CN205915333U - Three degrees of freedom of overconstraint self -balancing platform that connects in parallel - Google Patents
Three degrees of freedom of overconstraint self -balancing platform that connects in parallel Download PDFInfo
- Publication number
- CN205915333U CN205915333U CN201620741466.1U CN201620741466U CN205915333U CN 205915333 U CN205915333 U CN 205915333U CN 201620741466 U CN201620741466 U CN 201620741466U CN 205915333 U CN205915333 U CN 205915333U
- Authority
- CN
- China
- Prior art keywords
- platform
- linear actuator
- coaxial
- spring assist
- auxiliary shaft
- 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.)
- Withdrawn - After Issue
Links
Landscapes
- Transmission Devices (AREA)
Abstract
The utility model provides the parallelly connected motion platform of three degrees of freedom of overconstraint self -balancing, the correcting device comprises a pedestal, move the platform, one 5 pole closed loop motion chain and the identical drive branch of two -strip structure, wherein 5 pole closed loops motion chain is by sharp actuator, two coaxial first revolute pairs, the triangle frame, the second revolute pair, public axle, third revolute pair and spring helping hand remove vice the constitution, article two, drive branch is by sharp actuator, an universal hinge, connecting rod and ball pivot are constituteed, it is connected through two the coaxial fourth revolute pairs and the public axle both ends of 5 pole closed loops motion chain to move the platform, the spring helping hand removes vice vertical the installation at the base center. The utility model discloses have fixed decoupling zero pivot, big around the torsional rigidity of base central line, bearing capacity is strong.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly a kind of parallel motion platform.
Background technology
Parallel institution was more and more applied to every field in the last few years, and it has compact conformation, rigidity is big, carry
The advantages of ability is by force and position and attitude error is not accumulated.Especially Limited-DOF Parallel Robot, it has frame for movement simply, manufactures
The advantages of with controlling advantage of lower cost.Existing typical two turn one is moved parallel robot and there is structure Coupling and torsional rigidity not
High the shortcomings of.
Chinese patent cn 201410160309.7 proposes a kind of Three Degree Of Freedom centre of sphere Adjustable Spherical parallel institution, this
Ming Zhong branch to connect upper lower platform using three symmetrical identical center spherical pairs driving side chain to add adjustable height,
But its torsional rigidity is limited, and bearing capacity is not high.
Chinese patent cn 201210530365.6 proposes the freedom degree parallel connection mould with plane double leval jib closed-loop structure
Intend platform, it includes moving platform, fixed platform and four branches connecting this two platforms, be wherein distributed in tying for three of surrounding
Structure is identicalDrive branch, another is to carry bound branch in the middle of ps.Its weak point is: mechanism deposits
In coupling, do not have spring assembly limited to balance upper mounting plate weight, torsional rigidity.
Chinese patent cn 200510052261.9 proposes a kind of adjustable has passive bound branch freedom degree parallel connection
Robot mechanism, in this invention, branch adopts three symmetrical identical sps branches, and is put down up and down with up branch connection
Platform, and the constraint pose of passive bound branch is adjustable.But the decoupling rotating shaft that this mechanism is not fixed, and do not enable flat
The self-balancing of platform, torsional rigidity is limited.
Chinese patent cn 201520357669.6 proposes a kind of symmetrical three freedom redundancy and drives parallel antenna structure
System, its mechanism uses three uniform rsr side chains and is connected to the sp bound branch of upper and lower Platform center, but its presence
The torsional rigidity of mechanism is low, does not have the decoupling rotating shaft of fixation, the shortcomings of torsional rigidity is limited.
Chinese patent cn 201410468846.8 proposes a kind of Planar Mechanisms three with equivalent tricept mechanism kinematic
Freedom degree parallel connection mechanism, in this invention, branch uses uniform 2-ups/upr plus the up connecting upper and lower Platform center about
Bundle branch.But the decoupling rotating shaft that this mechanism is not fixed, and do not enable the self-balancing of upper mounting plate, torsional rigidity is limited.
Content of the invention
It is an object of the invention to provide a kind of have the mistake that fixation decouples rotating shaft, torsional rigidity is high and bearing capacity is strong about
Bundle self-balancing freedom degree parallel connection platform.
