CN102848375A - Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion - Google Patents
Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion Download PDFInfo
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- CN102848375A CN102848375A CN2012103108926A CN201210310892A CN102848375A CN 102848375 A CN102848375 A CN 102848375A CN 2012103108926 A CN2012103108926 A CN 2012103108926A CN 201210310892 A CN201210310892 A CN 201210310892A CN 102848375 A CN102848375 A CN 102848375A
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Abstract
A spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion comprises a machine frame, a first moving branched-chain, a second moving branched-chain, a third moving branched-chain, a fourth moving branched-chain, a fifth moving branched-chain, a sixth moving branched-chain, a translating table, and a spherical moving chain; the first moving branched-chain, the second moving branched-chain and the third moving branched-chain commonly drive the translating table to do a three-dimensional translation motion; the fourth moving branched-chain, the fifth moving branched-chain and the sixth moving branched-chain commonly drive the spherical moving chain to move, wherein the spherical moving chain can realize the three-dimensional rotation motion along the center of sphere. According to the invention, the translation motion and the rotation motion are separately controlled by different branched-chains, the analytical direct and inverse solutions of kinematics are easy to obtain, the mechanism is easy to control, a driving motor is arranged on the machine frame and a rod can be configured to be a light rod, so that the weight of the mechanism is reduced effectively, and the mechanism is excellent in rigidity, small in inertia and high in dynamics performance.
Description
Technical field
The present invention relates to the robot field, particularly the space mechanism in six degree of freedom of the independent control of rotational motion and translational motion.
Background technology
Existing mechanism in six degree of freedom is divided into tandem, parallel and series parallel type three types.That tandem mechanism has is simple in structure, motion flexibly, the advantage such as working space is large, but owing to mechanism is connected in series and need to drive motors be installed at joint and causes it to have the deficiencies such as mechanical arm weight is large, rotary inertia is large, error accumulation is large.Relative serial mechanism, parallel unit mechanism is jointly to drive the pose output that moving platform is realized its end effector by many movement branched chain, thereby this type of mechanism has the advantages such as precision height, compact conformation, rigidity are high, bearing capacity is strong, also has simultaneously complex structure, the shortcomings such as control difficulty.Series parallel type mechanism adopts the mode of parallel connection and serial connection combination to realize the motion of mechanism, but because its series connection part still need be with drive installation on the mechanism joint, so the kinematics of mechanism and dynamic performance are relatively poor.
US.Patent No.4976582 discloses a kind of three-dimensional translation and one-dimensional rotation space four-degree-of-freedom mechanism that realizes, this manipulator adopts outer revolute pair to drive and the parallelogram branched structure, can realize the high speed 3 dimension translations of end effector, two ends also are set simultaneously with the scalable rotating shaft of hook hinge between the sound platform, rotate with the single-degree-of-freedom that realizes end effector.This mechanism realizes that at mechanism with single degree of freedom of three translation parallel mechanism series connection thereby it rotates the four-degree-of-freedom motion of output implementation space, but the inventor should be installed on the frame at the motor that moving platform is installed cleverly.
The present invention is implementation space six-freedom motion and first mechanism design is become on the three-dimensional translating parallel structure series connection Three dimensional rotation parallel institution, and six drive motors of this mechanism all are installed on the frame, and translational degree of freedom and rotational freedom can be realized independent control.The invention solves the six-degree-of-freedom parallel connection mechanism kinematics just, the contrary difficulty of separating, the problems such as control difficulty.
Summary of the invention
The object of the present invention is to provide the separately space mechanism in six degree of freedom of control of rotational motion and translational motion, can solve the problem such as six degree of freedom serial mechanism poor rigidity, inertia are large, joint error accumulation and six-degree-of-freedom parallel connection mechanism kinematics just, the contrary difficulty of separating, the problems such as control difficulty.
The present invention achieves the above object by the following technical programs: rotational motion and translational motion be the space mechanism in six degree of freedom of control separately, comprises frame, the first movement branched chain, the second movement branched chain, the 3rd movement branched chain, the 4th movement branched chain, the 5th movement branched chain, the 6th movement branched chain, translation platform and spherical chain.
