CN105058376A - Overconstrained high-rigidity robot with tri-symmetric kinematics performance - Google Patents
Overconstrained high-rigidity robot with tri-symmetric kinematics performance Download PDFInfo
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- CN105058376A CN105058376A CN201510506108.2A CN201510506108A CN105058376A CN 105058376 A CN105058376 A CN 105058376A CN 201510506108 A CN201510506108 A CN 201510506108A CN 105058376 A CN105058376 A CN 105058376A
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Abstract
An overconstrained high-rigidity robot with tri-symmetric kinematics performance comprises a movable platform, a locating head arranged at the tail end of the movable platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, wherein the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are arranged on the movable platform through a fixed rack. The tail end of the first branched chain penetrates the center of the fixed rack, and the first branched chain is fixedly connected to the movable platform. The middle of the second branched chain, the middle of the third branched chain and the middle of the fourth branched chain can be connected to the periphery of the fixed rack in a rotating manner, and the tail end of the second branched chain, the tail end of the third branched chain and the tail end of the fourth branched chain are hinged to the movable platform. The second branched chain is arranged in front of the first branched chain, and the third branched chain and the fourth branched chain are located behind the left side and the right side of the first branched chain respectively. According to the overconstrained high-rigidity robot with the tri-symmetric kinematics performance, on the premise of not damaging the tri-symmetric kinematics performance, the number of freedom degrees of hinges in the mechanism is lowered, and the rigidity of the mechanism is improved.
Description
Technical field
The present invention relates to a kind of robot.Particularly relate to a kind of Planar Mechanisms high rigidity robot with three symmetric motion performances.
Background technology
The spatial series-parallel robot of patent SE8502327 (or US4732525) and the class band positioning head disclosed in EP0674969 (or US6336375), comprises three means of active gulation that can elongate or shorten vertically; One end of described adjusting device is anchored on fixed mount by hinge, and the other end is connected with moving platform by hinge; Also have a driven adjusting device in this structure, described driven adjusting device one end is fixedly connected with described positioning head, and another end is connected with fixed mount by hinge, to limit certain several free degree of positioning head.The chain connection point of described three initiatively length adjustment devices and fixed mounts be 120 ° be evenly distributed on the chain connection point of described driven adjusting device and fixed mount for the center of circle circumferentially; Described three active length adjustment devices adopt same layout with the chain connection point of positioning head.The layout of three symmetries makes described robot have three good symmetric motion performances.It is Three-degree of freedom hinge that this type of robot connects positioning head with the hinge of active length adjustment device.
A kind of Planar Mechanisms high rigidity Multi-coordinate hybrid robot disclosed in patent CN102699899A, comprises three means of active gulation that can elongate or shorten vertically and a driven adjusting device equally; Wherein two means of active gulation are connected with moving platform by single-degree-of-freedom hinge, be arranged on the left and right sides of driven adjusting device symmetrically, and the plane of movement of described two means of active gulation and driven adjusting device are same plane; Another one means of active gulation is connected with moving platform by the spherical hinge of Three Degree Of Freedom, is arranged on the below of driven adjusting device.This robot decreases hinge number of degrees of freedom in mechanism, is over-constraint structure.But the arrangement described in employing makes mechanism be face symmetrical mechanism, no longer has the kinematics performance of three symmetries.
Summary of the invention
Technical problem to be solved by this invention is, under providing a kind of prerequisite of kinematics performance not destroying three symmetries, reducing hinge number of degrees of freedom, object in mechanism and having the Planar Mechanisms high rigidity robot of three symmetric motion performances.
The technical solution adopted in the present invention is: a kind of Planar Mechanisms high rigidity robot with three symmetric motion performances, comprise moving platform and the positioning head being arranged on described moving platform end, and the first side chain be separately positioned on by fixed mount on described moving platform, second side chain, 3rd side chain and the 4th side chain, the end of the first described side chain runs through the center of described fixed mount, be fixedly connected on described moving platform, described second side chain, the periphery being connected to described fixed mount that the middle part of the 3rd side chain and the 4th side chain can rotate, described second side chain, the end of the 3rd side chain and the 4th side chain is hinged on described moving platform respectively, and described second side chain is positioned at the front of the first side chain, described 3rd side chain and the 4th side chain lay respectively at left back and the right back of described first side chain.