Technical scheme is as follows:
The present invention includes pedestal, moving platform, 5 bar closed loop moving chains and two-strip structure identical driving branch.
The present invention is using two kinds of arrangements:
The first arrangement: described pedestal is to be all provided with 3 inclined-plane support blocks on six rib platforms, this 3 inclined-planes support
The platform that the upper end of block is all provided with central through hole with one is connected；5 bar closed loop moving chains by linear actuator, two coaxial
One rotates pair, triangle frame, the second rotation pair, common axis, the 3rd rotation is secondary and spring assist moving sets form, its cathetus start
Device is fixed in the inclined-plane support block of pedestal, and two the first coaxial rotation pairs and straight line start are passed through in the following two ends of triangle frame
The slide block of device connects, and the upper end of triangle frame is passed through the second rotation pair and is connected with one end of common axis, and the two ends of described common axis are divided
Tong Guo two the 4th coaxial rotation pairs not be connected with moving platform, the spring assist being placed in the Platform center through hole of pedestal moves
Sub-shell upper end is connected with this platform, and the lever upper end of spring assist moving sets is passed through the 3rd and rotated the secondary other end with common axis
Connect；Two the first turns auxiliary shaft lines coaxially, the second turns auxiliary shaft line and the 3rd turns auxiliary shaft line are all parallel to each other, and straight line is made
Dynamic device and spring assist moving sets centrage are coplanar and perpendicular to first, second, third turns auxiliary shaft line, spring assist moving sets
Centrage and base central line are conllinear, two coaxial 4th turns auxiliary shaft lines parallel with moving platform plane and with first, second, the
Three turns auxiliary shaft lines are vertical；Described two drive branch to be formed by linear actuator, the first universal hinge, connecting rod and ball pivot, its
Cathetus actuator is separately fixed in the inclined-plane support block of two other pedestal, and the slide block of linear actuator is universal by first
Hinge is connected with one end of connecting rod, and the other end of this connecting rod is connected with moving platform by ball pivot.
Described second rotates pair can be substituted by the second universal hinge with one of them the 4th rotation pair, and the 3rd rotation is secondary and another
Individual 4th rotates pair can be substituted by the 3rd universal hinge.One of rotating shaft of second, third universal hinge described is coaxial, and with public
Axle is coaxial, and another shaft axis of second, third universal hinge are parallel to each other and parallel to the first turns auxiliary shaft line.
Described spring assist moving sets are provided with linear position detection sensor, the 3rd turn of spring assist moving sets upper end
Dynamic auxiliary spindle and the 4th rotates secondary rotating shaft and is provided with angle detecting sensor.
Second arrangement: described pedestal is six rib platforms, 5 bar closed loop moving chains are by two the first coaxial rotations
Pair, triangle frame, linear actuator, the second rotation pair, common axis, the 3rd rotation pair and spring assist moving sets composition, wherein directly
The lower end of line actuator shell is passed through support column and triangle frame lower frame center and is connected, the upper end of this linear actuator shell and triangle
The upper end of frame is connected, and the following two ends of this triangle frame are passed through two the first coaxial rotation pairs and are connected with pedestal, linear actuator
The upper end of lever is passed through second and rotates pair to be connected with one end of common axis, the housing lower end of spring assist moving sets and base central
It is connected, the lever upper end of spring assist moving sets is passed through the 3rd rotation pair and is connected with the other end of common axis, the two of this common axis
End is passed through two the 4th coaxial rotation pairs respectively and is connected with moving platform；Two the first turns auxiliary shaft lines, the second turns auxiliary shaft lines
All parallel to each other with the 3rd turns auxiliary shaft line, linear actuator and spring assist moving sets centrage coplanar and perpendicular to first,
Second, third turns auxiliary shaft line, spring assist moving sets centrage is conllinear with base central line；Two the 4th turns auxiliary shaft lines with
Moving platform plane is parallel and vertical with first, second, third turns auxiliary shaft line；Described two drive branch universal by first
Hinge, linear actuator and ball pivot composition, wherein linear actuator one end are passed through the first universal hinge and are connected with pedestal, linear actuator
The other end be connected with moving platform by ball pivot.
