CN109108671A - One kind is for processing five axis series-parallel machine tool of tubular components - Google Patents
One kind is for processing five axis series-parallel machine tool of tubular components Download PDFInfo
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- CN109108671A CN109108671A CN201811267281.1A CN201811267281A CN109108671A CN 109108671 A CN109108671 A CN 109108671A CN 201811267281 A CN201811267281 A CN 201811267281A CN 109108671 A CN109108671 A CN 109108671A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
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- 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
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Abstract
The present invention relates to one kind for processing five axis series-parallel machine tool of tubular components, including single-degree-of-freedom swivel head, rotating base, rack, motion platform, spindle housing, the first branch, the second branch, third branch and the 4th branch；Spindle housing is arranged in rack, and the motion platform links together through the second branch, the 4th branch and spindle housing, and the spindle housing is connected by revolute pair with rack, and the motion platform links together through the first branch, third branch and rack；From rack to motion platform, revolute pair, prismatic pair, the ball pair connecting with motion platform is distributed in the first branch, third branch in succession；Hooke's hinge, prismatic pair, the ball pair connecting with motion platform is distributed in second branch, the 4th branch in succession.The single-degree-of-freedom rotary head is fixedly connected to increase machining angle with motion platform, and rack is fixedly mounted on rotating base, and expanding the range of work is entire cylindrical body, which has many advantages, such as that high-precision, high rigidity, the range of work are wide.
Description
Technical field
The present invention relates to one kind for processing five axis series-parallel machine tool of tubular components.
Background technique
Parallel institution is compared high with large carrying capacity (specific stiffness is high), fast response time and kinematic accuracy with serial mechanism
The advantages that, therefore the concern by academia and industrial circle, its theoretical research and research for application and development are paid much attention to, simply
Parallel institution had very early using two bar of plane or three bar parallel institutions in such as trussmember, filled as machinery
Standby product parallel institution is applied in robot first.Although parallel institution has the advantages that above-mentioned tempting but it is again same
When have the shortcomings that motion range (working space) is small, especially drawback movement is limited in scope.CNC Series-Parallel Machine Tool can will simultaneously
The advantages of online structure and the serial mechanism of traditional machine tool rolls into one, applied value is good, is a kind of up-and-coming numerically-controlled machine tool
Pattern.
A large amount of series parallel robot in five degrees of freedom uses the design of this kind of mechanism concatenation two-freedom x-y movement moving platform
Scheme, wherein the representative are: the multi-shaft linkage series-parallel machine tool of patent CN101269463A proposition, patent
The multi-axes synchronous hybrid of redundant drive five-axle linkage series-parallel machine tool, patent CN101269463A proposition that CN103240614A is mentioned
Lathe etc..
It is more in these five axis series-parallel machine tools to process plane workpiece or a small range curved face type workpiece, for processing
The Machine Tool design of cylindrical surface type is less.
Summary of the invention
In view of the deficiencies in the prior art, technical problem to be solved by the invention is to provide one kind for processing tubular zero
Five axis series-parallel machine tool of part, is not only simple in structure, and convenient and efficient.
In order to solve the above-mentioned technical problem, the technical scheme is that it is a kind of mixed for processing five axis of tubular components
Online bed, including single-degree-of-freedom swivel head, rotating base, rack, motion platform, spindle housing, the first branch, the second branch,
Three branches and the 4th branch；Spindle housing is arranged in rack, and the motion platform connects through the second branch, the 4th branch and spindle housing
It is connected together, the spindle housing is connected by pedestal revolute pair with rack, and the motion platform is through the first branch, third branch
It links together with rack；The single-degree-of-freedom rotary head is fixedly connected with motion platform, and rack is fixedly mounted on rotating base；
First branch is RPS type movement branched chain, and second branch is UPR type movement branched chain, and the third branch is RPS type fortune
Dynamic branch, the 4th branch are UPR type movement branched chain；From rack to motion platform, the first branch, third branch are distributed in succession
There are the revolute pair connecting with rack, the prismatic pair connecting with revolute pair, the ball pair connecting with motion platform；Second branch, the 4th
The Hooke's hinge being connected with spindle housing is distributed in branch in succession, the prismatic pair that is connected with Hooke's hinge, the ball connecting with motion platform
It is secondary.