Described the first movement branched chain is comprised of the first servomotor, the first driving lever, first connecting rod and second connecting rod, rack-mounted the first servomotor drives the motion of the first driving lever by the first revolute pair, the first driving lever drives first connecting rod and second connecting rod motion by the first Hooke's hinge (or spherical pair) and the second Hooke's hinge (or spherical pair), and first connecting rod and second connecting rod drive the motion of translation platform by the 3rd Hooke's hinge (or spherical pair) and the 4th Hooke's hinge (or spherical pair).
Described the second movement branched chain is comprised of the second servomotor, the second driving lever, third connecting rod and the 4th connecting rod, rack-mounted the second servomotor drives the motion of the second driving lever by the second revolute pair, the second driving lever drives third connecting rod and the 4th link motion by the 5th Hooke's hinge (or spherical pair) and the 6th Hooke's hinge (or spherical pair), and third connecting rod and the 4th connecting rod drive the motion of translation platform by the 7th Hooke's hinge (or spherical pair) and the 8th Hooke's hinge (or spherical pair).
Described the 3rd movement branched chain is comprised of the 3rd servomotor, the 3rd driving lever, the 5th connecting rod and the 6th connecting rod, rack-mounted the 3rd servomotor drives the motion of the 3rd driving lever by the 3rd revolute pair, the 3rd driving lever drives the 5th connecting rod and the 6th link motion by the 9th Hooke's hinge (or spherical pair) and the tenth Hooke's hinge (or spherical pair), and the 5th connecting rod and the 6th connecting rod drive the motion of translation platform by the 11 Hooke's hinge (or spherical pair) and the 12 Hooke's hinge (or spherical pair).
Described the first movement branched chain, the second movement branched chain and the 3rd movement branched chain are united the motion of driving translation platform, but the motion of described translation platform implementation space three-dimensional translating.
Described the 4th movement branched chain is by the 4th servomotor, seven-link assembly and the 8th connecting rod, the first bevel gear and the second bevel gear form, rack-mounted the 4th servomotor drives the seven-link assembly motion by the 13 Hooke's hinge, seven-link assembly is connected with the 8th connecting rod by the first moving sets and drives the 8th link motion, the 8th connecting rod other end drives the motion of the first bevel gear by the 14 Hooke's hinge, the first bevel gear is connected with the translation platform by the 4th revolute pair and by driving the motion of the second bevel gear with the engagement of the second bevel gear, the second bevel gear is connected with the translation platform by the 5th revolute pair.
Described the 5th movement branched chain is by the 5th servomotor, the 9th connecting rod and the tenth connecting rod, third hand tap gear and the 4th bevel gear form, rack-mounted the 5th servomotor drives the 9th link motion by the 15 Hooke's hinge, the 9th connecting rod is connected with the tenth connecting rod by the second moving sets and drives the tenth link motion, the tenth connecting rod other end drives the third hand tap gear movement by the 16 Hooke's hinge, the third hand tap gear is connected with the translation platform by the 6th revolute pair and by driving the motion of the 4th bevel gear with the engagement of the 4th bevel gear, the 4th bevel gear is connected with the translation platform by the 7th revolute pair.
Described the 6th movement branched chain is by the 6th servomotor, the 11 connecting rod and the 12 connecting rod, the 5th bevel gear and the 6th bevel gear form, rack-mounted the 6th servomotor drives the 11 link motion by the 17 Hooke's hinge, the 11 connecting rod is connected with the 12 connecting rod by three moving sets and drives the 12 link motion, the 12 connecting rod other end drives the motion of the 5th bevel gear by the 18 Hooke's hinge, the 5th bevel gear is connected with the translation platform by the 8th revolute pair and by driving the motion of the 6th bevel gear with the engagement of the 6th bevel gear, the 6th bevel gear is connected with the translation platform by the 9th revolute pair.
Described spherical chain is by the 13 connecting rod, the 14 connecting rod, the 15 connecting rod, the 16 connecting rod, the tenth seven-link assembly, the 18 connecting rod and sphere platform form, the second bevel gear drives the 13 link motion by the 5th revolute pair, the 13 connecting rod drives the 14 link motion by the tenth revolute pair, the 4th bevel gear drives the 15 link motion by the 7th revolute pair, the 15 connecting rod drives the 16 link motion by the 11 revolute pair, the 6th bevel gear drives the motion of the tenth seven-link assembly by the 9th revolute pair, the tenth seven-link assembly drives the 18 link motion by the 12 revolute pair, the 14 connecting rod, the 16 connecting rod and the 18 connecting rod are respectively by the 13 revolute pair, the 14 revolute pair, the 15 revolute pair drives the motion of sphere platform, the 5th revolute pair, the 7th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair, the 13 revolute pair, the 14 revolute pair, the axes intersect of the 15 revolute pair is in a bit, and described sphere platform can be realized the Three dimensional rotation motion around above-mentioned intersection point.