Described second rotates pair can be substituted by the second universal hinge with one of them the 4th rotation pair, and the 3rd rotation is secondary and another
Individual 4th rotates pair can be substituted by the 3rd universal hinge；One of rotating shaft of second, third universal hinge described is coaxial, and with public
Axle is coaxial, and another shaft axis of second, third universal hinge are parallel to each other and parallel to the first turns auxiliary shaft line.
Described spring assist moving sets are provided with linear position detection sensor, the 3rd turn of spring assist moving sets upper end
Dynamic auxiliary spindle and the 4th rotates secondary rotating shaft and is provided with angle detecting sensor.
The present invention is had the advantage that compared with existing correlation technique
1st, there is fixing decoupling rotating shaft, this makes resolving pose easily it is easy to control.
2nd, the 5 bar closed loop moving chains that the present invention comprises are a kind of Planar Mechanisms structures, and the design of this structure is greatly
Improve the torsional rigidity around vertical central rotating shaft direction for the mechanism.
3rd, the spring assist moving sets being located at upper and lower Platform center include a spring, and it effectively carries upper mounting plate
A part of weight, it is achieved that the self-balancing of upper mounting plate, mitigates the load driving branch, significantly thus improve the carrying of moving platform
Ability and dynamic property.
Brief description
Fig. 1 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 1；
Fig. 2 is the spring assist moving sets sectional view of Fig. 1；
Fig. 3 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 2；
Fig. 4 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 3；
Fig. 5 is the spring assist moving sets sectional view of Fig. 1；
Fig. 6 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 4.
In Fig. 1-3: 1-1. pedestal, 1-2. linear actuator, 1-3. first rotate pair, 1-4. triangle frame, second turn of 1-5.
Dynamic pair, 1-6. common axis, 1-7. the 3rd rotate pair, 1-8. the 4th rotates pair, 1-9. spring assist moving sets, 1-10. the 10000th
To hinge, 1-11. connecting rod, 1-12. ball pivot, 1-13. moving platform, the universal hinge of 1-14. second, the universal hinge 1-16. straight line of 1-15. the 3rd
Position-detection sensor, 1-17. angle detecting sensor.
In Fig. 4-6: 2-1. pedestal, 2-2. first rotates pair, 2-3. triangle frame, 2-4. linear actuator, second turn of 2-5.
Dynamic pair, 2-6. moving platform, 2-7. the 4th rotate secondary, 2-8. the 3rd rotation pair, 2-9. common axis, 2-10. spring assist moving sets,
The universal hinge of 2-11. first, 2-12. ball pivot, the universal hinge of 2-13. second, the universal hinge of 2-14. the 3rd.
Specific embodiment
Embodiment 1
In Planar Mechanisms self-balancing freedom degree parallel connection motion platform schematic diagram shown in Fig. 1 and Fig. 2, pedestal 1-1 be
3 inclined-plane support blocks are all provided with six rib platforms, the platform that the upper end of this 3 inclined-plane support blocks is all provided with central through hole with is solid
Even；Linear actuator 1-2 in 5 bar closed loop moving chains is fixed in the inclined-plane support block of pedestal, the following two ends of triangle frame 1-4
It is connected with the slide block of linear actuator by two the first coaxial rotation secondary 1-3, the upper end of triangle frame is passed through second and rotated pair
1-5 is connected with one end of common axis 1-6, and the two ends of described common axis are passed through two the 4th coaxial rotation secondary 1-8 respectively and moved
Platform 1-13 connects, and the spring assist moving sets 1-9 housing upper end being placed in the Platform center through hole of pedestal and this platform are connected,
The lever upper end of spring assist moving sets is connected with the other end of common axis by the 3rd rotation secondary 1-7；Coaxial two first
Turns auxiliary shaft line, the second turns auxiliary shaft line and the 3rd turns auxiliary shaft line are all parallel to each other, and linear actuator and spring assist move
Sub-center line is coplanar and perpendicular to first, second, third turns auxiliary shaft line, spring assist moving sets centrage and base central line
Collinearly, two coaxial 4th turns auxiliary shaft lines are parallel with moving platform plane and vertical with first, second, third turns auxiliary shaft line；
Two-strip structure identical drives the linear actuator in branch to be separately fixed in the inclined-plane support block of two other pedestal, straight line
The slide block of actuator is connected with one end of connecting rod 1-11 by the first universal hinge 1-10, and the other end of this connecting rod passes through ball pivot 1-12
It is connected with moving platform.