Further, first branch includes that the first revolute pair, first movement be secondary and the first ball pair, and described first turn
Dynamic pair is connected with rack, active movement pair of the first movement pair as mechanism, the first ball pair and motion platform phase
Connection forms RPS type movement branched chain；
Second branch includes the second revolute pair, the second prismatic pair and third revolute pair, second revolute pair and shaft
Frame is connected, and constitutes the first Hooke's hinge, active movement pair of second prismatic pair as mechanism, the third revolute pair and fortune
Moving platform is connected, and forms UPR type movement branched chain；
The third branch includes the 4th revolute pair, third prismatic pair and the second ball pair, the 4th revolute pair and rack phase
Connection, active movement pair of the third prismatic pair as mechanism, the second ball pair are connected with motion platform, form RPS
Type movement branched chain；
4th branch includes the 5th revolute pair, the 4th prismatic pair and the 6th revolute pair, the 5th revolute pair and shaft
Frame is connected, and constitutes the second Hooke's hinge, active movement pair of the 4th prismatic pair as mechanism, the 6th revolute pair and fortune
Moving platform is connected, and forms UPR type movement branched chain.
Further, the first movement pair, the second prismatic pair, third prismatic pair and the 4th prismatic pair are all made of lead screw
Slide unit；
The first movement pair includes the first sliding block, the first lead screw, the first straight line guide rail matched with the first sliding block, the first company
Bar and the first servo motor for driving the first lead screw, guide of first sliding block as first movement pair, described first
Sliding block is fixedly connected in the first revolute pair, movement parts of first lead screw as first movement pair, is fixedly connected on described
First connecting rod, the first ball pair are mounted on first connecting rod one end, and first servo motor is mounted on the first connecting rod other end, the first lead screw
It is mounted on first connecting rod and parallel with first straight line guide rail, first straight line guide rail one end connects first servo motor through shaft coupling
Output shaft is arranged with the first nut being threadedly engaged with it on the first lead screw, and the first nut is fixedly connected in the first revolute pair；
When first servo motor works, since first revolute pair is connected with rack, first sliding block cannot be sent out with respect to rack
Raw movement, first lead screw drives first connecting rod to move relative to the first sliding block, so that first branch is with respect to rack
It moves；
Second prismatic pair includes the second sliding block, the second lead screw, the second straight line guide rail matched with the second sliding block, the second company
Bar and the second servo motor for driving the second lead screw, guide of second sliding block as the second prismatic pair, described second
Sliding block is fixedly connected in the second revolute pair, and movement parts of the second straight line guide rail as the second prismatic pair are fixedly connected on
The second connecting rod, third revolute pair are mounted on second connecting rod one end, and the second servo motor is mounted on the second connecting rod other end, the
Two lead screws are mounted on second connecting rod and parallel with second straight line guide rail, and second lead screw one end connects the second servo electricity through shaft coupling
Machine output shaft is arranged with the second nut being threadedly engaged with it on the second lead screw, and the second nut is fixedly connected on the second revolute pair
On；When the second servo motor works, since second revolute pair and spindle housing are connected to form the first Hooke's hinge, spindle housing with
Rack is connected, and second sliding block cannot be moved relative to rack, and second lead screw drives second connecting rod with respect to second
Sliding block moves, so that second branch is moved relative to rack；
The third prismatic pair includes third sliding block, third lead screw, the third linear guide matched with third sliding block, third company
Bar and the third servo motor for driving third lead screw, guide of the third sliding block as third prismatic pair, the third
Sliding block is fixedly connected in the 4th revolute pair, and movement parts of the third linear guide as third prismatic pair are fixedly connected on
