be easily installed, quality is smaller, load capacity is larger.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of spring-rope combination drive branch and three turns
Dynamic DOF parallel robot, the branch chain component including silent flatform, moving platform, the connection silent flatform and moving platform, the branch
Chain component includes the outer active branched chain of intermediate arm branch and the distribution of three space symmetrs, and intermediate arm branch one end is vertical
It is consolidated in the silent flatform, the other end and the moving platform center are hinged, and three outer active branched chain both ends are hingedly connected to
It is distributed between the silent flatform and moving platform and about the intermediate bar unbranched symmetric, the outer active branched chain includes telescopic
Cylinder, successively shuttles in the silent flatform, extension sleeve, compressed spring and end at the compressed spring being set in the extension sleeve
End connects the rope of the moving platform, and the silent flatform is provided with the take-up mechanism for connecting the rope head end.
Further, described extension sleeve one end is rotatablely connected by Hooke's hinge and the silent flatform, and the other end passes through ball
Hinge is rotatablely connected with the moving platform.
Further, intermediate bar branch one end is vertically fixedly connected on the silent flatform center, and the other end passes through
Hooke's hinge is rotationally connected with the moving platform center.
Further, the distribution distribution in equilateral triangle of the junction of the outer active branched chain and the silent flatform,
The distribution also distribution in equilateral triangle of the junction of the outer active branched chain and the moving platform.
Further, the take-up mechanism includes motor and reel, and the reel connects the head end of the rope.
Further, the intermediate arm can increase one of cylinder, electric cylinders, hydraulic cylinder become driving rod piece make the machine
The artificial translation three-rotational DOF parallel robot of device.
The implementation of the embodiments of the present invention has the following beneficial effects: branch of the invention is using spring-rope combination driving knot
Structure can carry out long range transmission, can replace the rigid bars such as electric cylinder of transmission, short movement travel over long distances, mitigate dress significantly
Weight is set, parallel robot is particularly suitable for.The parallel robot that spring-rope combination drive branch of the invention is constituted has
Three freedom degrees independently rotated, moving platform can spin around the axis of support rod, and structure is simple, is easily installed, relative to flexible
The 3-dof parallel robot lighter weight of bar driving.Further, since intermediate bar branch has support and constraint to moving platform
Movement effect, can bear biggish load relative to three-degree-of-freedom spherical mechanism.When middle studdle is drive rod, machine is artificial
One three rotating parallel device people of translation, have bigger working space.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is another overall structure diagram of the invention.
Wherein, 1, moving platform, 2, revolute pair, 3, intermediate bar branch, 4, Hooke's hinge, 5, rope, 6, flexural pivot, 7, telescopic
Cylinder, 8, compressed spring, 9, silent flatform, 10, reel, 11, motor.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step ground detailed description.
A kind of spring-rope combination drive branch and three-rotational DOF parallel robot of the embodiment of the present invention, including it is quiet
Platform 9, moving platform 1, the branch chain component for connecting silent flatform 9 and moving platform 1, the branch chain component includes intermediate arm branch and three
The outer active branched chain of space symmetr distribution.
3 one end of intermediate arm branch is vertically consolidated in silent flatform 9, and the other end and 1 center of moving platform are hinged, specifically,
3 one end of intermediate bar branch is vertically fixedly connected on the silent flatform center, and the other end is rotationally connected with described dynamic by Hooke's hinge
Platform center, intermediate arm branch 3 can increase one of cylinder, electric cylinders, hydraulic cylinder and make the machine artificial one as driving rod piece
Be translatable three-rotational DOF parallel robot, and preferably electric cylinders are implemented.
Three outer active branched chain both ends are hingedly connected between silent flatform 9 and moving platform 1 and about intermediate bar branch 3
Symmetrical, outer active branched chain includes extension sleeve 7, the compressed spring being set in extension sleeve 78, successively shuttle Yu Jingping
Platform 9, extension sleeve, compressed spring and end connect the rope 5 of the moving platform, and silent flatform 9 is provided with connection 5 head end of rope
Take-up mechanism.
Take-up mechanism includes the motor 11 and reel 10 for being set to 9 bottom of silent flatform, and reel 10 connects the head of rope 5
End.
7 one end of extension sleeve is rotatablely connected by Hooke's hinge 4 and silent flatform 9, and the other end passes through flexural pivot 6 and 1 turn of moving platform
Dynamic connection.