Angle between the second described side chain and the 3rd side chain, the angle between the 3rd side chain and the 4th side chain and the angle between the 4th side chain and the second side chain are 120 °.
Described positioning head is the series connection rotary head with two or three frees degree.
The first described side chain includes: end is fixedly connected on the expansion link on described moving platform, described expansion link is provided with guide rail vertically, and described expansion link also can be hinged along first articulated elements with two rotational freedoms of described slide and described fixed mount by being enclosed within described expansion link.
Described first articulated elements with two rotational freedoms includes: by having first outer ring of hinge in described fixed mount center of a rotational freedom, by having the inner ring of hinge inside described first outer ring of a rotational freedom, the inner side of described inner ring is provided with can along the slide block of described slide, wherein, connect described first outer ring to intersect vertically with the pivot center being connected described inner ring and described first outer ring with the pivot center of described fixed mount.
The second described side chain includes: the second length adjustment device, the end of described second length adjustment device is hinged on described moving platform by a T-shaped, the top of described second length adjustment device is connected with a drive unit making described second length adjustment device become initiatively moving sets, the middle part of described second length adjustment device is hinged by the second outer ring and described fixed mount, wherein, the inner side of what the second described length adjustment device can rotate be connected to described second outer ring, the outside of described second outer ring is hinged by the hinge and described fixed mount with a rotational freedom, wherein, connect described second outer ring to intersect vertically with the pivot center being connected described second length adjustment device and described second outer ring with the pivot center of described fixed mount, connect the rotation axis parallel of described T-shaped hinge and described second length adjustment device in the moving direction of described second length adjustment device.
Described T-shaped cuts with scissors the transverse axis including the longitudinal axis and intersect vertically with one end of the described longitudinal axis, and the other end of the described longitudinal axis is rotatably connected with the end of the second described length adjustment device, and the two ends of described transverse axis are rotatably connected with described moving platform respectively.
The 3rd described side chain is identical with the 4th branched structure, include: the 3rd length adjustment device/the 4th length adjustment device, the end of described 3rd length adjustment device/the 4th length adjustment device is hinged on described moving platform by the 3rd ball pivot/the 4th ball pivot, described 3rd ball pivot/the 4th ball pivot is the hinge with three rotational freedoms, and the pivot center of three rotational freedoms not conllinear but intersect at a point, the top of described 3rd length adjustment device/the 4th length adjustment device is connected with second drive unit making described 3rd length adjustment device/the 4th length adjustment device become initiatively moving sets, the middle part of described 3rd length adjustment device/the 4th length adjustment device is hinged by the 3rd outer ring/the 4th outer ring and described fixed mount, the inner side of what the 3rd described length adjustment device/the 4th length adjustment device can rotate be connected to described 3rd outer ring/the 4th outer ring, the outside of described 3rd outer ring/the 4th outer ring is hinged by the hinge and described fixed mount with a rotational freedom, wherein, connect described 3rd outer ring/the 4th outer ring to intersect vertically with the pivot center being connected described 3rd length adjustment device/the 4th length adjustment device and the 3rd outer ring/the 4th outer ring with the pivot center of described fixed mount.
Second outer ring of pivot center in connection second side chain of the first outer ring and fixed mount and the pivot center of fixed mount in first side chain, and the intersection point of these two axis of pivot center of the length adjustment device connected in the second side chain and the second outer ring; Connect the pivot center of the first side chain inner ring and the first outer ring, and these two axis of pivot center of the T-shaped hinge connected in the second side chain and moving platform are parallel to each other.
The intersection point of the pivot center connecting the second outer ring on the second side chain and fixed mount and the pivot center being connected the second length adjustment device and the second outer ring, connect the 3rd outer ring on the 3rd side chain and fixed mount pivot center with to be connected the intersection point of pivot center of the 3rd length adjustment device and the 3rd outer ring and the pivot center of the 4th outer ring connected on the 4th side chain and fixed mount and the intersection point of the pivot center being connected the 3rd length adjustment device and the 3rd outer ring be 120 ° of pivot centers being evenly distributed on to connect the first outer ring on described first side chain and fixed mount with the intersection point of these two articles of axis of pivot center of the inner ring be connected on described first side chain and the first outer ring for the center of circle circumferentially; The intersection point of the 4th ball pivot three articles of axis on the intersection point of the 3rd ball pivot three articles of axis on described second side chain on the transverse axis of T-shaped hinge and the intersection point of the longitudinal axis, the 3rd side chain and the 4th side chain be 120 ° be evenly distributed on the axis of moving platform and three intersection points determine the intersection point of plane for the center of circle circumferentially.