Spring assist moving sets are provided with linear position detection sensor 1-16, the 3rd turn of spring assist moving sets upper end
Dynamic auxiliary spindle and the 4th rotates secondary rotating shaft and is provided with angle detecting sensor 1-17.
Embodiment 2
As shown in figure 3, the second universal hinge 1-14 and moving platform are passed through in the upper end of the triangle frame 1-4 in 5 bar closed loop moving chains
1-13 connects, and the lever upper end of spring assist moving sets 1-9 is connected with moving platform by the 3rd universal hinge 1-15；Described second,
One of rotating shaft of the 3rd universal hinge is coaxial, and this axis direction and arrangement position are identical with the common axis 1-6 of embodiment 1, the
2nd, the second rotation secondary 1-5 and the 3rd of another shaft axis direction of the 3rd universal hinge and arrangement position and embodiment 1 rotates pair
The axis of 1-7 is identical；Other parts and annexation are same as Example 1.
Embodiment 3
As shown in Figure 4 and Figure 5, pedestal 2-1 is six rib platforms, under 5 bar closed loop moving chain cathetus actuator 2-4 shells
End is connected with triangle frame 2-3 lower frame center by support column, and the upper end of this linear actuator shell is connected with the upper end of triangle frame,
The following two ends of this triangle frame are passed through two the first coaxial rotation secondary 2-2 and are connected with pedestal, the upper end of linear actuator lever
It is connected with one end of common axis 2-9 by the second rotation secondary 2-5, the housing lower end of spring assist moving sets 2-10 and base central
It is connected, the lever upper end of spring assist moving sets is connected with the other end of common axis by the 3rd rotation secondary 2-8, this common axis
Two ends are passed through two the 4th coaxial rotation secondary 2-7 respectively and are connected with moving platform 2-6；Two the first turns auxiliary shaft lines, second turn
Dynamic secondary axis and the 3rd turns auxiliary shaft line are all parallel to each other, and linear actuator and spring assist moving sets centrage are coplanar and vertical
In first, second, third turns auxiliary shaft line, spring assist moving sets centrage is conllinear with base central line；Two the 4th rotations
Secondary axis is parallel with moving platform plane and vertical with first, second, third turns auxiliary shaft line；Two-strip structure identical drives branch
In linear actuator one end be connected with pedestal by the first universal hinge 2-11, the other end of linear actuator passes through ball pivot 2-12
It is connected with moving platform.
Embodiment 4
As shown in fig. 6, the upper end of the linear actuator lever in 5 bar closed loop moving chains is passed through the second universal hinge 2-13 and is moved
Platform 2-6 connects, and the lever upper end of spring assist moving sets 2-10 is connected with moving platform by the 3rd universal hinge 2-14；Described
2nd, the 3rd one of rotating shaft of universal hinge is coaxial, and this axis direction and arrangement position are identical with the common axis 2-9 of embodiment 3, the
2nd, the second rotation secondary 2-5 and the 3rd of another shaft axis direction of the 3rd universal hinge and arrangement position and embodiment 3 rotates pair
2-8 axis is identical；Other parts and annexation are same as Example 3.
