CN105563516A - Spherical two-freedom-degree robot joint having large work space - Google Patents
Spherical two-freedom-degree robot joint having large work space Download PDFInfo
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- CN105563516A CN105563516A CN201610171452.5A CN201610171452A CN105563516A CN 105563516 A CN105563516 A CN 105563516A CN 201610171452 A CN201610171452 A CN 201610171452A CN 105563516 A CN105563516 A CN 105563516A
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- branched chain
- revolute pair
- connecting rod
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- 230000008878 coupling Effects 0.000 abstract 4
- 238000010168 coupling process Methods 0.000 abstract 4
- 238000005859 coupling reaction Methods 0.000 abstract 4
- 230000003592 biomimetic effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000002917 arthritic effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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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
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a spherical two-freedom-degree robot joint having a large work space. The spherical two-freedom-degree robot joint having the large work space mainly comprises a fixed platform, a movable platform and four kinematic chains for connecting the fixed platform and the movable platform, wherein each kinematic chain is composed of a lower connecting rod and an upper connecting rod, the lower connecting rod is connected with the fixed platform by a rotation pair or a spherical pair, the upper connecting rod and the lower connecting rod are connected by a rotation pair, and the upper connecting rod is connected with the movable platform by a rotation pair or a spherical pair; four kinematic chains are interconnected by four coupling connecting rods and a center connecting rod, each kinematic chain is connected with the center connecting rod by one coupling connecting rod, one end of the coupling connecting rod is connected with the kinematic chain by a rotation pair and the other end of the coupling connecting rod is connected with the center connecting rod by a rotation pair. According to the spherical two-freedom-degree robot joint, the movable platform can do spherical two-freedom-degree movement relative to the fixed platform; and the parallel mechanism has the advantages of compact structure, high rigidity, high precision, large rotating work space and the like, and can be widely applied to the fields such as robots, in particular, applied to biomimetic robots.
Description
Technical field
The invention belongs to robot, sensitive instrument and equipment field, particularly a kind of sphere Two dimension of freedom robot joint.
Technical background
The relatively traditional serial mechanism of parallel institution has the advantages such as kinematic accuracy is high, rigidity is large, dynamic response is good, obtains certain application in fields such as Aero-Space, package packing machine, robots.Because parallel institution affects by kinematic pair working space and side chain interference etc., make the space of parallel institution general less, seriously constrain the application of parallel institution in fields such as industry and robots.Therefore research has the parallel institution of large working space, has important theory significance and actual application value.
The free degree of parallel institution can be divided into one-movement-freedom-degree and rotational freedom, and wherein one-movement-freedom-degree increases mobile working space by the way of enlarging mechanism size, but rotation space does not but increase with the increase of mechanism size.The research of class parallel institution is rotated comparatively early to large working space abroad, patent of invention US4651589 proposes a kind of large working space 3-freedom parallel mechanism, and be successfully applied to lock-on equipment, patent of invention US4686866 discloses a kind of large working space two one-rotation parallel mechanism, and be successfully applied in industrial spraying robot, patent of invention US6658962B1 discloses a kind of four side chain large working space two one-rotation parallel mechanism, and be applied in bio-robot, achieve good effect.The domestic parallel institution achievement in research to having large rotation work space is less, and wherein patent of invention CN103217986A and patent of invention CN103433916A is studied large working space two one-rotation parallel mechanism, and achieves some achievements.But the parallel institution in above-mentioned large rotation work space all belongs to aspheric surface one-rotation parallel mechanism, the motion platform center of rotation of mechanism is unique, and this character seriously limits the application of this kind of mechanism in robot particularly bio-robot field.
Summary of the invention
For solving the problem, the invention provides a kind of large workspace spherical face Two dimension of freedom robot joint, moving platform can be realized and do the rotation of sphere two-freedom around fixed platform, and to have volume little in this joint, rigidity is large, the advantages such as rotation work space is large, can be widely used in the robot particularly field such as bio-robot.