A kind of Planar Mechanisms high rigidity robot with three symmetric motion performances of the present invention, under the prerequisite of kinematics performance not destroying three symmetries, reduces hinge number of degrees of freedom in mechanism, improves the rigidity of mechanism.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention has the Planar Mechanisms high rigidity robot of three symmetric motion performances;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the mark schematic diagram of each axis in Fig. 1;
Fig. 4 is the structural representation of the first side chain and end moving platform and positioning head in the present invention;
Fig. 5 is the structural representation of the second side chain in the present invention;
Fig. 6 is the structural representation of T-shaped hinge in the present invention;
Fig. 7 is the structural representation of the 3rd side chain in the present invention, the 4th side chain.
1: the first side chain 11: expansion link
12: the first articulated elements 13: guide rail
121: the first outer rings 122: inner ring
123: slide block 2: the second side chain
21: drive unit 22: the second outer ring
23: the second length adjustment device 24:T shape hinges
241: the longitudinal axis 242: transverse axis
3: the three side chain 31/41: the second drive units
32: the three outer ring 33: the three length adjustment devices
34: the three ball pivot 4: the four side chains
41: the four outer ring 42: the four length adjustment devices
44: the four ball pivots 5: fixed mount
6: moving platform 7: positioning head
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, a kind of Planar Mechanisms high rigidity robot with three symmetric motion performances of the present invention is described in detail.
As shown in Figure 1 and Figure 2, a kind of Planar Mechanisms high rigidity robot with three symmetric motion performances of the present invention, comprise moving platform 6 and the positioning head 7 being arranged on described moving platform 6 end, and the first side chain 1, second side chain 2, the 3rd side chain 3 and the 4th side chain 4 that to be separately positioned on by fixed mount 5 on described moving platform 6, described positioning head 7 is for having the series connection rotary head of two or three frees degree.The end of the first described side chain 1 runs through the center of described fixed mount 5, be fixedly connected on described moving platform 6, the periphery being connected to described fixed mount 5 that the middle part of described second side chain 2, the 3rd side chain 3 and the 4th side chain 4 can rotate, the end of described second side chain 2, the 3rd side chain 3 and the 4th side chain 4 is hinged on described moving platform 6 respectively, and described second side chain 2 is positioned at the front of the first side chain 1, described 3rd side chain 3 and the 4th side chain 4 lay respectively at left back and the right back of described first side chain 1.Angle between the second described side chain 2 and the 3rd side chain 3, the angle between the 3rd side chain 3 and the 4th side chain 4 and the angle between the 4th side chain 4 and the second side chain 2 are 120 °.
As shown in Figure 4, the first described side chain 1 includes: end is fixedly connected on the expansion link 11 on described moving platform 6, described expansion link 11 is provided with guide rail 13 vertically, and described expansion link 11 be hinged with described fixed mount 5 by being enclosed within first articulated elements 12 with two rotational freedoms that described expansion link 11 also can slide along described guide rail 13.
Described first articulated elements 12 with two rotational freedoms includes: by having first outer ring 121 of hinge in described fixed mount 5 center of a rotational freedom, by having the inner ring 122 of hinge inside described first outer ring 121 of a rotational freedom, the inner side of described inner ring 122 is provided with the slide block 123 that can slide along described guide rail 13, wherein, connect described first outer ring 121 to intersect vertically with the pivot center 1b being connected described inner ring 122 and described first outer ring 121 with the pivot center 1a of described fixed mount 5.