Outstanding advantages of the present invention is:
1, drive motors is installed on the frame, and rod member is made lighter bar, and mechanism is lightweight, good rigidly, inertia is little, dynamic performance good;
2, the translational motion of mechanism is controlled separately by different side chains respectively with rotational motion, and kinematics of mechanism just, inverse problem finds the solution easily, and control is convenient;
3, install different end effectors, this mechanism may be used on assembling, welding, attitude adjustment and positioning equipment, laser, the field such as medical.
Description of drawings
Fig. 1 is the first structural representation of the space mechanism in six degree of freedom of rotational motion of the present invention and the independent control of translational motion.
Fig. 2 is the second structural representation of the space mechanism in six degree of freedom of rotational motion of the present invention and the independent control of translational motion.
Fig. 3 is the 3rd structural representation of the space mechanism in six degree of freedom of rotational motion of the present invention and the independent control of translational motion.
Fig. 4 is the work schematic diagram of the space mechanism in six degree of freedom of rotational motion of the present invention and the independent control of translational motion.
Fig. 5 is the spherical chain schematic diagram of the space mechanism in six degree of freedom of rotational motion of the present invention and the independent control of translational motion.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described further.
Contrast Fig. 1, Fig. 2 and Fig. 3, rotational motion and translational motion be the space mechanism in six degree of freedom of control separately, comprises frame 1, the first movement branched chain, the second movement branched chain, the 3rd movement branched chain, the 4th movement branched chain, the 5th movement branched chain, the 6th movement branched chain, translation platform 47 and spherical chain.
Described the first movement branched chain is comprised of the first servomotor 2, the first driving lever 4, first connecting rod 7 and second connecting rod 8, the first servomotor 2 that is installed on the frame 1 drives 4 motions of the first driving lever by the first revolute pair 3, the first driving lever 4 drives first connecting rod 7 and second connecting rod 8 motions by the first Hooke's hinge (or spherical pair) 5 and the second Hooke's hinge (or spherical pair) 6, and first connecting rod 7 and second connecting rod 8 drive 47 motions of translation platform by the 3rd Hooke's hinge (or spherical pair) 9 and the 4th Hooke's hinge (or spherical pair) 10.
Described the second movement branched chain is comprised of the second servomotor 11, the second driving lever 13, third connecting rod 16 and the 4th connecting rod 17, the second servomotor 11 that is installed on the frame 1 drives 13 motions of the second driving lever by the second revolute pair 12, the second driving lever 13 drives third connecting rod 16 and 17 motions of the 4th connecting rod by the 5th Hooke's hinge (or spherical pair) 14 and the 6th Hooke's hinge (or spherical pair) 15, and third connecting rod 16 and the 4th connecting rod 17 drive 47 motions of translation platform by the 7th Hooke's hinge (or spherical pair) 18 and the 8th Hooke's hinge (or spherical pair) 19.
Described the 3rd movement branched chain is comprised of the 3rd servomotor 20, the 3rd driving lever 22, the 5th connecting rod 25 and the 6th connecting rod 26, the 3rd servomotor 20 that is installed on the frame 1 drives 22 motions of the 3rd driving lever by the 3rd revolute pair 21, the 3rd driving lever 22 drives the 5th connecting rod 25 and 26 motions of the 6th connecting rod by the 9th Hooke's hinge (or spherical pair) 23 and the tenth Hooke's hinge (or spherical pair) 24, and the 5th connecting rod 25 and the 6th connecting rod 26 drive 47 motions of translation platform by the 11 Hooke's hinge (or spherical pair) 27 and the 12 Hooke's hinge (or spherical pair) 28.
Described the first movement branched chain, the second movement branched chain and the 3rd movement branched chain are united 47 motions of driving translation platform, but the motion of described translation platform 47 implementation space three-dimensional translatings.