Technical scheme of the present invention is specific as follows:
The present invention mainly comprises fixed platform, moving platform, and connect four movement branched chain that are dynamic, fixed platform, it has three kinds of connected modes:
The first connected mode: four movement branched chain structures are identical, every bar movement branched chain is by lower link and upper connecting rod composition, lower link one end is connected by lower revolute pair with fixed platform, the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by upper revolute pair with moving platform; Article four, be interconnected by four coupled links and a center rod between movement branched chain, every bar movement branched chain is connected by a coupled links with between center rod, coupled links one end is connected by revolute pair with between movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis be connected in movement branched chain, the coupled links other end is connected by revolute pair with center rod, the dead in line of four revolute pairs that four coupled links and center rod are connected to form; In described joint of robot, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of joint of robot.
The second connected mode: four movement branched chain structures are identical, every bar movement branched chain is by lower link and upper connecting rod composition, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform; Article four, be interconnected by four coupled links and a center rod between movement branched chain, every bar movement branched chain is connected by a coupled links with between center rod, coupled links one end is connected by revolute pair with between movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis be connected in movement branched chain, the coupled links other end is connected by revolute pair with center rod, the dead in line of four revolute pairs that four coupled links and center rod are connected to form; In described joint of robot, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of joint of robot.
The third connected mode: the first movement branched chain is identical with the second movement branched chain structure, article two, movement branched chain is by lower link and upper connecting rod composition, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform; 3rd movement branched chain is identical with the 4th movement branched chain structure, article two, movement branched chain is by lower link and upper connecting rod composition, lower link one end is connected by lower revolute pair with fixed platform, the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by upper revolute pair with moving platform; Article four, be interconnected by four coupled links and a center rod between movement branched chain, every bar movement branched chain is connected by a coupled links with between center rod, coupled links one end is connected by revolute pair with between movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis be connected in movement branched chain, the coupled links other end is connected by revolute pair with center rod, the dead in line of four revolute pairs that four coupled links and center rod are connected to form; In described joint of robot, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of joint of robot.
The present invention compared with prior art tool has the following advantages:
(1) the relative fixed platform of moving platform has sphere double rotation freedom degrees, and mobile decoupling, center of rotation is unique; (2) moving platform is large relative to fixed platform rotation work space; (3) arthritic volume is little, and rigidity is large; (4) be interconnected by coupled links between four movement branched chain in joint, further increase the stress performance of mechanism.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention 1 stereochemical structure simplified schematic diagram.
Fig. 2 is the embodiment of the present invention 1 deflection state stereochemical structure simplified schematic diagram.
Fig. 3 is the embodiment of the present invention 2 stereochemical structure simplified schematic diagram.
Fig. 4 is the embodiment of the present invention 2 deflection state stereochemical structure simplified schematic diagram.
Fig. 5 is the embodiment of the present invention 3 stereochemical structure simplified schematic diagram.
Fig. 6 is the embodiment of the present invention 3 deflection state stereochemical structure simplified schematic diagram.
In figure: 1. fixed platform, 2. moving platform, (A3, B3, C3, D3). lower link, (A4, B4, C4, D4). upper connecting rod, (A5, B5, C5, D5). coupled links, 6. center rod.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described, and in all embodiments, described Rij represents a revolute pair, and described Sij represents a spherical pair, and wherein i, j are natural number.