Claims (4)
1. a kind of Planar Mechanisms self-balancing freedom degree parallel connection platform, it include pedestal, moving platform, 5 bar closed loop moving chains and
Two-strip structure is identical drive branch it is characterised in that: described pedestal is to be all provided with 3 inclined-planes on six rib platforms to support
Block, the platform that the upper end of this 3 inclined-plane support blocks is all provided with central through hole with is connected；5 bar closed loop moving chains are made by straight line
Dynamic device, two coaxial first rotation pair, triangle frame, second rotate pair, common axis, the 3rd rotation pair and spring assist moving sets
Composition, wherein linear actuator is fixed in the inclined-plane support block of pedestal, and the following two ends of triangle frame pass through two coaxial the
One rotates pair is connected with the slide block of linear actuator, and the upper end of triangle frame is passed through the second rotation pair and is connected with one end of common axis,
The two ends of described common axis are passed through two the 4th coaxial rotation pairs respectively and are connected with moving platform, and the Platform center being placed in pedestal leads to
The mobile sub-shell upper end of the spring assist of in the hole is connected with this platform, and the lever upper end of spring assist moving sets is passed through the 3rd and rotated
Pair is connected with the other end of common axis；Two the first turns auxiliary shaft lines coaxially, the second turns auxiliary shaft line and the 3rd turns auxiliary shaft
Line is all parallel to each other, and linear actuator and spring assist moving sets centrage are coplanar and secondary perpendicular to first, second, third rotation
Axis, spring assist moving sets centrage and base central line are conllinear, two coaxial 4th turns auxiliary shaft lines and moving platform plane
Parallel and vertical with first, second, third turns auxiliary shaft line；Described two drive branches by linear actuator, first universal
Hinge, connecting rod and ball pivot composition, wherein linear actuator is separately fixed in the inclined-plane support block of two other pedestal, straight line start
The slide block of device is passed through the first universal hinge and is connected with one end of connecting rod, and the other end of this connecting rod is connected with moving platform by ball pivot.
2. a kind of Planar Mechanisms self-balancing freedom degree parallel connection platform, it include pedestal, moving platform, 5 bar closed loop moving chains and
Two-strip structure identical drive branch it is characterised in that: described pedestal be six rib platforms, 5 bar closed loop moving chains are by two
Coaxial first rotates pair, triangle frame, linear actuator, the second rotation pair, common axis, the 3rd rotation is secondary and spring assist moves
Secondary composition, the wherein lower end of linear actuator shell are passed through support column and are connected with triangle frame lower frame center, outside this linear actuator
The upper end of shell is connected with the upper end of triangle frame, and two the first coaxial rotation pairs are passed through with pedestal even in the following two ends of this triangle frame
Connect, the upper end of linear actuator lever is passed through the second rotation pair and is connected with one end of common axis, the housing of spring assist moving sets
Lower end is connected with base central, and the lever upper end of spring assist moving sets is passed through the 3rd and rotated the secondary other end with common axis even
Connect, the two ends of this common axis are passed through two the 4th coaxial rotation pairs respectively and are connected with moving platform；Two the first turns auxiliary shaft lines,
Second turns auxiliary shaft line and the 3rd turns auxiliary shaft line are all parallel to each other, and linear actuator and spring assist moving sets centrage are coplanar
And perpendicular to first, second, third turns auxiliary shaft line, spring assist moving sets centrage is conllinear with base central line；Two
Four turns auxiliary shaft lines are parallel with moving platform plane and vertical with first, second, third turns auxiliary shaft line；Described two driving branches
By the first universal hinge, linear actuator and ball pivot composition, the first universal hinge is passed through with pedestal even in wherein linear actuator one end
Connect, the other end of linear actuator is connected with moving platform by ball pivot.
3. Planar Mechanisms self-balancing freedom degree parallel connection platform according to claim 1 and 2 it is characterised in that: described second
Rotate secondary and one of them the 4th rotate secondary substituted by the second universal hinge, the 3rd rotate secondary and another the 4th rotate secondary by the 3rd
Universal hinge substitutes；Described second and the 3rd any one rotating shaft in universal hinge is coaxial and coaxial with described common axis, second,
Another shaft axis of 3rd universal hinge are parallel to each other and parallel to described first turns auxiliary shaft line.
