CN103144097A - Asymmetric parallel robot mechanism with two rotations and one movement - Google Patents
Asymmetric parallel robot mechanism with two rotations and one movement Download PDFInfo
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Abstract
The invention discloses an asymmetric parallel robot mechanism with two rotations and one movement, which comprises a rack, a moving platform, and three movable branches, wherein the three movable branches are connected with the rack and the moving platform; a spherical pair in the first branch is connected with the rack; a revolute pair is connected with the moving platform; the spherical pair is connected with the revolute pair by a revolute pair; universal hinges in the second branch are connected with the rack; a revolute pair is connected with the moving platform; the universal hinges are connected with the revolute pair by a revolute pair; universal hinges in the third branch are connected with the rack; a spherical pair is connected with the moving platform; the universal hinges are connected with the spherical pair by a revolute pair; and an axis of the revolute pair connected with the moving platform in the first branch is not parallel to an axis of the revolute pair connected with the moving platform in the second branch. According to the asymmetric parallel robot mechanism, the branches are simple in structure and overconstraint-free; the processing and manufacturing are convenient; the calibration and control are easy to achieve; and the asymmetric parallel robot mechanism has good application prospects.
Description
Technical fieldThe invention belongs to the robot field, particularly a kind of asymmetric parallel robot mechanism.
Background technologyParallel robot is compared with the serial machine people, has that rigidity is large, movement velocity is fast, the precision advantages of higher, has widely in the mechanical industry field and uses.Can be applied to motion simulator and have two parallel institutions that rotate an one-movement-freedom-degree, coordinate measuring machine, the main shaft of machining center is first-class, wherein most typical application is the main tapping of making parallel machine, additional binary rotary head on this main tapping, just can realize Aero-Space, the processing of the field complex parts such as auto industry.in existing document, the paper (K.Neumann, the 2008.Adaptive in-jig high load Exechon machining ﹠amp that delivered in 2008 as K. Neumann, assembly technology, SAE International, 08AMT-0044.) and patent CN 101049699A, CN 201625978U, the parallel institution of mentioning in CN 201389855Y, moving platform exists to have advantages of without the rotating shaft of associated movement and is easy to demarcate and control, but there is the geometrical condition of this harshness of conllinear in these mechanisms, quality of fit requires very high, otherwise, if do not reach this geometrical condition, the performance of mechanism does not just reach requirement, harsh geometrical condition like this is that the processing and manufacturing of mechanism has brought very large difficulty, be difficult to guarantee machining accuracy.And another kind of 3-RPS/SPR two turns and moves parallel institution, though there is not harsh geometrical condition, exists in rotational motion and follows movement, causes demarcating and controlling very difficult.
Summary of the inventionThe object of the present invention is to provide a kind of branched structure simple, move asymmetric parallel robot mechanism without crossing constraint, convenient processing and manufacture and guaranteeing easily that two of machining accuracy turns.The present invention includes three active branch that moving platform, frame and connection are connected, it has seven kinds of connected modes:
The first connected mode: ball in the first branch is secondary to be connected with frame, and revolute pair is connected with moving platform, is connected by revolute pair between ball pair and revolute pair, and wherein above-mentioned two revolute pair axis are parallel to each other; Universal hinge in the second branch is connected with frame, and revolute pair is connected with moving platform, is connected by revolute pair between universal hinge and revolute pair, and wherein above-mentioned two revolute pair axis all are parallel to each other with the second revolute pair axis of universal hinge; Universal hinge in the 3rd branch is connected with frame, and ball is secondary to be connected with moving platform, is connected by revolute pair between universal hinge and ball pair, and wherein the turns auxiliary shaft line parallel is in the second revolute pair axis of universal hinge; The revolute pair axis that is connected moving platform in the revolute pair axis that connects moving platform in above-mentioned the first branch and the second branch is not parallel.