Preferably, the distribution distribution in equilateral triangle of the junction of outer active branched chain and the silent flatform, it is described outer
The distribution also distribution in equilateral triangle of the junction of active branched chain and the moving platform.
In the present invention, intermediate bar branch one end is vertically consolidated in silent flatform 9, the other end be connected with moving platform 1 to
Play the role of support and constrained motion to the moving platform 1, three outer active branched chains combine driving by spring-rope, are
Retractable structure is articulated between the moving platform 1 and silent flatform 9, and then entire mechanism is made to have three-rotational-freedom, described
Moving platform 1 can do the rotational motion on three change in coordinate axis direction around fixed point.When the middle studdle is driving rod piece, move flat
Platform 1 has the translational degree of freedom perpendicular to 9 direction of silent flatform.
Above disclosed is only a preferred embodiment of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (6)
1. a kind of spring-rope combination drive branch and three-rotational DOF parallel robot, which is characterized in that including silent flatform,
The branch chain component of moving platform, the connection silent flatform and moving platform, the branch chain component includes intermediate arm branch and three skies
Between symmetrical outer active branched chain, intermediate arm branch one end is vertically consolidated in the silent flatform, the other end with it is described
Moving platform center is hinged, and three outer active branched chain both ends are hingedly connected between the silent flatform and moving platform and about institute
The distribution of intermediate bar unbranched symmetric is stated, the outer active branched chain includes extension sleeve, the compression bullet being set in the extension sleeve
Spring, successively shuttling connects the rope of the moving platform in the silent flatform, extension sleeve, compressed spring and end, described quiet flat
Platform is provided with the take-up mechanism for connecting the rope head end.
2. spring-rope combination drive branch according to claim 1 and three-rotational DOF parallel robot, feature
It is, described extension sleeve one end passes through Hooke's hinge and is rotatablely connected with the silent flatform, and the other end is put down by flexural pivot and described move
Platform rotation connection.
3. spring-rope combination drive branch according to claim 2 and three-rotational DOF parallel robot, feature
It is, intermediate bar branch one end is vertically fixedly connected on the silent flatform center, and the other end passes through Hooke's hinge and revolute pair
It is connected to the moving platform center.
4. spring-rope combination drive branch according to claim 3 and three-rotational DOF parallel robot, feature
It is, the distribution distribution in equilateral triangle of the junction of the outer active branched chain and the silent flatform, the outer active branched chain
Distribution also distribution in equilateral triangle with the junction of the moving platform.
5. spring-rope combination drive branch according to claim 1-4 and three-rotational DOF parallel device
People, which is characterized in that the take-up mechanism includes motor and reel, and the reel connects the head end of the rope.
6. spring-rope combination drive branch according to claim 1-4 and three-rotational DOF parallel device
People, which is characterized in that the intermediate arm is cylinder, electric cylinders, hydraulic cylinder a period of time, and the artificial translation three of the machine is rotatably mounted
Spend parallel robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811653561.6A CN109605333B (en) | 2018-12-28 | 2018-12-28 | A spring-rope hybrid drive branch chain and a parallel robot with three rotational degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811653561.6A CN109605333B (en) | 2018-12-28 | 2018-12-28 | A spring-rope hybrid drive branch chain and a parallel robot with three rotational degrees of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109605333A true CN109605333A (en) | 2019-04-12 |
| CN109605333B CN109605333B (en) | 2020-11-20 |