Embodiment 1
Be the 1st embodiment disclosed by the invention as shown in Figure 1 and Figure 2, a kind of large workspace spherical face Two dimension of freedom robot joint, mainly comprises fixed platform 1, moving platform 2, connects four movement branched chain that are dynamic, fixed platform.Article four, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3 and upper connecting rod A4, be of coupled connections by revolute pair R11 between lower link A3 and fixed platform 1, lower link A3 and upper connecting rod A4 is of coupled connections by revolute pair R12, is of coupled connections between upper connecting rod A4 and moving platform 2 by revolute pair R15; Second movement branched chain is made up of lower link B3 and upper connecting rod B4, be of coupled connections by revolute pair R21 between lower link B3 and fixed platform 1, lower link B3 and upper connecting rod B4 is of coupled connections by revolute pair R22, is of coupled connections between upper connecting rod B4 and moving platform 2 by revolute pair R25; 3rd movement branched chain is made up of lower link C3 and upper connecting rod C4, be of coupled connections by revolute pair R31 between lower link C3 and fixed platform 1, lower link C3 and upper connecting rod C4 is of coupled connections by revolute pair R32, is of coupled connections between upper connecting rod C4 and moving platform 2 by revolute pair R35; 4th movement branched chain is made up of lower link D3 and upper connecting rod D4, be of coupled connections by revolute pair R41 between lower link D3 and fixed platform 1, lower link D3 and upper connecting rod D4 is of coupled connections by revolute pair R42, is of coupled connections between upper connecting rod D4 and moving platform 2 by revolute pair R45.
Article four, be interconnected by four coupled links and a center rod between movement branched chain, every bar movement branched chain is connected by a coupled links with between center rod.Wherein first coupled links A5 one end and the first movement branched chain are of coupled connections by revolute pair R13, and the other end and center rod 6 are of coupled connections by revolute pair R14, and revolute pair R13 axis and revolute pair R12 dead in line; Second coupled links B5 one end and the second movement branched chain are of coupled connections by revolute pair R23, and the other end and center rod 6 are of coupled connections by revolute pair R24, and revolute pair R23 axis and revolute pair R22 dead in line; 3rd coupled links C5 one end and the 3rd movement branched chain are of coupled connections by revolute pair R33, and the other end and center rod 6 are of coupled connections by revolute pair R34, and revolute pair R33 axis and revolute pair R32 dead in line; 4th coupled links D5 one end and the 4th movement branched chain are of coupled connections by revolute pair R43, and the other end and center rod 6 are of coupled connections by revolute pair R44, and revolute pair R43 axis and revolute pair R42 dead in line.Described revolute pair R14, R24, R34, R44 dead in line; Described revolute pair R11, revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R15, revolute pair R21, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R25, revolute pair R31, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R35, revolute pair R41, revolute pair R42, revolute pair R43, revolute pair R44, revolute pair R45 axes intersect are in a bit, and this point is the center of rotation of joint of robot.
Embodiment 2
Be the 2nd embodiment disclosed by the invention as shown in Figure 3, Figure 4, a kind of large workspace spherical face Two dimension of freedom robot joint, mainly comprises fixed platform 1, moving platform 2, connects four movement branched chain that are dynamic, fixed platform.Article four, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3 and upper connecting rod A4, be of coupled connections by spherical pair S11 between lower link A3 and fixed platform 1, lower link A3 and upper connecting rod A4 is of coupled connections by revolute pair R12, is of coupled connections between upper connecting rod A4 and moving platform 2 by spherical pair S15; Second movement branched chain is made up of lower link B3 and upper connecting rod B4, be of coupled connections by spherical pair S21 between lower link B3 and fixed platform 1, lower link B3 and upper connecting rod B4 is of coupled connections by revolute pair R22, is of coupled connections between upper connecting rod B4 and moving platform 2 by spherical pair S25; 3rd movement branched chain is made up of lower link C3 and upper connecting rod C4, be of coupled connections by spherical pair S31 between lower link C3 and fixed platform 1, lower link C3 and upper connecting rod C4 is of coupled connections by revolute pair R32, is of coupled connections between upper connecting rod C4 and moving platform 2 by spherical pair S35; 4th movement branched chain is made up of lower link D3 and upper connecting rod D4, be of coupled connections by spherical pair S41 between lower link D3 and fixed platform 1, lower link D3 and upper connecting rod D4 is of coupled connections by revolute pair R42, is of coupled connections between upper connecting rod D4 and moving platform 2 by spherical pair S45.
