ATE120681T1 - Handgelenkroboter. - Google Patents

Handgelenkroboter.

Info

Publication number
ATE120681T1
ATE120681T1 AT88900305T AT88900305T ATE120681T1 AT E120681 T1 ATE120681 T1 AT E120681T1 AT 88900305 T AT88900305 T AT 88900305T AT 88900305 T AT88900305 T AT 88900305T AT E120681 T1 ATE120681 T1 AT E120681T1
Authority
AT
Austria
Prior art keywords
yaw
pct
engagement
drive
pitch
Prior art date
Application number
AT88900305T
Other languages
English (en)
Inventor
Mark E Rosheim
Original Assignee
Mark E Rosheim
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mark E Rosheim filed Critical Mark E Rosheim
Application granted granted Critical
Publication of ATE120681T1 publication Critical patent/ATE120681T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
    • 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
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • 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
    • B25J17/0283—Three-dimensional joints
    • 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
    • Y10T74/20335—Wrist

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Toys (AREA)
  • Gear Transmission (AREA)
AT88900305T 1987-11-30 1987-11-30 Handgelenkroboter. ATE120681T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US1987/003152 WO1989005216A1 (en) 1987-11-30 1987-11-30 Robot wrist

Publications (1)

Publication Number Publication Date
ATE120681T1 true ATE120681T1 (de) 1995-04-15

Family

ID=22202693

Family Applications (1)

Application Number Title Priority Date Filing Date
AT88900305T ATE120681T1 (de) 1987-11-30 1987-11-30 Handgelenkroboter.

Country Status (6)

Country Link
US (1) US5036724A (de)
EP (1) EP0393024B1 (de)
JP (1) JP2610330B2 (de)
AT (1) ATE120681T1 (de)
DE (1) DE3751227D1 (de)
WO (1) WO1989005216A1 (de)

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JP3082325B2 (ja) * 1991-08-02 2000-08-28 鹿島建設株式会社 ロボットハンド用３軸マニプレータ
US5239883A (en) * 1991-09-26 1993-08-31 Rosheim Mark E Modular robot wrist
US5243873A (en) * 1992-01-23 1993-09-14 Honeywell Inc. Two-axis motion mechanism
US5692412A (en) * 1993-11-15 1997-12-02 Ross-Hime Designs, Incorporated Robotic manipulator
US5533418A (en) * 1994-12-09 1996-07-09 Kung C. Wu Spherical robotic shoulder joint
US5710870A (en) * 1995-09-07 1998-01-20 California Institute Of Technology Decoupled six degree-of-freedom robot manipulator
US5875685A (en) * 1997-03-31 1999-03-02 Hughes Electronics Corporation Multi-axis positioner with base-mounted actuators
US6026703A (en) * 1997-08-14 2000-02-22 Stanisic; Michael M. Dexterous split equator joint
SE516023C2 (sv) * 1999-06-24 2001-11-12 Abb Ab Industrirobot innefattande en växellådskonfiguration samt förfarande i en industrirobot
US8768516B2 (en) 2009-06-30 2014-07-01 Intuitive Surgical Operations, Inc. Control of medical robotic system manipulator about kinematic singularities
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US6902560B1 (en) 2000-07-27 2005-06-07 Intuitive Surgical, Inc. Roll-pitch-roll surgical tool
USD502882S1 (en) * 2002-02-14 2005-03-15 Faro Technologies, Inc. Portable coordinate measurement machine portion
USD503348S1 (en) * 2002-02-14 2005-03-29 Faro Technologies, Inc. Portable coordinate measurement machine portion
TW200619528A (en) * 2004-11-10 2006-06-16 Newsouth Innovations Pty Ltd A mechanical joint structure
US7304296B2 (en) * 2005-10-05 2007-12-04 Raytheon Company Optical fiber assembly wrapped across gimbal axes
CN100544901C (zh) * 2007-08-08 2009-09-30 燕山大学 一种机器人肩关节
US20090084219A1 (en) * 2007-09-10 2009-04-02 Ross-Hime Designs, Inc. Robotic manipulator
WO2009051393A2 (en) * 2007-10-16 2009-04-23 Robomech Co., Ltd. Joint apparatus with multi-degree of freedom
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US8245595B2 (en) * 2009-04-30 2012-08-21 Wisconsin Alumni Research Foundation Two-axis non-singular robotic wrist
WO2013009887A1 (en) 2011-07-11 2013-01-17 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
EP3730031A1 (de) 2011-10-03 2020-10-28 Board of Regents of the University of Nebraska Robotische chirurgische vorrichtungen und systeme
US9498292B2 (en) 2012-05-01 2016-11-22 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
DE102012105313A1 (de) * 2012-06-19 2013-12-19 Technische Universität München Agiles, angetriebenes Gelenk mit drei Freiheitsgraden
JP6228196B2 (ja) 2012-06-22 2017-11-08 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ ローカル制御ロボット手術デバイス
US9746422B2 (en) * 2012-07-05 2017-08-29 Gemological Appraisal Association, Inc. Gemstone registration and recovery system, and systems for evaluating the light performance of a gemstone and capturing forensic characteristics of a gemstone
US12295680B2 (en) 2012-08-08 2025-05-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
EP2882331A4 (de) 2012-08-08 2016-03-23 Univ Nebraska Robotische chirurgische vorrichtungen, systeme und entsprechende verfahren
CA2906672C (en) 2013-03-14 2022-03-15 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
JP6479790B2 (ja) 2013-07-17 2019-03-06 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ ロボット外科的デバイス、システムおよび関連する方法
JP6578284B2 (ja) 2013-09-20 2019-09-18 ラドゥックス・ディヴァイシーズ・エルエルシー ロック・ブロックシールドデバイス
GB201400569D0 (en) * 2014-01-14 2014-03-05 Randle Engineering Solutions Ltd Articulation
GB2523224C2 (en) 2014-03-07 2021-06-02 Cambridge Medical Robotics Ltd Surgical arm
WO2015183947A1 (en) * 2014-05-27 2015-12-03 Gemological Appraisal Association, Inc. Gemstone registration and recovery system, and systems for evaluating the light performance of a gemstone and capturing forensic characteristics of a gemstone
CA2956320A1 (en) 2014-07-25 2016-01-28 Radux Devices, LLC Shielding device and method
EP3217890B1 (de) 2014-11-11 2020-04-08 Board of Regents of the University of Nebraska Robotische vorrichtung mit kompaktem gelenkentwurf
GB2538497B (en) 2015-05-14 2020-10-28 Cmr Surgical Ltd Torque sensing in a surgical robotic wrist
GB2555985B (en) * 2015-06-11 2020-08-26 Punk Couplings Ltd Coupling assembly and application to driven coupling, robotic arm and dual drive
EP4555965A3 (de) 2015-08-03 2025-07-02 Virtual Incision Corporation Robotische chirurgische vorrichtungen, systeme und zugehörige verfahren
EP3359054A4 (de) 2015-10-05 2019-08-14 Flexdex, Inc. Medizinische vorrichtungen mit glatt gelenkigen multicluster-verbindungen
WO2017147607A1 (en) 2016-02-25 2017-08-31 Flexdex, Inc. Parallel kinematic apparatuses
CN105583558A (zh) * 2016-03-24 2016-05-18 褚宏鹏 新型两转动焊接机器人关节
US10751136B2 (en) 2016-05-18 2020-08-25 Virtual Incision Corporation Robotic surgical devices, systems and related methods
JP6608774B2 (ja) * 2016-07-22 2019-11-20 株式会社スギノマシン 送り台装置
EP4699745A3 (de) 2016-08-30 2026-04-29 Board of Regents of the University of Nebraska Robotische vorrichtung mit kompaktem gelenkentwurf und zusätzlichem freiheitsgrad sowie zugehörige systeme und verfahren
CN111417333B (zh) 2017-09-27 2023-08-29 虚拟切割有限公司 具有跟踪相机技术的机器人手术设备及相关系统和方法
DE102017217907B4 (de) * 2017-10-09 2019-06-19 Kuka Deutschland Gmbh Roboterarm mit einer Roboterhand-Antriebsvorrichtung
CN117140580A (zh) 2018-01-05 2023-12-01 内布拉斯加大学董事会 具有紧凑型关节设计的单臂机器人装置及相关系统和方法
US10517550B2 (en) 2018-05-04 2019-12-31 Radux Devices, LLC Radiation shielding devices, systems, and methods
CN108453709B (zh) * 2018-05-08 2020-12-29 王震林 一种机器人机械手腕
CN121714364A (zh) 2019-01-07 2026-03-24 虚拟切割有限公司 机器人辅助手术系统以及相关装置和方法
DE102019215213B3 (de) * 2019-10-02 2020-10-01 Festo Se & Co. Kg Gelenkvorrichtung
CN111618906B (zh) * 2020-06-23 2022-04-12 京东科技信息技术有限公司 柔性手腕结构、仿生手结构及机器人
US12385597B2 (en) * 2020-09-28 2025-08-12 Ross-Hime Designs, Incorporated Gimbal assembly
CN113021406B (zh) * 2021-03-30 2022-08-30 山东大学 一种液压驱动的两自由度机器人关节总成

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IT1083111B (it) * 1977-05-18 1985-05-21 Bisiach & Carru Testa portautensile per macchina operatrice particolarmente per pinze di saldatura a resistenza o torce per saldatura in tig mig o mag
US4194437A (en) * 1978-03-09 1980-03-25 Rosheim Mark E Hydraulic servo mechanism
US4296681A (en) * 1978-03-09 1981-10-27 Rosheim Mark E Fluid driven servomechanism
US4353677A (en) * 1980-03-05 1982-10-12 Thermwood Corporation Wrist construction for industrial robots
JPS58132490A (ja) * 1982-01-29 1983-08-06 株式会社日立製作所 角度伝達機構
US4671732A (en) * 1982-11-19 1987-06-09 American Cimflex Corporation Industrial robot
US4723460A (en) * 1984-04-12 1988-02-09 Rosheim Mark E Robot wrist actuator
US4628765A (en) * 1985-02-27 1986-12-16 Rensselaer Polytechnic Institute Spherical robotic wrist joint
US4907937A (en) * 1985-07-08 1990-03-13 Ford Motor Company Non-singular industrial robot wrist
US4729253A (en) * 1986-01-21 1988-03-08 Rosheim Mark E Wrist actuator
US4686866A (en) * 1986-01-21 1987-08-18 Rosheim Mark E Compact robot wrist acuator

Also Published As

Publication number Publication date
JP2610330B2 (ja) 1997-05-14
WO1989005216A1 (en) 1989-06-15
EP0393024A1 (de) 1990-10-24
DE3751227D1 (de) 1995-05-11
JPH03502182A (ja) 1991-05-23
EP0393024A4 (en) 1991-10-30
US5036724A (en) 1991-08-06
EP0393024B1 (de) 1995-04-05

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