The third connecting rod, the second ball pair are mounted on third connecting rod one end, and third servo motor is mounted on the third connecting rod other end, third
Lead screw is mounted on third connecting rod and parallel with third linear guide, and third lead screw one end connects third servo motor through shaft coupling
Output shaft is arranged with the third nut being threadedly engaged with it on third lead screw, and third nut is fixedly connected in third revolute pair；
When third servo motor works, since the third revolute pair is connected with rack, the third sliding block cannot be sent out with respect to rack
Raw movement, the third lead screw drives third connecting rod to move relative to third sliding block, so that the third branch is with respect to rack
It moves；
4th prismatic pair includes Four-slider, the 4th lead screw, the 4th linear guide matched with Four-slider, the 4th company
Bar and the 4th servo motor for driving the 4th lead screw, guide of the Four-slider as the 4th prismatic pair, the described 4th
Sliding block is fixedly connected in the 5th revolute pair, and movement parts of the 4th linear guide as the 4th prismatic pair are fixedly connected on
The fourth link, the 6th revolute pair are mounted on fourth link one end, and the 4th servo motor is mounted on the fourth link other end, the
Four lead screws are mounted in fourth link and parallel with the 4th linear guide, and the 4th lead screw one end connects the 4th servo electricity through shaft coupling
Machine output shaft is arranged with the 4th nut being threadedly engaged with it on the 4th lead screw, and the 4th nut is fixedly connected on the 4th revolute pair
On；When the 4th servo motor works, since the 4th revolute pair and spindle housing are connected to form the first Hooke's hinge, spindle housing with
Rack is connected, and the Four-slider cannot be moved relative to rack, and the 4th lead screw drives fourth link with respect to the 4th
Sliding block moves, so that the 4th branch is moved relative to rack.
Compared with prior art, the invention has the following advantages: motion platform can realize opposite rack 2R1T tri- certainly
It is compact-sized by the movement output spent, there are four movement branched chains, the mode of redundant constaint is conducive to mentioning for mechanism overall stiffness
Height, the high degree of modularity of large carrying capacity, precision is high, and fortune motion platform concatenation single-degree-of-freedom rotary head increases machining angle, rack
It is fixedly mounted on rotating base, it is entire cylindrical body that the range of work, which is expanded, wide etc. with high-precision, high rigidity, the range of work
Advantage.
The present invention will be further described in detail with reference to the accompanying drawings and detailed description.
Detailed description of the invention
Fig. 1 is rack mounting structure schematic diagram；
Fig. 2 is the organigram of the embodiment of the present invention；
Fig. 3 is the machining sketch chart of the embodiment of the present invention；
Fig. 4 is the organigram of spindle housing in the embodiment of the present invention；
Fig. 5 is the organigram of the first branch in the embodiment of the present invention；
Fig. 6 is the organigram of the second branch in the embodiment of the present invention；
Fig. 7 is the organigram of third branch in the embodiment of the present invention；
Fig. 8 is the organigram of the 4th branch in the embodiment of the present invention；
In figure:
The first branch of 1-；The first sliding block of 101-；The first lead screw of 102-；103- first straight line guide rail；104- first connecting rod；105-
One servo motor；The second branch of 2-；The second sliding block of 201-；The second lead screw of 202-；203- second straight line guide rail；The second bar of 204-；
The second servo motor of 205-；3- third branch；301- third sliding block；302- third lead screw；303- three-way guide rail；304- third
Connecting rod；305- third servo motor；The 4th branch of 4-；401- Four-slider；The 4th lead screw of 402-；The 4th line guide rail of 403-；
404- fourth link；405- the 4th takes motor；5- motion platform；6- rack；7- spindle housing；8- single-degree-of-freedom swivel head；9- rotation
Turn pedestal；10- workpiece；P1- first movement pair；The second prismatic pair of P2-；P3- third prismatic pair；The 4th prismatic pair of P4-；R1-
One revolute pair；The second revolute pair of R2-；R3- third revolute pair；The 5th revolute pair of the 4th revolute pair R5- of R4-；R6- the 6th is rotated
It is secondary；R7- pedestal revolute pair；R8- spin head pair；S1- the first ball pair；S2- the second ball pair；The first Hooke's hinge of U1-；U2-
Two Hooke's hinges.