Article four, be interconnected by four coupled links and a center rod between movement branched chain, every bar movement branched chain is connected by a coupled links with between center rod.Wherein first coupled links A5 one end and the first movement branched chain are of coupled connections by revolute pair R13, and the other end and center rod 6 are of coupled connections by revolute pair R14, and revolute pair R13 axis and revolute pair R12 dead in line; Second coupled links B5 one end and the second movement branched chain are of coupled connections by revolute pair R23, and the other end and center rod 6 are of coupled connections by revolute pair R24, and revolute pair R23 axis and revolute pair R22 dead in line; 3rd coupled links C5 one end and the 3rd movement branched chain are of coupled connections by revolute pair R33, and the other end and center rod 6 are of coupled connections by revolute pair R34, and revolute pair R33 axis and revolute pair R32 dead in line; 4th coupled links D5 one end and the 4th movement branched chain are of coupled connections by revolute pair R43, and the other end and center rod 6 are of coupled connections by revolute pair R44, and revolute pair R43 axis and revolute pair R42 dead in line.Described revolute pair R14, revolute pair R24, revolute pair R34, revolute pair R44 dead in line; Described revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R42, revolute pair R43, revolute pair R44 axes intersect are in a bit, and this point is the center of rotation of joint of robot.
Embodiment 3
Be the 3rd embodiment disclosed by the invention as shown in Figure 5, Figure 6, a kind of large workspace spherical face Two dimension of freedom robot joint, mainly comprises fixed platform 1, moving platform 2, connects four movement branched chain that are dynamic, fixed platform.First, second movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3 and upper connecting rod A4, be of coupled connections by spherical pair S11 between lower link A3 and fixed platform 1, lower link A3 and upper connecting rod A4 is of coupled connections by revolute pair R12, is of coupled connections between upper connecting rod A4 and moving platform 2 by spherical pair S15; Second movement branched chain is made up of lower link B3 and upper connecting rod B4, be of coupled connections by spherical pair S21 between lower link B3 and fixed platform 1, lower link B3 and upper connecting rod B4 is of coupled connections by revolute pair R22, is of coupled connections between upper connecting rod B4 and moving platform 2 by spherical pair S25; Three, the 4th movement branched chain structure is identical, wherein the 3rd movement branched chain is made up of lower link C3 and upper connecting rod C4, be of coupled connections by revolute pair R31 between lower link C3 and fixed platform 1, lower link C3 and upper connecting rod C4 is of coupled connections by revolute pair R32, is of coupled connections between upper connecting rod C4 and moving platform 2 by revolute pair R35; 4th movement branched chain is made up of lower link D3 and upper connecting rod D4, be of coupled connections by revolute pair R41 between lower link D3 and fixed platform 1, lower link D3 and upper connecting rod D4 is of coupled connections by revolute pair R42, is of coupled connections between upper connecting rod D4 and moving platform 2 by revolute pair R45.
Article four, be interconnected by four coupled links and a center rod between movement branched chain, every bar movement branched chain is connected by a coupled links with between center rod.Wherein first coupled links A5 one end and the first movement branched chain are of coupled connections by revolute pair R13, and the other end and center rod 6 are of coupled connections by revolute pair R14, and revolute pair R13 axis and revolute pair R12 dead in line; Second coupled links B5 one end and the second movement branched chain are of coupled connections by revolute pair R23, and the other end and center rod 6 are of coupled connections by revolute pair R24, and revolute pair R23 axis and revolute pair R22 dead in line; 3rd coupled links C5 one end and the 3rd movement branched chain are of coupled connections by revolute pair R33, and the other end and center rod 6 are of coupled connections by revolute pair R34, and revolute pair R33 axis and revolute pair R32 dead in line; 4th coupled links D5 one end and the 4th movement branched chain are of coupled connections by revolute pair R43, and the other end and center rod 6 are of coupled connections by revolute pair R44, and revolute pair R43 axis and revolute pair R42 dead in line.Described revolute pair R14, revolute pair R24, revolute pair R34, revolute pair R44 dead in line; Described revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R31, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R35, revolute pair R41, revolute pair R42, revolute pair R43, revolute pair R44, revolute pair R45 axes intersect are in a bit, and this point is the center of rotation of joint of robot.