The second connected mode: ball in the first branch is secondary to be connected with frame, and revolute pair is connected with moving platform, is connected by moving sets between ball pair and revolute pair, and wherein the revolute pair axis is perpendicular to the moving sets axis; Universal hinge in the second branch is connected with frame, and revolute pair is connected with moving platform, is connected by revolute pair between universal hinge and revolute pair, and wherein above-mentioned two revolute pair axis all are parallel to each other with the second revolute pair axis of universal hinge; Universal hinge in the 3rd branch is connected with frame, and ball is secondary to be connected with moving platform, is connected by revolute pair between universal hinge and ball pair, and wherein the turns auxiliary shaft line parallel is in the second revolute pair axis of universal hinge; The revolute pair axis that is connected moving platform in the revolute pair axis that connects moving platform in above-mentioned the first branch and the second branch is not parallel.
The third connected mode: ball in the first branch is secondary to be connected with frame, and revolute pair is connected with moving platform, is connected by revolute pair between ball pair and revolute pair, and wherein two revolute pair axis are parallel to each other; Universal hinge in the second branch is connected with frame, and revolute pair is connected with moving platform, is connected by moving sets between universal hinge and revolute pair, and wherein the revolute pair axis both had been parallel to the second revolute pair axis of universal hinge, again perpendicular to the moving sets axis; Universal hinge in the 3rd branch is connected with frame, and ball is secondary to be connected with moving platform, is connected by revolute pair between universal hinge and ball pair, and wherein the turns auxiliary shaft line parallel is in the second revolute pair axis of universal hinge; The revolute pair axis that is connected moving platform in the revolute pair axis that connects moving platform in above-mentioned the first branch and the second branch is not parallel.
The 4th kind of connected mode: ball in the first branch is secondary to be connected with frame, and revolute pair is connected with moving platform, is connected by revolute pair between ball pair and revolute pair, and wherein two revolute pair axis are parallel to each other; Universal hinge in the second branch is connected with frame, and revolute pair is connected with moving platform, is connected by revolute pair between universal hinge and revolute pair, and wherein above-mentioned two revolute pair axis all are parallel to each other with the second revolute pair axis of universal hinge; Universal hinge in the 3rd branch is connected with frame, and ball is secondary to be connected with moving platform, is connected by moving sets between universal hinge and ball pair, and wherein the moving sets axis is perpendicular to the second revolute pair axis of universal hinge; The revolute pair axis that is connected moving platform in the revolute pair axis that connects moving platform in above-mentioned the first branch and the second branch is not parallel.
The 5th kind of connected mode: ball in the first branch is secondary to be connected with frame, and revolute pair is connected with moving platform, is connected by moving sets between ball pair and revolute pair, and wherein the revolute pair axis is perpendicular to the moving sets axis; Universal hinge in the second branch is connected with frame, and revolute pair is connected with moving platform, is connected by moving sets between universal hinge and revolute pair, and wherein the revolute pair axis both had been parallel to the second revolute pair axis of universal hinge, again perpendicular to the moving sets axis; Universal hinge in the 3rd branch is connected with frame, and ball is secondary to be connected with moving platform, is connected by revolute pair between universal hinge and ball pair, and wherein the turns auxiliary shaft line parallel is in the second revolute pair axis of universal hinge; The revolute pair axis that is connected moving platform in the revolute pair axis that connects moving platform in above-mentioned the first branch and the second branch is not parallel.
The 6th kind of connected mode: ball in the first branch is secondary to be connected with frame, and revolute pair is connected with moving platform, is connected by moving sets between ball pair and revolute pair, and wherein the revolute pair axis is perpendicular to the moving sets axis; Universal hinge in the second branch is connected with frame, and revolute pair is connected with moving platform, is connected by revolute pair between universal hinge and revolute pair, and wherein above-mentioned two revolute pair axis all are parallel to each other with the second revolute pair axis of universal hinge; Universal hinge in the 3rd branch is connected with frame, and ball is secondary to be connected with moving platform, is connected by moving sets between universal hinge and ball pair, and wherein the moving sets axis is perpendicular to the second revolute pair axis of universal hinge; The revolute pair axis that is connected moving platform in the revolute pair axis that connects moving platform in above-mentioned the first branch and the second branch is not parallel.