4. Planar Mechanisms self-balancing freedom degree parallel connection platform according to claim 3 it is characterised in that: described spring assist
Moving sets are provided with linear position detection sensor, and the 3rd rotation auxiliary spindle of spring assist moving sets upper end and the 4th rotates secondary
Rotating shaft be provided with angle detecting sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620741466.1U CN205915333U (en) | 2016-07-14 | 2016-07-14 | Three degrees of freedom of overconstraint self -balancing platform that connects in parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620741466.1U CN205915333U (en) | 2016-07-14 | 2016-07-14 | Three degrees of freedom of overconstraint self -balancing platform that connects in parallel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205915333U true CN205915333U (en) | 2017-02-01 |
Family
ID=57871980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620741466.1U Withdrawn - After Issue CN205915333U (en) | 2016-07-14 | 2016-07-14 | Three degrees of freedom of overconstraint self -balancing platform that connects in parallel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205915333U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002956A (en) * | 2016-07-14 | 2016-10-12 | 燕山大学 | Over-constrained self-balancing three-degree-of-freedom parallel-connection platform |
| CN110270967A (en) * | 2019-07-01 | 2019-09-24 | 烟台大学 | A kind of offset-type rotation table device and working method |
| CN112754550A (en) * | 2021-04-07 | 2021-05-07 | 北京数医脊微科技有限公司 | Machine control system |
-
2016
- 2016-07-14 CN CN201620741466.1U patent/CN205915333U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002956A (en) * | 2016-07-14 | 2016-10-12 | 燕山大学 | Over-constrained self-balancing three-degree-of-freedom parallel-connection platform |
| CN106002956B (en) * | 2016-07-14 | 2018-04-03 | 燕山大学 | A kind of Planar Mechanisms self-balancing freedom degree parallel connection platform |
| CN110270967A (en) * | 2019-07-01 | 2019-09-24 | 烟台大学 | A kind of offset-type rotation table device and working method |
| CN110270967B (en) * | 2019-07-01 | 2021-01-05 | 烟台大学 | Compensation type rotary table device and working method |
| CN112754550A (en) * | 2021-04-07 | 2021-05-07 | 北京数医脊微科技有限公司 | Machine control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106002956B (en) | A kind of Planar Mechanisms self-balancing freedom degree parallel connection platform | |
| CN201808063U (en) | Six-degrees-of-freedom parallel robot device | |
| CN103029121B (en) | Three-degree-of-freedom parallel simulation platform with plane four-connecting rod closed loop structure | |
| CN103029120B (en) | Folding static load balance adjusting parallel platform | |
| CN101244560B (en) | Three freedoms parallel robot mechanism with different structure drive branches | |
| CN205915333U (en) | Three degrees of freedom of overconstraint self -balancing platform that connects in parallel | |
| CN103217986A (en) | Two-freedom-degree parallel-connection rotation mechanism with spherical surface pure-rolling property | |
| CN204450527U (en) | A kind of sphere parallel mechanism with 2 rotational freedoms | |
| CN103381602B (en) | A kind of full decoupled two move one turn of three-freedom degree spatial parallel structure | |
| CN103056869A (en) | S/3-SPS gesture-adjusting position-adjusting three-shaft drive parallel mechanism | |
| CN102366896B (en) | Three-freedom-degree parallel mechanism with two vertical interleaved rotating shafts | |
| 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 | |
| CN104760038A (en) | Three-degree-of-freedom series-parallel rotating platform | |
| CN101776197A (en) | Six-cylinder driven tri-axial rotary platform | |
| CN104526687A (en) | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism | |
| CN206344134U (en) | It is a kind of to drive fixed two to rotate a mobile parallel connection mechanism | |
| CN102240911A (en) | Incompletely-symmetrical four-freedom-degree space in-parallel mechanism with two-dimensional rotation and two-dimensional movement | |
| CN103386681A (en) | Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN211278393U (en) | Six-freedom-degree movement device based on Stewart parallel mechanism and telescopic mechanism thereof | |
| CN206344132U (en) | A kind of big corner two rotates a mobile parallel connection mechanism | |
| CN106272344A (en) | There is the Hex Delta robot of three two turns of five degree of freedom of shifting | |
| CN108000495B (en) | Two-rotation one-movement redundant driving parallel mechanism with large swing angle | |
| CN206825405U (en) | Isotropic space two degrees of freedom rotating parallel device people | |
| CN107336216B (en) | Three-rotation generalized decoupling parallel robot mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170201 Effective date of abandoning: 20180403 |