Family
ID=66016111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811653561.6A Active CN109605333B (en) | 2018-12-28 | 2018-12-28 | A spring-rope hybrid drive branch chain and a parallel robot with three rotational degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109605333B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774267A (en) * | 2019-11-12 | 2020-02-11 | 燕山大学 | A three-degree-of-freedom parallel stable platform |
| CN111059431A (en) * | 2019-12-24 | 2020-04-24 | 燕山大学 | A two-degree-of-freedom parallel rotating platform with eccentric moment unloading device |
| CN111421523A (en) * | 2020-04-03 | 2020-07-17 | 清华大学 | Micro-motion platform |
| CN111502213A (en) * | 2020-04-28 | 2020-08-07 | 清华大学 | Adjusting device of ground troweling machine troweling plate and ground troweling machine comprising same |
| CN111519880A (en) * | 2020-04-28 | 2020-08-11 | 清华大学 | A parallel troweling robot and its control method |
| CN113001525A (en) * | 2021-04-25 | 2021-06-22 | 西安科技大学 | Parallel mechanism with rotatable axis mechanical arm and movement method |
| CN113925177A (en) * | 2021-10-20 | 2022-01-14 | 山东科技大学 | Active and passive parallel-connection softening device for removing kernels and cutting petals of yellow peaches |
| CN114654447A (en) * | 2022-03-07 | 2022-06-24 | 诺创智能医疗科技(杭州)有限公司 | Robot arm, robot, industrial production system and robot control method |
| EP3823003A3 (en) * | 2019-11-15 | 2022-09-14 | FEI Company | Electron microscope stage |
| CN116100531A (en) * | 2023-02-16 | 2023-05-12 | 上海新纪元机器人有限公司 | Parallel self-balancing mechanism |
| CN116393290A (en) * | 2023-01-09 | 2023-07-07 | 武汉科技大学 | MgO spraying device for silicon steel |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101628417A (en) * | 2009-08-06 | 2010-01-20 | 汕头大学 | Three-rotational DOF parallel robot with active telescopic pole |
| CN101863018A (en) * | 2010-04-29 | 2010-10-20 | 汕头大学 | Three rotational degrees of freedom parallel mechanism driven by cables |
| CN102166751A (en) * | 2011-05-20 | 2011-08-31 | 汕头大学 | Branched chain-less and six-freedom degree parallel manipulator |
| CN202100903U (en) * | 2010-12-24 | 2012-01-04 | 汕头大学 | Three-rotation and one-movement DOF (degree of freedom) parallel-connection mechanism driven by rope rod in mixed way |
| CN102357882A (en) * | 2011-09-30 | 2012-02-22 | 汕头大学 | Rope and rod hybrid-driven six-degree-of-freedom parallel robot with few branched chains |
| CN106426107A (en) * | 2016-11-15 | 2017-02-22 | 常州大学 | Tension overall vibration isolation mechanism |
| CN107972017A (en) * | 2017-12-29 | 2018-05-01 | 勃肯特（天津）机器人技术有限公司 | Six axis serial-parallel mirror robots |
| CN108262739A (en) * | 2016-06-23 | 2018-07-10 | 安溪县中磊设备制造有限公司 | A kind of slotting paper intelligent robot |
-
2018
- 2018-12-28 CN CN201811653561.6A patent/CN109605333B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101628417A (en) * | 2009-08-06 | 2010-01-20 | 汕头大学 | Three-rotational DOF parallel robot with active telescopic pole |
| CN101863018A (en) * | 2010-04-29 | 2010-10-20 | 汕头大学 | Three rotational degrees of freedom parallel mechanism driven by cables |
| CN202100903U (en) * | 2010-12-24 | 2012-01-04 | 汕头大学 | Three-rotation and one-movement DOF (degree of freedom) parallel-connection mechanism driven by rope rod in mixed way |
| CN102166751A (en) * | 2011-05-20 | 2011-08-31 | 汕头大学 | Branched chain-less and six-freedom degree parallel manipulator |
| CN102357882A (en) * | 2011-09-30 | 2012-02-22 | 汕头大学 | Rope and rod hybrid-driven six-degree-of-freedom parallel robot with few branched chains |
| CN108262739A (en) * | 2016-06-23 | 2018-07-10 | 安溪县中磊设备制造有限公司 | A kind of slotting paper intelligent robot |
| CN106426107A (en) * | 2016-11-15 | 2017-02-22 | 常州大学 | Tension overall vibration isolation mechanism |
| CN107972017A (en) * | 2017-12-29 | 2018-05-01 | 勃肯特（天津）机器人技术有限公司 | Six axis serial-parallel mirror robots |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774267B (en) * | 2019-11-12 | 2022-10-25 | 燕山大学 | A three-degree-of-freedom parallel stable platform |
| CN110774267A (en) * | 2019-11-12 | 2020-02-11 | 燕山大学 | A three-degree-of-freedom parallel stable platform |
| EP3823003A3 (en) * | 2019-11-15 | 2022-09-14 | FEI Company | Electron microscope stage |
| CN111059431A (en) * | 2019-12-24 | 2020-04-24 | 燕山大学 | A two-degree-of-freedom parallel rotating platform with eccentric moment unloading device |