The 7th kind of connected mode: ball in the first branch is secondary to be connected with frame, and revolute pair is connected with moving platform, is connected by revolute pair between ball pair and revolute pair, and wherein two revolute pair axis are parallel to each other; Universal hinge in the second branch is connected with frame, and revolute pair is connected with moving platform, is connected by moving sets between universal hinge and revolute pair, and wherein the revolute pair axis both had been parallel to the second revolute pair axis of universal hinge, again perpendicular to the moving sets axis; Universal hinge in the 3rd branch is connected with frame, and ball is secondary to be connected with moving platform, is connected by moving sets between universal hinge and ball pair, and wherein the moving sets axis is perpendicular to the second revolute pair axis of universal hinge; The revolute pair axis that is connected moving platform in the revolute pair axis that connects moving platform in above-mentioned the first branch and the second branch is not parallel.
The present invention compared with prior art has following advantage: the harsh geometrical condition of nothing in mechanism, moving platform exists without following mobile rotating shaft, driver can be near frame, branched structure is very simple, without crossing constraint, processing and manufacturing is more convenient, demarcates and controls easily and realize having very good application prospect.
Description of drawings:
Fig. 1 is the schematic perspective view of the embodiment of the present invention 1.
Fig. 2 is the schematic perspective view of the embodiment of the present invention 2.
Fig. 3 is the schematic perspective view of the embodiment of the present invention 3.
Fig. 4 is the schematic perspective view of the embodiment of the present invention 4.
Fig. 5 is the schematic perspective view of the embodiment of the present invention 5.
Fig. 6 is the schematic perspective view of the embodiment of the present invention 6.
Fig. 7 is the schematic perspective view of the embodiment of the present invention 7.
The specific embodiment:
Further illustrate below in conjunction with embodiment shown in the drawings.
Below in each embodiment, described moving sets axis refers to the straight line parallel with the direction of motion of moving sets, when the revolute pair axis refers to that revolute pair is rotated, institute is around the center line of rotation, the first revolute pair of universal hinge refers to the revolute pair near frame, and the second revolute pair of universal hinge refers to the revolute pair near moving platform.
Embodiment 1:
Turn shown in Figure 1 two and move asymmetric parallel robot mechanism schematic diagram, secondary S11 of ball in the first branch is connected with frame 1, revolute pair R13 is connected with moving platform 2, is connected by revolute pair R12 between ball pair and revolute pair, and wherein above-mentioned two revolute pair R13, R12 axis are parallel to each other; Universal hinge R21, R22 in the second branch are connected with frame, revolute pair R24 is connected with moving platform, be connected by revolute pair R23 between universal hinge and revolute pair, wherein above-mentioned two revolute pair R24, the R23 axis is equal and the second revolute pair R22 axis of universal hinge is parallel to each other; Universal hinge R31, R32 in the 3rd branch are connected with frame, and secondary S34 of ball is connected with moving platform, are connected by revolute pair R33 between universal hinge and ball pair, and wherein revolute pair R33 axis is parallel to the second revolute pair R32 axis of universal hinge; Revolute pair R13 axis and the revolute pair R24 axis in the second branch in above-mentioned the first branch are not parallel.
Embodiment 2:
Turn shown in Figure 2 two and move asymmetric parallel robot mechanism schematic diagram, secondary S11 of ball in the first branch is connected with frame 1, revolute pair R13 is connected with moving platform 2, is connected by moving sets P12 between ball pair and revolute pair, and wherein revolute pair R13 axis is perpendicular to moving sets P12 axis; Universal hinge R21, R22 in the second branch are connected with frame, revolute pair R24 is connected with moving platform, be connected by revolute pair R23 between universal hinge and revolute pair, wherein above-mentioned two revolute pair R24, the R23 axis is equal and the second revolute pair R22 axis of universal hinge is parallel to each other; Universal hinge R31, R32 in the 3rd branch are connected with frame, and secondary S34 of ball is connected with moving platform, are connected by revolute pair R33 between universal hinge and ball pair, and wherein revolute pair R33 axis is parallel to the second revolute pair R32 axis of universal hinge; Revolute pair R13 axis and the revolute pair R24 axis in the second branch in above-mentioned the first branch are not parallel.