Specific embodiment
To make the foregoing features and advantages of the present invention clearer and more comprehensible, special embodiment below, and cooperate attached drawing, make detailed
Carefully it is described as follows.
As shown in figures 1-8, a kind of for processing five axis series-parallel machine tool of tubular components, including single-degree-of-freedom swivel head, rotation
Turn pedestal, rack, motion platform, spindle housing, the first branch, the second branch, third branch and the 4th branch；Spindle housing setting
In rack, the motion platform links together through the second branch, the 4th branch and spindle housing, and the spindle housing is turned by pedestal
Dynamic pair is connected with rack, and the motion platform links together through the first branch, third branch and rack；The single-degree-of-freedom
Rotary head is fixedly connected with motion platform, and rack is fixedly mounted on rotating base；First branch is RPS type movement branched chain,
Second branch is UPR type movement branched chain, and the third branch is RPS type movement branched chain, and the 4th branch is UPR type fortune
Dynamic branch；From rack to motion platform, the revolute pair connecting with rack and rotation is distributed in the first branch, third branch in succession
The prismatic pair of pair connection, the ball pair being connect with motion platform；Second branch, the 4th branch are distributed in succession and are connected with spindle housing
Hooke's hinge, the prismatic pair that is connected with Hooke's hinge, the ball pair being connect with motion platform.
In the present embodiment, the single-degree-of-freedom swivel head is fixedly connected with motion platform, is driven and is revolved by servo motor
The rotation of rotary head one direction, the rack are fixedly mounted on rotating base, enable lathe by the rotary motion around vertical direction
Enough process all kinds of cylindrical surface workpiece.
In the present embodiment, first branch includes that the first revolute pair, first movement be secondary and the first ball pair, and described the
One revolute pair is connected with rack, active movement pair of the first movement pair as mechanism, and the first ball pair and movement are flat
Platform is connected, and forms RPS type movement branched chain；
Second branch includes the second revolute pair, the second prismatic pair and third revolute pair, second revolute pair and shaft
Frame is connected, and constitutes the first Hooke's hinge, active movement pair of second prismatic pair as mechanism, the third revolute pair and fortune
Moving platform is connected, and forms UPR type movement branched chain；
The third branch includes the 4th revolute pair, third prismatic pair and the second ball pair, the 4th revolute pair and rack phase
Connection, active movement pair of the third prismatic pair as mechanism, the second ball pair are connected with motion platform, form RPS
Type movement branched chain；
4th branch includes the 5th revolute pair, the 4th prismatic pair and the 6th revolute pair, the 5th revolute pair and shaft
Frame is connected, and constitutes the second Hooke's hinge, active movement pair of the 4th prismatic pair as mechanism, the 6th revolute pair and fortune
Moving platform is connected, and forms UPR type movement branched chain.