Claims (3)
1. a large workspace spherical face Two dimension of freedom robot joint, it has fixed platform, moving platform, connect four movement branched chain that are dynamic, fixed platform, it is characterized in that: four movement branched chain structures are identical, every bar movement branched chain is by lower link and upper connecting rod composition, lower link one end is connected by lower revolute pair with fixed platform, and the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by upper revolute pair with moving platform; Article four, be interconnected by four coupled links and a center rod between movement branched chain, every bar movement branched chain is connected by a coupled links with between center rod, coupled links one end is connected by revolute pair with between movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis be connected in movement branched chain, the coupled links other end is connected by revolute pair with center rod, the dead in line of four revolute pairs that four coupled links and center rod are connected to form; In described joint of robot, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of joint of robot.
2. a large workspace spherical face Two dimension of freedom robot joint, it has fixed platform, moving platform, connect four movement branched chain that are dynamic, fixed platform, it is characterized in that: four movement branched chain structures are identical, every bar movement branched chain is by lower link and upper connecting rod composition, lower link one end is connected by spherical pair with fixed platform, and the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform; Article four, be interconnected by four coupled links and a center rod between movement branched chain, every bar movement branched chain is connected by a coupled links with between center rod, coupled links one end is connected by revolute pair with between movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis be connected in movement branched chain, the coupled links other end is connected by revolute pair with center rod, the dead in line of four revolute pairs that four coupled links and center rod are connected to form; In described joint of robot, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of joint of robot.
3. a large workspace spherical face Two dimension of freedom robot joint, it has fixed platform, moving platform, connect four movement branched chain that are dynamic, fixed platform, it is characterized in that: the first movement branched chain is identical with the second movement branched chain structure, article two, movement branched chain is by lower link and upper connecting rod composition, lower link one end is connected by spherical pair with fixed platform, and the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform; 3rd movement branched chain is identical with the 4th movement branched chain structure, article two, movement branched chain is by lower link and upper connecting rod composition, lower link one end is connected by lower revolute pair with fixed platform, the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by upper revolute pair with moving platform; Article four, be interconnected by four coupled links and a center rod between movement branched chain, every bar movement branched chain is connected by a coupled links with between center rod, coupled links one end is connected by revolute pair with between movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis be connected in movement branched chain, the coupled links other end is connected by revolute pair with center rod, the dead in line of four revolute pairs that four coupled links and center rod are connected to form; In described joint of robot, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of joint of robot.
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| CN201610171452.5A CN105563516A (en) | 2016-03-24 | 2016-03-24 | Spherical two-freedom-degree robot joint having large work space |
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| CN1631612A (en) * | 2005-01-04 | 2005-06-29 | 浙江理工大学 | Spherical three-degree-of-freedom parallel attitude control mechanism with ring guide |
| US20050199085A1 (en) * | 2004-03-11 | 2005-09-15 | Hiroshi Isobe | Link actuating device |
| CN1878640A (en) * | 2003-12-03 | 2006-12-13 | Ntn株式会社 | Link operating device |
| CN205386828U (en) * | 2016-03-24 | 2016-07-20 | 褚宏鹏 | Big two degree of freedom robot joint on working space sphere |
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2016
- 2016-03-24 CN CN201610171452.5A patent/CN105563516A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1878640A (en) * | 2003-12-03 | 2006-12-13 | Ntn株式会社 | Link operating device |
| US20050199085A1 (en) * | 2004-03-11 | 2005-09-15 | Hiroshi Isobe | Link actuating device |
| CN1631612A (en) * | 2005-01-04 | 2005-06-29 | 浙江理工大学 | Spherical three-degree-of-freedom parallel attitude control mechanism with ring guide |
| CN205386828U (en) * | 2016-03-24 | 2016-07-20 | 褚宏鹏 | Big two degree of freedom robot joint on working space sphere |
Non-Patent Citations (1)
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