Embodiment 3:
Turn shown in Figure 3 two and move asymmetric parallel robot mechanism schematic diagram, secondary S11 of ball in the first branch is connected with frame 1, revolute pair R13 is connected with moving platform 2, is connected by revolute pair R12 between ball pair and revolute pair, and wherein above-mentioned two revolute pair R13, R12 axis are parallel to each other; Universal hinge R21, R22 in the second branch are connected with frame, revolute pair R24 is connected with moving platform, be connected by moving sets P23 between universal hinge and revolute pair, wherein revolute pair R24 axis both had been parallel to the second revolute pair R22 axis of universal hinge, again perpendicular to moving sets P23 axis; Universal hinge R31, R32 in the 3rd branch are connected with frame, and secondary S34 of ball is connected with moving platform, are connected by revolute pair R33 between universal hinge and ball pair, and wherein revolute pair R33 axis is parallel to the second revolute pair R32 axis of universal hinge; Revolute pair R13 axis and the revolute pair R24 axis in the second branch in above-mentioned the first branch are not parallel.
Embodiment 4:
Turn shown in Figure 4 two and move asymmetric parallel robot mechanism schematic diagram, secondary S11 of ball in the first branch is connected with frame 1, revolute pair R13 is connected with moving platform 2, is connected by revolute pair R12 between ball pair and revolute pair, and wherein above-mentioned two revolute pair R13, R12 axis are parallel to each other; Universal hinge R21, R22 in the second branch are connected with frame, revolute pair R24 is connected with moving platform, be connected by revolute pair R23 between universal hinge and revolute pair, wherein above-mentioned two revolute pair R24, the R23 axis is equal and the second revolute pair R22 axis of universal hinge is parallel to each other; Universal hinge R31, R32 in the 3rd branch are connected with frame, and secondary S34 of ball is connected with moving platform, are connected by moving sets P33 between universal hinge and ball pair, and wherein moving sets P33 axis is perpendicular to the second revolute pair R32 axis of universal hinge; Revolute pair R13 axis and the revolute pair R24 axis in the second branch in above-mentioned the first branch are not parallel.
Embodiment 5:
Turn shown in Figure 5 two and move asymmetric parallel robot mechanism schematic diagram, secondary S11 of ball in the first branch is connected with frame 1, revolute pair R13 is connected with moving platform 2, is connected by moving sets P12 between ball pair and revolute pair, and wherein revolute pair R13 axis is perpendicular to moving sets P12 axis; Universal hinge R21, R22 in the second branch are connected with frame, revolute pair R24 is connected with moving platform, be connected by moving sets P23 between universal hinge and revolute pair, wherein revolute pair R24 axis both had been parallel to the second revolute pair R22 axis of universal hinge, again perpendicular to moving sets P23 axis; Universal hinge R31, R32 in the 3rd branch are connected with frame, and secondary S34 of ball is connected with moving platform, are connected by revolute pair R33 between universal hinge and ball pair, and wherein revolute pair R33 axis is parallel to the second revolute pair R32 axis of universal hinge; Revolute pair R13 axis and the revolute pair R24 axis in the second branch in above-mentioned the first branch are not parallel.
Embodiment 6:
Turn shown in Figure 6 two and move asymmetric parallel robot mechanism schematic diagram, secondary S11 of ball in the first branch is connected with frame 1, revolute pair R13 is connected with moving platform 2, is connected by moving sets P12 between ball pair and revolute pair, and wherein revolute pair R13 axis is perpendicular to moving sets P12 axis; Universal hinge R21, R22 in the second branch are connected with frame, revolute pair R24 is connected with moving platform, be connected by revolute pair R23 between universal hinge and revolute pair, wherein above-mentioned two revolute pair R24, the R23 axis is equal and the second revolute pair R22 axis of universal hinge is parallel to each other; Universal hinge R31, R32 in the 3rd branch are connected with frame, and secondary S34 of ball is connected with moving platform, are connected by moving sets P33 between universal hinge and ball pair, and wherein moving sets P33 axis is perpendicular to the second revolute pair R32 axis of universal hinge; Revolute pair R13 axis and the revolute pair R24 axis in the second branch in above-mentioned the first branch are not parallel.