Described the 4th movement branched chain is by the 4th servomotor 29, seven-link assembly 31 and the 8th connecting rod 33, the first bevel gear 67 and the second bevel gear 68 form, the 4th servomotor 29 that is installed on the frame 1 drives seven-link assembly 31 motions by the 13 Hooke's hinge 30, seven-link assembly 31 is connected with the 8th connecting rod 33 by the first moving sets 32 and drives the motion of the 8th connecting rod 33, the 8th connecting rod 33 other ends drive 67 motions of the first bevel gear by the 14 Hooke's hinge 34, the first bevel gear 67 is connected with translation platform 47 by the 4th revolute pair 48 and by driving 68 motions of the second bevel gear with 68 engagements of the second bevel gear, the second bevel gear 68 is connected with translation platform 47 by the 5th revolute pair 49.
Described the 5th movement branched chain is by the 5th servomotor 35, the 9th connecting rod 37 and the tenth connecting rod 39, third hand tap gear 69 and the 4th bevel gear 70 form, the 5th servomotor 35 that is installed on the frame 1 drives 37 motions of the 9th connecting rod by the 15 Hooke's hinge 36, the 9th connecting rod 37 is connected with the tenth connecting rod 39 by the second moving sets 38 and drives the motion of the tenth connecting rod 39, the tenth connecting rod 39 other ends drive 69 motions of third hand tap gear by the 16 Hooke's hinge 40, third hand tap gear 69 is connected with translation platform 47 by the 6th revolute pair 50 and by driving 70 motions of the 4th bevel gear with 70 engagements of the 4th bevel gear, the 4th bevel gear 70 is connected with translation platform 47 by the 7th revolute pair 51.
Described the 6th movement branched chain is by the 6th servomotor 41, the 11 connecting rod 43 and the 12 connecting rod 45, the 5th bevel gear 71 and the 6th bevel gear 72 form, the 6th servomotor 41 that is installed on the frame 1 drives 43 motions of the 11 connecting rod by the 17 Hooke's hinge 42, the 11 connecting rod 43 is connected with the 12 connecting rod 45 by three moving sets 44 and drives the motion of the 12 connecting rod 45, the 12 connecting rod 45 other ends drive 71 motions of the 5th bevel gear by the 18 Hooke's hinge 46, the 5th bevel gear 71 is connected with translation platform 47 by the 8th revolute pair 52 and by driving 72 motions of the 6th bevel gear with 72 engagements of the 6th bevel gear, the 6th bevel gear 72 is connected with translation platform 47 by the 9th revolute pair 53.
Described spherical chain is by the 13 connecting rod 54, the 14 connecting rod 56, the 15 connecting rod 58, the 16 connecting rod 60, the tenth seven-link assembly 62, the 18 connecting rod 64 and sphere platform 66 form, the second bevel gear 68 drives 54 motions of the 13 connecting rod by the 5th revolute pair 49, the 13 connecting rod 54 drives 56 motions of the 14 connecting rod by the tenth revolute pair 55, the 4th bevel gear 70 drives 58 motions of the 15 connecting rod by the 7th revolute pair 51, the 15 connecting rod 58 drives 60 motions of the 16 connecting rod by the 11 revolute pair 59, the 6th bevel gear 72 drives 62 motions of the tenth seven-link assembly by the 9th revolute pair 53, the tenth seven-link assembly 62 drives 64 motions of the 18 connecting rod by the 12 revolute pair 63, the 14 connecting rod 56, the 16 connecting rod 60 and the 18 connecting rod 64 are respectively by the 13 revolute pair 57, the 14 revolute pair 61, the 15 revolute pair 65 drives 66 motions of sphere platform, the 5th revolute pair 49, the 7th revolute pair 51, the 9th revolute pair 53, the tenth revolute pair 55, the 11 revolute pair 59, the 12 revolute pair 63, the 13 revolute pair 57, the 14 revolute pair 61, the axes intersect of the 15 revolute pair 65 is in a bit, and described sphere platform 66 can be realized the Three dimensional rotation motion around above-mentioned intersection point.