As shown in Figure 5, the second described side chain 2 includes: the second length adjustment device 23, the end of described second length adjustment device 23 is connected with a drive unit 21 making described second length adjustment device 23 become initiatively moving sets by the top that a T-shaped hinge 24 is hinged on described second length adjustment device 23 on described moving platform 6, the middle part of described second length adjustment device 23 is hinged with described fixed mount 5 by the second outer ring 22, wherein, the inner side of what the second described length adjustment device 23 can rotate be connected to described second outer ring 22, the outside of described second outer ring 22 is hinged by the hinge and described fixed mount 5 with a rotational freedom, wherein, connect described second outer ring 22 to intersect vertically with the pivot center 2b being connected described second length adjustment device 23 and described second outer ring 22 with the pivot center 2a of described fixed mount 5, the rotation 2c connecting described T-shaped hinge 24 and described second length adjustment device 23 is parallel to the moving direction of described second length adjustment device 23.
As shown in Figure 6, the transverse axis 242 that described T-shaped hinge 24 includes the longitudinal axis 241 and intersects vertically with one end of the described longitudinal axis 241, the other end of the described longitudinal axis 241 is rotatably connected with the end of the second described length adjustment device 23, and the two ends of described transverse axis 242 are rotatably connected with described moving platform 6 respectively.
As shown in Figure 7, the 3rd described side chain 3 is identical with the 4th side chain 4 structure, include: the 3rd length adjustment device 33/ the 4th length adjustment device 43, the end of described 3rd length adjustment device 33/ the 4th length adjustment device 43 is hinged on described moving platform 6 by the 3rd ball pivot 34/ the 4th ball pivot 44, described 3rd ball pivot 34/ the 4th ball pivot 44 is for having the hinge of three rotational freedoms, and the pivot center of three rotational freedoms not conllinear but intersect at a point, the top of described 3rd length adjustment device 33/ the 4th length adjustment device 43 is connected with second drive unit 31/41 making described 3rd length adjustment device 33/ the 4th length adjustment device 43 become initiatively moving sets, the middle part of described 3rd length adjustment device 33/ the 4th length adjustment device 43 is hinged with described fixed mount 5 by the 3rd outer ring, outer ring 32/ the 4th 42, the inner side of what the 3rd described length adjustment device 33/ the 4th length adjustment device 43 can rotate be connected to described 3rd outer ring 42, outer ring 32/ the 4th, the outside of described 3rd outer ring 42, outer ring 32/ the 4th is hinged by the hinge and described fixed mount 5 with a rotational freedom, wherein, connect described 3rd outer ring 42, outer ring 32/ the 4th to intersect vertically with the pivot center 3b/4b being connected described 3rd length adjustment device 33/ the 4th length adjustment device 43 and the 3rd outer ring 42, outer ring 32/ the 4th with the pivot center 3a/4a of described fixed mount 5.
As shown in Figure 2,3, the first outer ring 121 on first side chain 1 and second outer ring 22 of the pivot center 1a of fixed mount 5 in connection second side chain 2 and the pivot center 2a of fixed mount 5, and the intersection point of these two axis of pivot center 2b of the length adjustment device 23 connected on the second side chain 2 and the second outer ring 22; Connect the pivot center 1b of the first side chain 1 inner ring 12 and the first outer ring 121, and these two axis of pivot center 2d of the T-shaped hinge 24 connected in the second side chain 2 and moving platform 6 are parallel to each other.
The intersection point of the pivot center 2a connecting the second outer ring 22 on the second side chain 2 and fixed mount 5 and the pivot center 2b being connected the second length adjustment device 23 and the second outer ring 22, connect the 3rd outer ring 32 on the 3rd side chain 3 and fixed mount 5 pivot center 3a with to be connected the intersection point of pivot center 3b of the 3rd length adjustment device 33 and the 3rd outer ring 32 and the pivot center 4a of the 4th outer ring 42 connected on the 4th side chain 4 and fixed mount 5 and the intersection point of the pivot center 4b being connected the 3rd length adjustment device 33 and the 3rd outer ring 32 be 120 ° of pivot center 1a being evenly distributed on to connect the first outer ring 121 on described first side chain 1 and fixed mount 5 with the intersection point of these two articles of axis of pivot center 1b of the inner ring 12 be connected on described first side chain 1 and the first outer ring 121 for the center of circle circumferentially; The intersection point of the 4th ball pivot 44 3 articles of axis on the intersection point of the 3rd ball pivot 34 3 articles of axis on described second side chain 2 on the intersection point of transverse axis 242 and the longitudinal axis 241 of T-shaped hinge 24, the 3rd side chain 3 and the 4th side chain 4 be 120 ° be evenly distributed on the axis of moving platform 6 and three intersection points determine the intersection point of plane for the center of circle circumferentially.
Although be described the preferred embodiments of the present invention by reference to the accompanying drawings above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that present inventive concept and claim protect, can also make a lot of form, these all belong within protection scope of the present invention.
Claims (10)
1. one kind has the Planar Mechanisms high rigidity robot of three symmetric motion performances, comprise moving platform (6) and be arranged on the positioning head (7) of described moving platform (6) end, and be separately positioned on the first side chain (1) on described moving platform (6) by fixed mount (5), second side chain (2), 3rd side chain (3) and the 4th side chain (4), it is characterized in that, the end of described the first side chain (1) runs through the center of described fixed mount (5), be fixedly connected on described moving platform (6), described second side chain (2), the periphery being connected to described fixed mount (5) that the middle part of the 3rd side chain (3) and the 4th side chain (4) can rotate, described second side chain (2), the end of the 3rd side chain (3) and the 4th side chain (4) is hinged on described moving platform (6) respectively, and described second side chain (2) is positioned at the front of the first side chain (1), described 3rd side chain (3) and the 4th side chain (4) lay respectively at left back and the right back of described first side chain (1).
2. a kind of Planar Mechanisms high rigidity robot with three symmetric motion performances according to claim 1, it is characterized in that, the angle between described the second side chain (2) and the 3rd side chain (3), the angle between the 3rd side chain (3) and the 4th side chain (4) and the angle between the 4th side chain (4) and the second side chain (2) are 120 °.
3. a kind of Planar Mechanisms high rigidity robot with three symmetric motion performances according to claim 1, it is characterized in that, described positioning head (7) is for having the series connection rotary head of two or three frees degree.
4. a kind of Planar Mechanisms high rigidity robot with three symmetric motion performances according to claim 1, it is characterized in that, described the first side chain (1) includes: end is fixedly connected on the expansion link (11) on described moving platform (6), described expansion link (11) is provided with guide rail (13) vertically, described expansion link (11) is hinged with described fixed mount (5) by being enclosed within upper first articulated elements (12) with two rotational freedoms that also can slide along described guide rail (13) of described expansion link (11).
5. a kind of Planar Mechanisms high rigidity robot with three symmetric motion performances according to claim 4, it is characterized in that, described first articulated elements (12) with two rotational freedoms includes: by having first outer ring (121) of hinge in described fixed mount (5) center of a rotational freedom, by having the inner ring (122) of hinge in described first outer ring (121) inner side of a rotational freedom, the inner side of described inner ring (122) is provided with the slide block (123) that can slide along described guide rail (13), wherein, connect described first outer ring (121) to intersect vertically with the pivot center (1b) being connected described inner ring (122) and described first outer ring (121) with the pivot center (1a) of described fixed mount (5).
6. a kind of Planar Mechanisms high rigidity robot with three symmetric motion performances according to claim 1, it is characterized in that, described the second side chain (2) includes: the second length adjustment device (23), the end of described second length adjustment device (23) is hinged on described moving platform (6) by T-shaped hinge (24), the top of described second length adjustment device (23) is connected with a drive unit (21) making described second length adjustment device (23) become initiatively moving sets, the middle part of described second length adjustment device (23) is hinged by the second outer ring (22) and described fixed mount (5), wherein, the inner side of what described the second length adjustment device (23) can rotate be connected to described second outer ring (22), the outside of described second outer ring (22) is hinged by the hinge and described fixed mount (5) with a rotational freedom, wherein, connect described second outer ring (22) to intersect vertically with the pivot center (2b) being connected described second length adjustment device (23) and described second outer ring (22) with the pivot center (2a) of described fixed mount (5), the rotation (2c) connecting described T-shaped hinge (24) and described second length adjustment device (23) is parallel to the moving direction of described second length adjustment device (23).
7. a kind of Planar Mechanisms high rigidity robot with three symmetric motion performances according to claim 6, it is characterized in that, the transverse axis (242) that described T-shaped hinge (24) includes the longitudinal axis (241) and intersects vertically with one end of the described longitudinal axis (241), the other end of the described longitudinal axis (241) is rotatably connected with the end of described the second length adjustment device (23), and the two ends of described transverse axis (242) are rotatably connected with described moving platform (6) respectively.