In the present embodiment, the first movement pair, the second prismatic pair, third prismatic pair and the 4th prismatic pair are all made of
Screw slide；
The first movement pair includes the first sliding block, the first lead screw, the first straight line guide rail matched with the first sliding block, the first company
Bar and the first servo motor for driving the first lead screw, guide of first sliding block as first movement pair, described first
Sliding block is fixedly connected in the first revolute pair, and movement parts of the first straight line guide rail as first movement pair are fixedly connected on
The first connecting rod, the first ball pair are mounted on first connecting rod one end, and first servo motor is mounted on the first connecting rod other end, and first
Lead screw is mounted on first connecting rod and parallel with first straight line guide rail, and first lead screw one end connects first servo motor through shaft coupling
Output shaft is arranged with the first nut being threadedly engaged with it on the first lead screw, and the first nut is fixedly connected in the first revolute pair；
When first servo motor works, since first revolute pair is connected with rack, first sliding block cannot be sent out with respect to rack
Raw movement, first lead screw drives first connecting rod to move relative to the first sliding block, so that first branch is with respect to rack
It moves；
Second prismatic pair includes the second sliding block, the second lead screw, the second straight line guide rail matched with the second sliding block, the second company
Bar and the second servo motor for driving the second lead screw, guide of second sliding block as the second prismatic pair, described second
Sliding block is fixedly connected in the second revolute pair, and movement parts of the second straight line guide rail as the second prismatic pair are fixedly connected on
The second connecting rod, third revolute pair are mounted on second connecting rod one end, and the second servo motor is mounted on the second connecting rod other end, the
Two lead screws are mounted on second connecting rod and parallel with second straight line guide rail, and second lead screw one end connects the second servo electricity through shaft coupling
Machine output shaft is arranged with the second nut being threadedly engaged with it on the second lead screw, and the second nut is fixedly connected on the second revolute pair
On；When the second servo motor works, since second revolute pair and spindle housing are connected to form the first Hooke's hinge, spindle housing with
Rack is connected, and second sliding block cannot be moved relative to rack, and second lead screw drives second connecting rod with respect to second
Sliding block moves, so that second branch is moved relative to rack；
The third prismatic pair includes third sliding block, third lead screw, the third linear guide matched with third sliding block, third company
Bar and the third servo motor for driving third lead screw, guide of the third sliding block as third prismatic pair, the third
Sliding block is fixedly connected in the 4th revolute pair, and movement parts of the third linear guide as third prismatic pair are fixedly connected on
The third connecting rod, the second ball pair are mounted on third connecting rod one end, and third servo motor is mounted on the third connecting rod other end, third
Lead screw is mounted on third connecting rod and parallel with third linear guide, and third lead screw one end connects third servo motor through shaft coupling
Output shaft is arranged with the third nut being threadedly engaged with it on third lead screw, and third nut is fixedly connected in third revolute pair；
When third servo motor works, since the third revolute pair is connected with rack, the third sliding block cannot be sent out with respect to rack
Raw movement, the third lead screw drives third connecting rod to move relative to third sliding block, so that the third branch is with respect to rack
It moves；
4th prismatic pair includes Four-slider, the 4th lead screw, the 4th linear guide matched with Four-slider, the 4th company
Bar and the 4th servo motor for driving the 4th lead screw, guide of the Four-slider as the 4th prismatic pair, the described 4th
Sliding block is fixedly connected in the 5th revolute pair, and movement parts of the 4th linear guide as the 4th prismatic pair are fixedly connected on
The fourth link, the 6th revolute pair are mounted on fourth link one end, and the 4th servo motor is mounted on the fourth link other end, the
Four lead screws are mounted in fourth link and parallel with the 4th linear guide, and the 4th lead screw one end connects the 4th servo electricity through shaft coupling
Machine output shaft is arranged with the 4th nut being threadedly engaged with it on the 4th lead screw, and the 4th nut is fixedly connected on the 4th revolute pair
On；When the 4th servo motor works, since the 4th revolute pair and spindle housing are connected to form the first Hooke's hinge, spindle housing with
Rack is connected, and the Four-slider cannot be moved relative to rack, and the 4th lead screw drives fourth link with respect to the 4th
Sliding block moves, so that the 4th branch is moved relative to rack.
In the present embodiment, the first movement pair, the second prismatic pair, third prismatic pair, the 4th prismatic pair common work
Under, one pose of motion platform is uniquely determined, to realize that motion platform relative to the movement of the rotation of rack two and a translation, leads to
Machining angle can be increased by crossing motion platform concatenation single-degree-of-freedom rotary head, and rack is fixedly mounted on rotating base, can be made
Range of work expansion is entire cylindrical body, is constituted for processing five axis series-parallel machine tool of tubular components, in high speed, accurate and height
Rigidity manufacture field suffers from broad application prospect.
The present invention is not limited to above-mentioned specific embodiment, anyone can show that other are each under the inspiration of the present invention
Five axis and mixed connection machining tool and its application method of kind form.All equivalent changes done according to scope of the present invention patent with
Modification, is all covered by the present invention.