| CN111421523A (en) * | 2020-04-03 | 2020-07-17 | 清华大学 | Micro-motion platform |
| CN111519880A (en) * | 2020-04-28 | 2020-08-11 | 清华大学 | A parallel troweling robot and its control method |
| CN111502213B (en) * | 2020-04-28 | 2021-07-13 | 清华大学 | Adjustment device for trowel plate of floor trowel and floor trowel containing the same |
| CN111519880B (en) * | 2020-04-28 | 2021-05-18 | 清华大学 | A parallel troweling robot and its control method |
| CN111502213A (en) * | 2020-04-28 | 2020-08-07 | 清华大学 | Adjusting device of ground troweling machine troweling plate and ground troweling machine comprising same |
| CN113001525A (en) * | 2021-04-25 | 2021-06-22 | 西安科技大学 | Parallel mechanism with rotatable axis mechanical arm and movement method |
| CN113001525B (en) * | 2021-04-25 | 2022-03-29 | 西安科技大学 | Parallel mechanism with rotatable axis mechanical arm and movement method |
| CN113925177A (en) * | 2021-10-20 | 2022-01-14 | 山东科技大学 | Active and passive parallel-connection softening device for removing kernels and cutting petals of yellow peaches |
| CN114654447A (en) * | 2022-03-07 | 2022-06-24 | 诺创智能医疗科技(杭州)有限公司 | Robot arm, robot, industrial production system and robot control method |
| WO2023168967A1 (en) * | 2022-03-07 | 2023-09-14 | 诺创智能医疗科技(杭州)有限公司 | Robotic arm, robot, minimally invasive surgical robot system, method for determining pose of robotic arm, industrial production system, and method for controlling robot |
| CN116393290A (en) * | 2023-01-09 | 2023-07-07 | 武汉科技大学 | MgO spraying device for silicon steel |
| CN116100531A (en) * | 2023-02-16 | 2023-05-12 | 上海新纪元机器人有限公司 | Parallel self-balancing mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109605333B (en) | 2020-11-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109605333A (en) | A spring-rope hybrid drive branch chain and a parallel robot with three rotational degrees of freedom | |
| Tsai | Kinematics of a three-DOF platform with three extensible limbs | |
| US11203112B2 (en) | Three-degree-of-freedom parallel mechanism | |
| EP2252437B1 (en) | Two degree-of-freedom parallel manipulator | |
| CN103029120B (en) | Folding static load balance adjusting parallel platform | |
| CN110315511A (en) | A kind of rope driving sorting machine people in parallel using passive tensioned | |
| US8424411B2 (en) | Parallel robot | |
| CN205614647U (en) | Two degree of freedom spherical surface parallel mechanism of high rigidity | |
| CN110666833A (en) | Rope-driven seven-degree-of-freedom humanoid mechanical arm based on parallel mechanism | |
| CN101301756B (en) | Three-freedom degree spherical surface parallel connected anthropomorphic robot bionic hip-joint with bias output | |
| CN107053141B (en) | Global constant balance heavy-duty parallel mechanism with six degrees of freedom | |
| CN109848975A (en) | A kind of hybrid serial-parallel mechanism heavy load mechanical arm of rope driving | |
| CN103737578A (en) | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom | |
| CZ304673B6 (en) | A method and a device for change of rigidity of a serial or parallel basic movable mechanism, especially of industrial robots and machine tools | |
| CN104999472B (en) | The bionical shoulder joint of hybrid type five degree of freedom of scapula linkage | |
| CN206366991U (en) | A kind of 3-dof parallel robot device | |
| CN110815185A (en) | Six-degree-of-freedom high-speed parallel mechanism containing composite branched chain | |
| CN103042521A (en) | 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning | |
| CN109048987A (en) | A kind of parallel flexible waist mechanism | |
| CN201009243Y (en) | A hybrid-driven 6-DOF parallel mechanism with planar 5-bar closed chain | |
| CN204160473U (en) | A kind of novel multiple branch circuit hydraulic control sphere parallel mechanism | |
| CN109079756A (en) | A kind of 3-freedom parallel mechanism applied to force feedback equipment | |
| CN108858141B (en) | Space two-rotation one-translation redundancy constraint parallel mechanism and working method thereof | |
| CN110524518A (en) | One kind two moves one turn of few full symmetric parallel institution of branch redundant drive | |
| CN113562093A (en) | A wheel-footed robot with a balancing device |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |