AR070196A1 - Dispositivo de manipulacion paralela con dos grados de libertad - Google Patents
Dispositivo de manipulacion paralela con dos grados de libertadInfo
- Publication number
- AR070196A1 AR070196A1 ARP090100149A ARP090100149A AR070196A1 AR 070196 A1 AR070196 A1 AR 070196A1 AR P090100149 A ARP090100149 A AR P090100149A AR P090100149 A ARP090100149 A AR P090100149A AR 070196 A1 AR070196 A1 AR 070196A1
- Authority
- AR
- Argentina
- Prior art keywords
- frame
- arm
- platform
- arms
- freedom
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
La invencion se refiere a un dispositivo de manipulacion paralela con dos grados de libertad que comprende un bastidor (1), cuatro brazos de bastidor (3,3',4,4'), cuatro brazos de plataforma (5,5',5ö,5'ö), cada brazo de bastidor y de plataforma (3,3',4,4',5,5',5ö,5''') con un primer extremo y un segundo extremo, una plataforma (6) y un elemento terminal, estando el primer extremo de cada brazo de bastidor (3,3',4,4') conectado al bastidor (1) y estando el segundo extremo de cada brazo de bastidor (3,3',4,4') conectado aun primer extremo de un brazo de plataforma (5,5',5ö,5'ö), estando el segundo extremo de cada brazo de plataforma (5,5',5ö,5'ö) conectado a la plataforma (6), y estando la plataforma (6) conectada al elemento terminal. En dicho dispositivo de manipulacion un primer brazo de plataforma (3) y un segundo brazo de bastidor (3') se accionan de forma independiente entre si y un tercer brazo de bastidor (4) y un cuarto brazo de bastidor (4') están conectados al bastidor (1) con juntas de revolucion (8), estando acoplado el giro del tercer y cuarto brazos (4,4') de bastidor. Dichos primer y segundo brazos (3,3') de bastidor y tercer y cuarto brazos (4,4') de bastidor están contenidos en dos planos diferentes, siendo dichos planos ortogonales.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2008/050563 WO2009089916A1 (en) | 2008-01-18 | 2008-01-18 | Two degree-of-freedom parallel manipulator |
Publications (1)
Publication Number | Publication Date |
---|---|
AR070196A1 true AR070196A1 (es) | 2010-03-17 |
Family
ID=39315186
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ARP090100149A AR070196A1 (es) | 2008-01-18 | 2009-01-16 | Dispositivo de manipulacion paralela con dos grados de libertad |
Country Status (13)
Country | Link |
---|---|
US (1) | US20110048159A1 (es) |
EP (1) | EP2252437B1 (es) |
JP (1) | JP2011509837A (es) |
CN (1) | CN101977737A (es) |
AR (1) | AR070196A1 (es) |
AT (1) | ATE521457T1 (es) |
BR (1) | BRPI0822027A2 (es) |
CA (1) | CA2712260A1 (es) |
ES (1) | ES2375074T3 (es) |
MA (1) | MA32063B1 (es) |
TN (1) | TN2010000335A1 (es) |
TW (1) | TW200932457A (es) |
WO (1) | WO2009089916A1 (es) |
Families Citing this family (37)
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CN101708611B (zh) * | 2009-11-09 | 2011-07-27 | 天津大学 | 一种具有三维平动一维转动的并联机构 |
TWI458611B (zh) * | 2009-12-28 | 2014-11-01 | Hon Hai Prec Ind Co Ltd | 並聯機器人 |
CN101863024B (zh) * | 2010-06-29 | 2011-11-09 | 天津大学 | 一种可实现高速运动的三维平动一维转动并联机构 |
CN103052475A (zh) * | 2010-08-02 | 2013-04-17 | 株式会社安川电机 | 并行机构 |
CN102441889A (zh) * | 2010-09-30 | 2012-05-09 | 鸿富锦精密工业(深圳)有限公司 | 并联机器人 |
FR2967603B1 (fr) * | 2010-11-22 | 2013-06-21 | Cnrs Dire | Robot parallele a deux degres de liberte presentant deux chaines cinematiques dont la raideur en flexion ets maximisee |
CN201907121U (zh) * | 2010-12-29 | 2011-07-27 | 天津大学 | 一种具有三维平动一维转动的并联机构 |
CN102152317B (zh) * | 2011-03-29 | 2012-06-06 | 天津大学 | 仅含转动副的精确直线运动机构 |
US9764464B2 (en) * | 2011-08-03 | 2017-09-19 | The Boeing Company | Robot including telescopic assemblies for positioning an end effector |
CN102514004B (zh) * | 2011-12-19 | 2014-09-24 | 天津大学 | 四支链二自由度平动高速并联机构 |
CN102554916A (zh) * | 2012-01-10 | 2012-07-11 | 天津大学 | 一种二自由度平动过约束并联机构 |
CN102554917A (zh) * | 2012-01-10 | 2012-07-11 | 天津大学 | 一种具有二维平动一维转动的多重过约束并联机构 |
CN102554918A (zh) * | 2012-01-10 | 2012-07-11 | 天津大学 | 一种三自由度过约束并联机构 |
CN102601791A (zh) * | 2012-03-28 | 2012-07-25 | 广西大学 | 一种三维平动一维整周转动的并联焊接机器人 |
CN102601788A (zh) * | 2012-03-28 | 2012-07-25 | 广西大学 | 一种三维平动一维转动的四自由度并联焊接机器人 |
CN102626922B (zh) * | 2012-04-12 | 2015-01-14 | 天津大学 | 四支链二维平动一维转动自由度并联机械手 |
CN102848385A (zh) * | 2012-04-12 | 2013-01-02 | 天津大学 | 一种具有二维平动一维转动自由度的高速并联机械手 |
CN102632501A (zh) * | 2012-04-12 | 2012-08-15 | 天津大学 | 二维平动一维转动高速并联机械手 |
CN102848381B (zh) * | 2012-04-12 | 2014-12-17 | 天津大学 | 四支链两维平动和一维转动高速并联机构 |
CN102848376B (zh) * | 2012-09-21 | 2014-12-24 | 南京理工大学 | 被动铰为虎克铰的二自由度平动并联机构 |
MX341585B (es) * | 2013-02-14 | 2016-08-25 | Automatische Technik México S A De C V * | Robot industrial tipo delta. |
EP2969408B1 (en) | 2013-03-15 | 2021-12-15 | Intuitive Surgical Operations, Inc. | Software configurable manipulator degrees of freedom |
WO2014176334A1 (en) | 2013-04-23 | 2014-10-30 | Northwestern University | Translational parallel manipulators and methods of operating the same |
TWI591276B (zh) * | 2015-12-15 | 2017-07-11 | 國立臺北科技大學 | 位移機構 |
CN105881508B (zh) * | 2016-05-24 | 2019-03-19 | 天津大学 | 一种新型三自由度平动并联机构 |
CN105798888A (zh) * | 2016-05-24 | 2016-07-27 | 天津大学 | 一种新型空间平动并联机构 |
CN105818137A (zh) * | 2016-05-24 | 2016-08-03 | 天津大学 | 一种具有三维平动的并联机构 |
CN106002024A (zh) * | 2016-07-06 | 2016-10-12 | 苏州睿牛机器人技术有限公司 | 车载并联焊接机器人系统 |
CN106426107B (zh) * | 2016-11-15 | 2019-01-25 | 常州大学 | 一种张拉整体隔振机构 |
CN106363610B (zh) * | 2016-11-24 | 2019-03-19 | 天津大学 | 一种三自由度平动并联机构 |
CN107414793B (zh) * | 2017-08-01 | 2020-07-31 | 韩方元 | 一种混联步行机器人的构建方法及其混联步行机器人 |
CN109531544B (zh) * | 2018-12-21 | 2022-08-05 | 清华大学 | 具有空间支链结构的两自由度并联机器人 |
CN111137464A (zh) * | 2019-12-16 | 2020-05-12 | 北京大学 | 一种环保机器人 |
CN113276102B (zh) * | 2021-05-07 | 2023-03-21 | 华南理工大学 | 一种七自由度的机械臂 |
CN113319828B (zh) * | 2021-07-07 | 2023-03-21 | 天津大学 | 一种同步驱动五自由度并联机器人 |
CN113319826A (zh) * | 2021-07-07 | 2021-08-31 | 天津大学 | 一种含闭环支链三自由度并联机构 |
CN113910204A (zh) * | 2021-11-25 | 2022-01-11 | 中航空管系统装备有限公司 | 一种三自由度复合并联机器人及其工作方法 |
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US5333514A (en) * | 1992-04-24 | 1994-08-02 | Toyoda Koki Kabushiki Kaisha | Parallel robot |
JP3640087B2 (ja) * | 1994-11-29 | 2005-04-20 | 豊田工機株式会社 | 工作機械 |
US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
SE508890C2 (sv) * | 1996-03-14 | 1998-11-16 | Asea Brown Boveri | Manipulator |
DE19611130A1 (de) * | 1996-03-21 | 1997-09-25 | Vdw Verein Deutscher Werkzeugm | Vorrichtung zur Erzeugung einer definierten Positionierung und Orientierung mindestens einer Plattform |
SE513334C2 (sv) * | 1997-09-12 | 2000-08-28 | Abb Ab | Anordning för relativ förflyttning av två element |
JP3926501B2 (ja) * | 1998-11-13 | 2007-06-06 | ナブテスコ株式会社 | ロボットアーム及びその駆動装置 |
JP3806273B2 (ja) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 四自由度パラレルロボット |
US6418811B1 (en) * | 2000-05-26 | 2002-07-16 | Ross-Hime Designs, Inc. | Robotic manipulator |
CN1155458C (zh) * | 2001-12-31 | 2004-06-30 | 天津大学 | 仅含转动副的二自由度平动并联机器人机构 |
US7637710B2 (en) * | 2002-01-16 | 2009-12-29 | Abb Ab | Industrial robot |
AU2003280258A1 (en) * | 2002-11-06 | 2004-06-07 | Mcgill University | Four-degree-of-freedom parallel manipulator for producing schonflies motions |
JP3931296B2 (ja) * | 2003-03-27 | 2007-06-13 | 株式会社ジェイテクト | 四自由度パラレルロボット |
US7204168B2 (en) * | 2004-02-25 | 2007-04-17 | The University Of Manitoba | Hand controller and wrist device |
ES2258917B1 (es) * | 2005-02-17 | 2007-12-01 | Fundacion Fatronik | Robot paralelo con cuatro grados de libertad de alta velocidad. |
DE102005014863A1 (de) * | 2005-03-30 | 2006-10-05 | Focke & Co.(Gmbh & Co. Kg) | Vorrichtung zum Aufnehmen und Fördern von Gegenständen |
FR2901596B1 (fr) * | 2006-05-24 | 2010-10-22 | Agence Spatiale Europeenne | Mecanisme spherique parallele a deux degres de liberte |
US8245595B2 (en) * | 2009-04-30 | 2012-08-21 | Wisconsin Alumni Research Foundation | Two-axis non-singular robotic wrist |
USD619632S1 (en) * | 2009-09-15 | 2010-07-13 | Hon Hai Precision Industry Co., Ltd. | Manipulator |
USD650819S1 (en) * | 2011-08-15 | 2011-12-20 | Hon Hai Precision Industry Co., Ltd. | Robot |
-
2008
- 2008-01-18 US US12/863,238 patent/US20110048159A1/en not_active Abandoned
- 2008-01-18 TW TW097102113A patent/TW200932457A/zh unknown
- 2008-01-18 AT AT08707994T patent/ATE521457T1/de not_active IP Right Cessation
- 2008-01-18 BR BRPI0822027-1A patent/BRPI0822027A2/pt not_active IP Right Cessation
- 2008-01-18 EP EP08707994A patent/EP2252437B1/en not_active Not-in-force
- 2008-01-18 WO PCT/EP2008/050563 patent/WO2009089916A1/en active Application Filing
- 2008-01-18 ES ES08707994T patent/ES2375074T3/es active Active
- 2008-01-18 CN CN2008801282173A patent/CN101977737A/zh active Pending
- 2008-01-18 JP JP2010542536A patent/JP2011509837A/ja active Pending
- 2008-01-18 CA CA2712260A patent/CA2712260A1/en not_active Abandoned
-
2009
- 2009-01-16 AR ARP090100149A patent/AR070196A1/es unknown
-
2010
- 2010-07-19 TN TNP2010000335A patent/TN2010000335A1/fr unknown
- 2010-08-04 MA MA33061A patent/MA32063B1/fr unknown
Also Published As
Publication number | Publication date |
---|---|
US20110048159A1 (en) | 2011-03-03 |
BRPI0822027A2 (pt) | 2015-07-21 |
TW200932457A (en) | 2009-08-01 |
ATE521457T1 (de) | 2011-09-15 |
EP2252437B1 (en) | 2011-08-24 |
ES2375074T3 (es) | 2012-02-24 |
CA2712260A1 (en) | 2009-07-23 |
EP2252437A1 (en) | 2010-11-24 |
CN101977737A (zh) | 2011-02-16 |
TN2010000335A1 (en) | 2011-12-29 |
MA32063B1 (fr) | 2011-02-01 |
WO2009089916A1 (en) | 2009-07-23 |
JP2011509837A (ja) | 2011-03-31 |
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