8. a kind of Planar Mechanisms high rigidity robot with three symmetric motion performances according to claim 1, it is characterized in that, the 3rd described side chain (3) is identical with the 4th side chain (4) structure, include: the 3rd length adjustment device (33)/the 4th length adjustment device (43), the end of described 3rd length adjustment device (33)/the 4th length adjustment device (43) is hinged on described moving platform (6) by the 3rd ball pivot (34)/the 4th ball pivot (44), described 3rd ball pivot (34)/the 4th ball pivot (44) is for having the hinge of three rotational freedoms, and the pivot center of three rotational freedoms not conllinear but intersect at a point, the top of described 3rd length adjustment device (33)/the 4th length adjustment device (43) is connected with second drive unit (31/41) making described 3rd length adjustment device (33)/the 4th length adjustment device (43) become initiatively moving sets, the middle part of described 3rd length adjustment device (33)/the 4th length adjustment device (43) is hinged by the 3rd outer ring (32)/the 4th outer ring (42) and described fixed mount (5), the inner side of what the 3rd described length adjustment device (33)/the 4th length adjustment device (43) can rotate be connected to described 3rd outer ring (32)/the 4th outer ring (42), the outside of described 3rd outer ring (32)/the 4th outer ring (42) is hinged by the hinge and described fixed mount (5) with a rotational freedom, wherein, connect described 3rd outer ring (32)/the 4th outer ring (42) to intersect vertically with the pivot center (3b/4b) being connected described 3rd length adjustment device (33)/the 4th length adjustment device (43) and the 3rd outer ring (32)/the 4th outer ring (42) with the pivot center (3a/4a) of described fixed mount (5).
9. a kind of Planar Mechanisms high rigidity robot with three symmetric motion performances according to claim 1, it is characterized in that, second outer ring (22) of the pivot center (1a) of the first outer ring (121) and fixed mount (5) in connection second side chain (2) and the pivot center (2a) of fixed mount (5) in first side chain (1), and the intersection point of pivot center (2b) these two axis of the length adjustment device (23) connected in the second side chain (2) and the second outer ring (22); Connect the pivot center (1b) of the first side chain (1) inner ring (12) and the first outer ring (121), and these two axis of pivot center (2d) of T-shaped hinge (24) connected in the second side chain (2) and moving platform (6) are parallel to each other.
10. According to claim 1 a kind of has three symmetrical constraint high stiffness of robot kinematics performance, its characteristics is to connect the second branched chain (2) on the outer ring (22) and a fixed frame (5) (2 a) and the rotation of the axis connecting the second length adjusting device (23), and the second outer ring (22) rotation axis (2 b) intersection, connecting the branched chain (3) the third on the outer ring (32) and a fixed frame (5) the rotation axis and connect the third length adjusting device (3 a) (33) and the outer ring (32) of the rotation axis intersection and connection (3 b) the fourth branched chain (4) the fourth on the outer ring (42) and a fixed frame (5) the rotation axis (4 a) and connect the third length adjusting device (33) and the outer ring (32) of the rotation axis (4 b) show 120 ° intersection of uniform distribution in the connection as described in the first chain (1) the first outer ring (121) and a fixed frame (5) the rotation axis (1 a) and connected as described in the first chain (1) the inner ring (12) and the first on the outer ring (121) the rotation of the axis intersection of the two axis (1 b) on the circumference of a circle;Described the branched chain (2) T hinge (24) on the horizontal axis (242) and the intersection of vertical shaft (241), the third branched chain (3) the third hinge axis (34) three intersections and the fourth branched chain (4) the fourth on the ball joint (44) show 120 ° intersection of three axis uniformly distributed in the central axis of the mobile platform (6) and the identified three node plane intersection point on the circumference of a circle.
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| CN109176497A (en) * | 2018-10-25 | 2019-01-11 | 北京机械设备研究所 | A kind of main hand of rope drive Three Degree Of Freedom remote operating |
| CN111745623A (en) * | 2020-06-24 | 2020-10-09 | 天津大学 | Five-degree-of-freedom hybrid robot tail end pose error detection and compensation system and method |
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