Contrast Fig. 4, rotational motion and translational motion be the space mechanism in six degree of freedom of control separately, translation platform 47 is done the three-dimensional translating motion under the driving of the first movement branched chain, the second movement branched chain, the 3rd movement branched chain, and the motion of the Three dimensional rotation of spherical chain is driven jointly by the 4th movement branched chain, the 5th movement branched chain and the 6th movement branched chain, and the rotational motion of this mechanism is driven by different movement branched chain from translational motion.
Contrast Fig. 2 and Fig. 5, the axes intersect of spherical chain the 5th revolute pair 49 of the space mechanism in six degree of freedom that rotational motion and translational motion are controlled separately, the 7th revolute pair 51, the 9th revolute pair 53, the tenth revolute pair 55, the 11 revolute pair 59, the 12 revolute pair 63, the 13 revolute pair 57, the 14 revolute pair 61, the 15 revolute pair 65 is in a bit, and the 13 connecting rod 54, the 14 connecting rod 56, the 15 connecting rod 58, the 16 connecting rod 60, the tenth seven-link assembly 62, the 18 connecting rod 64 and sphere platform 66 have formed a spherical chain jointly.
Claims (1)
1. the independent space mechanism in six degree of freedom of control of rotational motion and translational motion, comprise frame, the first movement branched chain, the second movement branched chain, the 3rd movement branched chain, the 4th movement branched chain, the 5th movement branched chain, the 6th movement branched chain, translation platform and spherical chain, it is characterized in that:
Described the first movement branched chain is by the first servomotor, the first driving lever, first connecting rod and second connecting rod form, the first driving lever one end is connected with rack-mounted the first servomotor by the first revolute pair, the first driving lever other end by the first Hooke's hinge (or spherical pair) be connected Hooke's hinge (or spherical pair) and be connected with second connecting rod with first connecting rod, the first connecting rod other end is connected with the translation platform by the 3rd Hooke's hinge (or spherical pair), the second connecting rod other end is connected with the translation platform by the 4th Hooke's hinge (or spherical pair)
Described the second movement branched chain is by the second servomotor, the second driving lever, third connecting rod and the 4th connecting rod form, the second driving lever one end is connected with rack-mounted the second servomotor by the second revolute pair, the second driving lever other end is connected with the 4th connecting rod with third connecting rod with the 6th Hooke's hinge (or spherical pair) by the 5th Hooke's hinge (or spherical pair), the third connecting rod other end is connected with the translation platform by the 7th Hooke's hinge (or spherical pair), the 4th connecting rod other end is connected with the translation platform by the 8th Hooke's hinge (or spherical pair)
Described the 3rd movement branched chain is by the 3rd servomotor, the 3rd driving lever, the 5th connecting rod and the 6th connecting rod form, the 3rd driving lever one end is connected with rack-mounted the 3rd servomotor by the 3rd revolute pair, the 3rd driving lever other end is connected with the 6th connecting rod with the 5th connecting rod with the tenth Hooke's hinge (or spherical pair) by the 9th Hooke's hinge (or spherical pair), the 5th connecting rod other end is connected with the translation platform by the 11 Hooke's hinge (or spherical pair), the 6th connecting rod other end is connected with the translation platform by the 12 Hooke's hinge (or spherical pair)
Described the 4th movement branched chain is by the 4th servomotor, seven-link assembly and the 8th connecting rod, the first bevel gear and the second bevel gear form, seven-link assembly one end is connected with rack-mounted the 4th servomotor by the 13 Hooke's hinge, the seven-link assembly other end is connected with the 8th connecting rod by the first moving sets, the 8th connecting rod other end is connected with the first bevel gear by the 14 Hooke's hinge, the first bevel gear is connected with the translation platform by the 4th revolute pair, the first bevel gear and the engagement of the second bevel gear, the second bevel gear is connected with the translation platform by the 5th revolute pair