Embodiment 7:
Turn shown in Figure 7 two and move asymmetric parallel robot mechanism schematic diagram, secondary S11 of ball in the first branch is connected with frame 1, revolute pair R13 is connected with moving platform 2, is connected by revolute pair R12 between ball pair and revolute pair, and wherein above-mentioned two revolute pair R13, R12 axis are parallel to each other; Universal hinge R21, R22 in the second branch are connected with frame, revolute pair R24 is connected with moving platform, be connected by moving sets P23 between universal hinge and revolute pair, wherein revolute pair R24 axis both had been parallel to the second revolute pair R22 axis of universal hinge, again perpendicular to moving sets P23 axis; Universal hinge R31, R32 in the 3rd branch are connected with frame, and secondary S34 of ball is connected with moving platform, are connected by moving sets P33 between universal hinge and ball pair, and wherein moving sets P33 axis is perpendicular to the second revolute pair R32 axis of universal hinge; Revolute pair R13 axis and the revolute pair R24 axis in the second branch in above-mentioned the first branch are not parallel.
Claims (7)
1. one kind two turns and moves asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and three active branch that connect them, it is characterized in that: the ball in its first branch secondary (S11) is connected with frame, revolute pair (R13) is connected with moving platform, be connected by revolute pair (R12) between ball pair and revolute pair, wherein above-mentioned two revolute pairs (R13, R12) axis is parallel to each other; Universal hinge in the second branch (R21, R22) is connected with frame, revolute pair (R24) is connected with moving platform, be connected by revolute pair (R23) between universal hinge and revolute pair, wherein above-mentioned two revolute pairs (R24, R23) axis all is parallel to each other with the second revolute pair (R22) axis of universal hinge; Universal hinge in the 3rd branch (R31, R32) is connected with frame, ball secondary (S34) is connected with moving platform, be connected by revolute pair (R33) between universal hinge and ball pair, wherein revolute pair (R33) axis is parallel to the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned the first branch and revolute pair (R24) axis in the second branch are not parallel.
2. one kind two turns and moves asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and three active branch that connect them, it is characterized in that: the ball in its first branch secondary (S11) is connected with frame, revolute pair (R13) is connected with moving platform, be connected by moving sets (P12) between ball pair and revolute pair, wherein revolute pair (R13) axis is perpendicular to moving sets (P12) axis; Universal hinge in the second branch (R21, R22) is connected with frame, revolute pair (R24) is connected with moving platform, be connected by revolute pair (R23) between universal hinge and revolute pair, wherein above-mentioned two revolute pairs (R24, R23) axis all is parallel to each other with the second revolute pair (R22) axis of universal hinge; Universal hinge in the 3rd branch (R31, R32) is connected with frame, ball secondary (S34) is connected with moving platform, be connected by revolute pair (R33) between universal hinge and ball pair, wherein revolute pair (R33) axis is parallel to the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned the first branch and revolute pair (R24) axis in the second branch are not parallel.
3. one kind two turns and moves asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and three active branch that connect them, it is characterized in that: the ball in its first branch secondary (S11) is connected with frame, revolute pair (R13) is connected with moving platform, be connected by revolute pair (R12) between ball pair and revolute pair, wherein above-mentioned two revolute pairs (R13, R12) axis is parallel to each other; Universal hinge in the second branch (R21, R22) is connected with frame, revolute pair (R24) is connected with moving platform, be connected by moving sets (P23) between universal hinge and revolute pair, wherein revolute pair (R24) axis both had been parallel to the second revolute pair (R22) axis of universal hinge, again perpendicular to moving sets (P23) axis; Universal hinge in the 3rd branch (R31, R32) is connected with frame, ball secondary (S34) is connected with moving platform, be connected by revolute pair (R33) between universal hinge and ball pair, wherein revolute pair (R33) axis is parallel to the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned the first branch and revolute pair (R24) axis in the second branch are not parallel.
4. one kind two turns and moves asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and three active branch that connect them, it is characterized in that: the ball in its first branch secondary (S11) is connected with frame, revolute pair (R13) is connected with moving platform, be connected by revolute pair (R12) between ball pair and revolute pair, wherein above-mentioned two revolute pairs (R13, R12) axis is parallel to each other; Universal hinge in the second branch (R21, R22) is connected with frame, revolute pair (R24) is connected with moving platform, be connected by revolute pair (R23) between universal hinge and revolute pair, wherein above-mentioned two revolute pairs (R24, R23) axis all is parallel to each other with the second revolute pair (R22) axis of universal hinge; Universal hinge in the 3rd branch (R31, R32) is connected with frame, ball secondary (S34) is connected with moving platform, be connected by moving sets (P33) between universal hinge and ball pair, wherein moving sets (P33) axis is perpendicular to the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned the first branch and revolute pair (R24) axis in the second branch are not parallel.