Claims (2)
1. one kind is for processing five axis series-parallel machine tool of tubular components, it is characterised in that: including single-degree-of-freedom swivel head, rotation bottom
Seat, rack, motion platform, spindle housing, the first branch, the second branch, third branch and the 4th branch；Rack is arranged in spindle housing
Interior, the motion platform links together through the second branch, the 4th branch and spindle housing, and the spindle housing passes through pedestal revolute pair
It is connected with rack, the motion platform links together through the first branch, third branch and rack；The single-degree-of-freedom rotary head
It is fixedly connected with motion platform, rack is fixedly mounted on rotating base；First branch is RPS type movement branched chain, described
Second branch is UPR type movement branched chain, and the third branch is RPS type movement branched chain, and the 4th branch is UPR type movement branch
Chain；From rack to motion platform, the revolute pair connecting with rack is distributed in succession, connects with revolute pair for the first branch, third branch
The prismatic pair connect, the ball pair being connect with motion platform；The tiger being connected with spindle housing is distributed in second branch, the 4th branch in succession
Gram hinge, the prismatic pair that is connected with Hooke's hinge, the ball pair being connect with motion platform.
2. according to claim 1 for processing five axis series-parallel machine tool of tubular components, it is characterised in that:
First branch includes the first revolute pair, first movement pair and the first ball pair, first revolute pair and rack phase
Connection, active movement pair of the first movement pair as mechanism, the first ball pair are connected with motion platform, form RPS
Type movement branched chain；
Second branch includes the second revolute pair, the second prismatic pair and third revolute pair, second revolute pair and shaft
Frame is connected, and constitutes the first Hooke's hinge, active movement pair of second prismatic pair as mechanism, the third revolute pair and fortune
Moving platform is connected, and forms UPR type movement branched chain；
The third branch includes the 4th revolute pair, third prismatic pair and the second ball pair, the 4th revolute pair and rack phase
Connection, active movement pair of the third prismatic pair as mechanism, the second ball pair are connected with motion platform, form RPS
Type movement branched chain；
4th branch includes the 5th revolute pair, the 4th prismatic pair and the 6th revolute pair, the 5th revolute pair and shaft
Frame is connected, and constitutes the second Hooke's hinge, active movement pair of the 4th prismatic pair as mechanism, the 6th revolute pair and fortune
Moving platform is connected, and forms UPR type movement branched chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811267281.1A CN109108671B (en) | 2018-10-29 | 2018-10-29 | Five-axis parallel-serial machine tool for processing cylindrical parts |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811267281.1A CN109108671B (en) | 2018-10-29 | 2018-10-29 | Five-axis parallel-serial machine tool for processing cylindrical parts |
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| CN109108671B CN109108671B (en) | 2023-09-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039517A (en) * | 2019-03-19 | 2019-07-23 | 上海大学 | A kind of additional axis mechanism of the five degree of freedom series-parallel robot towards large-scale tubular work pieces process |
| CN110812210A (en) * | 2019-11-29 | 2020-02-21 | 福州大学 | Five-degree-of-freedom series-parallel moxibustion robot |
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| CN107838909A (en) * | 2017-12-08 | 2018-03-27 | 福州大学 | A kind of 2R1T three freedom redundancies driven Parallel Kinematic Manipulator and its method of work |
| CN108555889A (en) * | 2018-06-25 | 2018-09-21 | 福州大学 | The space five-freedom series-parallel connection process unit and its application method of redundant bondage |
| CN108656092A (en) * | 2018-08-07 | 2018-10-16 | 燕山大学 | The series-parallel robot of a mobile parallel connection mechanism is rotated based on four branches two |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110039517A (en) * | 2019-03-19 | 2019-07-23 | 上海大学 | A kind of additional axis mechanism of the five degree of freedom series-parallel robot towards large-scale tubular work pieces process |
| CN110812210A (en) * | 2019-11-29 | 2020-02-21 | 福州大学 | Five-degree-of-freedom series-parallel moxibustion robot |
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