Described the 5th movement branched chain is by the 5th servomotor, the 9th connecting rod and the tenth connecting rod, third hand tap gear and the 4th bevel gear form, the 9th connecting rod one end is connected with rack-mounted the 5th servomotor by the 15 Hooke's hinge, the 9th connecting rod other end is connected with the tenth connecting rod by the second moving sets, the tenth connecting rod other end is connected with the third hand tap gear by the 16 Hooke's hinge, the third hand tap gear is connected with the translation platform by the 6th revolute pair, third hand tap gear and the engagement of the 4th bevel gear, the 4th bevel gear is connected with the translation platform by the 7th revolute pair
Described the 6th movement branched chain is by the 6th servomotor, the 11 connecting rod and the 12 connecting rod, the 5th bevel gear and the 6th bevel gear form, the 11 connecting rod one end is connected with rack-mounted the 6th servomotor by the 17 Hooke's hinge, the 11 connecting rod other end is connected with the 12 connecting rod by three moving sets, the 12 connecting rod other end is connected with the 5th bevel gear by the 18 Hooke's hinge, the 5th bevel gear is connected with the translation platform by the 8th revolute pair, the 5th bevel gear and the engagement of the 6th bevel gear, the 6th bevel gear is connected with the translation platform by the 9th revolute pair
Described spherical chain is by the 13 connecting rod, the 14 connecting rod, the 15 connecting rod, the 16 connecting rod, the tenth seven-link assembly, the 18 connecting rod and sphere platform form, the 13 connecting rod one end is connected with the second bevel gear by the 5th revolute pair, the 13 connecting rod other end is connected with the 14 connecting rod by the tenth revolute pair, the 14 connecting rod other end is connected with the sphere platform by the 11 revolute pair, the 15 connecting rod one end is connected with the 4th bevel gear by the 7th revolute pair, the 15 connecting rod other end is connected with the 16 connecting rod by the 12 revolute pair, the 16 connecting rod other end is connected with the sphere platform by the 13 revolute pair, the 16 connecting rod one end is connected with the 6th bevel gear by the 9th revolute pair, the 16 connecting rod other end is connected with the tenth seven-link assembly by the 14 revolute pair, the tenth seven-link assembly other end is connected the 5th revolute pair by the 15 revolute pair with the sphere platform, the 7th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair, the 13 revolute pair, the 14 revolute pair, the axes intersect of the 15 revolute pair is in a bit.
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Cited By (7)
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| CN104626110A (en) * | 2014-12-30 | 2015-05-20 | 中国矿业大学 | Electric-drive and high-rigidity 6-DOF parallel platform |
| CN104678885A (en) * | 2014-12-30 | 2015-06-03 | 中国矿业大学 | Six-freedom-degree parallel platform in driving orthogonal arrangement |
| CN104950797A (en) * | 2015-04-30 | 2015-09-30 | 中国矿业大学 | 3-PRRS six-DOF (degrees of freedom) parallel positioning platform |
| CN106239482A (en) * | 2016-08-31 | 2016-12-21 | 上海交通大学 | Six degree of freedom Delta sorting machine people |
| CN108523909A (en) * | 2018-03-04 | 2018-09-14 | 连雪芳 | A kind of medical treatment C-arm X-ray machine |
| CN110513253A (en) * | 2019-09-27 | 2019-11-29 | 福州大学 | A kind of floating marine formula blower wave environment analog platform device and its working method |
| CN115351768A (en) * | 2022-07-20 | 2022-11-18 | 福州大学 | Branched chain assembly, six-degree-of-freedom parallel mechanism and industrial robot |
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| CN102528794A (en) * | 2010-12-22 | 2012-07-04 | 财团法人工业技术研究院 | Parallel robot and wrist module |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104626110A (en) * | 2014-12-30 | 2015-05-20 | 中国矿业大学 | Electric-drive and high-rigidity 6-DOF parallel platform |
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| CN104950797B (en) * | 2015-04-30 | 2018-05-01 | 中国矿业大学 | A kind of 3-PRRS six-freedom parallels locating platform |
| CN106239482A (en) * | 2016-08-31 | 2016-12-21 | 上海交通大学 | Six degree of freedom Delta sorting machine people |
| CN108523909A (en) * | 2018-03-04 | 2018-09-14 | 连雪芳 | A kind of medical treatment C-arm X-ray machine |
| CN110513253A (en) * | 2019-09-27 | 2019-11-29 | 福州大学 | A kind of floating marine formula blower wave environment analog platform device and its working method |
| CN110513253B (en) * | 2019-09-27 | 2024-01-12 | 福州大学 | Marine floating fan wave environment simulation platform device and working method thereof |
| CN115351768A (en) * | 2022-07-20 | 2022-11-18 | 福州大学 | Branched chain assembly, six-degree-of-freedom parallel mechanism and industrial robot |
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Application publication date: 20130102 |