5. one kind two turns and moves asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and three active branch that connect them, it is characterized in that: the ball in its first branch secondary (S11) is connected with frame, revolute pair (R13) is connected with moving platform, be connected by moving sets (P12) between ball pair and revolute pair, wherein revolute pair (R13) axis is perpendicular to moving sets (P12) axis; Universal hinge in the second branch (R21, R22) is connected with frame, revolute pair (R24) is connected with moving platform, be connected by moving sets (P23) between universal hinge and revolute pair, wherein revolute pair (R24) axis both had been parallel to the second revolute pair (R22) axis of universal hinge, again perpendicular to moving sets (P23) axis; Universal hinge in the 3rd branch (R31, R32) is connected with frame, ball secondary (S34) is connected with moving platform, be connected by revolute pair (R33) between universal hinge and ball pair, wherein revolute pair (R33) axis is parallel to the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned the first branch and revolute pair (R24) axis in the second branch are not parallel.
6. one kind two turns and moves asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and three active branch that connect them, it is characterized in that: the ball in its first branch secondary (S11) is connected with frame, revolute pair (R13) is connected with moving platform, be connected by moving sets (P12) between ball pair and revolute pair, wherein revolute pair (R13) axis is perpendicular to moving sets (P12) axis; Universal hinge in the second branch (R21, R22) is connected with frame, revolute pair (R24) is connected with moving platform, be connected by revolute pair (R23) between universal hinge and revolute pair, wherein above-mentioned two revolute pairs (R24, R23) axis all is parallel to each other with the second revolute pair (R22) axis of universal hinge; Universal hinge in the 3rd branch (R31, R32) is connected with frame, ball secondary (S34) is connected with moving platform, be connected by moving sets (P33) between universal hinge and ball pair, wherein moving sets (P33) axis is perpendicular to the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned the first branch and revolute pair (R24) axis in the second branch are not parallel.
7. one kind two turns and moves asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and three active branch that connect them, it is characterized in that: the ball in its first branch secondary (S11) is connected with frame, revolute pair (R13) is connected with moving platform, be connected by revolute pair (R12) between ball pair and revolute pair, wherein above-mentioned two revolute pairs (R13, R12) axis is parallel to each other; Universal hinge in the second branch (R21, R22) is connected with frame, revolute pair (R24) is connected with moving platform, be connected by moving sets (P23) between universal hinge and revolute pair, wherein revolute pair (R24) axis both had been parallel to the second revolute pair (R22) axis of universal hinge, again perpendicular to moving sets (P23) axis; Universal hinge in the 3rd branch (R31, R32) is connected with frame, ball secondary (S34) is connected with moving platform, be connected by moving sets (P33) between universal hinge and ball pair, wherein moving sets (P33) axis is perpendicular to the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned the first branch and revolute pair (R24) axis in the second branch are not parallel.
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Cited By (6)
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| CN103302510A (en) * | 2013-07-03 | 2013-09-18 | 上海交通大学 | Parallel mechanism with two floatable staggered spindles |
| CN103481282A (en) * | 2013-09-10 | 2014-01-01 | 常州大学 | Double-freedom double-rotation parallel motion device |
| CN105215983A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There is the asymmetric parallel robot mechanism of two turn of one shift three degrees of freedom |
| CN105904436A (en) * | 2016-04-22 | 2016-08-31 | 燕山大学 | Associated movement-free two-rotation and one-movement parallel mechanism |
| CN106112974A (en) * | 2016-07-18 | 2016-11-16 | 燕山大学 | A kind of with parallel institution that arbitrary line in plane is continuous rotating shaft |
| CN106863276A (en) * | 2017-03-24 | 2017-06-20 | 燕山大学 | A kind of few two turn one of joint motion three-freedom-degree parallel mechanism |
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| CN106863276A (en) * | 2017-03-24 | 2017-06-20 | 燕山大学 | A kind of few two turn one of joint motion three-freedom-degree parallel mechanism |
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