ATE333346T1 - Steuerarm mit paralleler struktur - Google Patents

Steuerarm mit paralleler struktur

Info

Publication number
ATE333346T1
ATE333346T1 AT01936559T AT01936559T ATE333346T1 AT E333346 T1 ATE333346 T1 AT E333346T1 AT 01936559 T AT01936559 T AT 01936559T AT 01936559 T AT01936559 T AT 01936559T AT E333346 T1 ATE333346 T1 AT E333346T1
Authority
AT
Austria
Prior art keywords
control arm
parallel structure
wrist
singularities
kinetic
Prior art date
Application number
AT01936559T
Other languages
English (en)
Inventor
Florian Gosselin
Alain Riwan
Original Assignee
Commissariat Energie Atomique
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 Commissariat Energie Atomique filed Critical Commissariat Energie Atomique
Application granted granted Critical
Publication of ATE333346T1 publication Critical patent/ATE333346T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • 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
    • 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)
  • Numerical Control (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Vehicle Body Suspensions (AREA)
  • Mechanical Coupling Of Light Guides (AREA)
AT01936559T 2000-05-18 2001-05-17 Steuerarm mit paralleler struktur ATE333346T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0006364A FR2809047B1 (fr) 2000-05-18 2000-05-18 Bras de commande parallele a deux branches

Publications (1)

Publication Number Publication Date
ATE333346T1 true ATE333346T1 (de) 2006-08-15

Family

ID=8850373

Family Applications (1)

Application Number Title Priority Date Filing Date
AT01936559T ATE333346T1 (de) 2000-05-18 2001-05-17 Steuerarm mit paralleler struktur

Country Status (8)

Country Link
US (1) US7086307B2 (de)
EP (1) EP1282485B1 (de)
JP (1) JP4959088B2 (de)
AT (1) ATE333346T1 (de)
CA (1) CA2408822A1 (de)
DE (1) DE60121571T2 (de)
FR (1) FR2809047B1 (de)
WO (1) WO2001087547A1 (de)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8768516B2 (en) * 2009-06-30 2014-07-01 Intuitive Surgical Operations, Inc. Control of medical robotic system manipulator about kinematic singularities
FR2836851B1 (fr) * 2002-03-11 2004-05-21 Commissariat Energie Atomique Poignet de bras de commande a deux branches paralleles
FR2853273B1 (fr) * 2003-04-04 2006-03-10 Commissariat Energie Atomique Dispositif d'actionnement, notamment pour un bras articule
FR2853272B1 (fr) * 2003-04-04 2006-03-10 Commissariat Energie Atomique Bras articule comprenant des transmissions a cable
FR2863534B1 (fr) * 2003-12-15 2007-01-05 Commissariat Energie Atomique Articulation de bras mecanique et bras pourvu de cette articulation
US7896607B2 (en) * 2004-09-24 2011-03-01 Raytheon Company Method and system for adjusting a position of an object
US7223063B2 (en) * 2004-09-24 2007-05-29 Raytheon Company Method and system for adjusting a position of an object
JP4541091B2 (ja) * 2004-10-04 2010-09-08 本田技研工業株式会社 加工搬送装置
JP2008531931A (ja) * 2005-02-11 2008-08-14 フォース ディメンション エス．エイ．アール．エル． 運動伝達装置およびその構成部品
ITUD20050158A1 (it) * 2005-09-26 2007-03-27 Gisulfo Baccini Dispositivo robotizzato per la movimentazione di un oggetto
CA2633395C (en) * 2007-06-01 2016-05-31 Socovar, Societe En Commandite Parallel manipulator
FR2950830B1 (fr) * 2009-10-02 2011-12-09 Commissariat Energie Atomique Structure de robot ou d'interface haptique a bras en paralleles
FR2952573B1 (fr) * 2009-10-02 2011-12-09 Commissariat Energie Atomique Structure de robot ou d'interface haptique a bras en parallele
CN102059696B (zh) * 2009-11-18 2013-11-20 鸿富锦精密工业（深圳）有限公司 并联机构
WO2011148386A1 (en) * 2010-05-25 2011-12-01 Systemantics India Pvt. Ltd A hybrid serial-parallel linkage based six degrees of freedom robotic manipulator
FR2961423B1 (fr) * 2010-06-17 2012-07-27 Commissariat Energie Atomique Reducteur a grand rapport de reduction, robot et interface haptique comportant au moins un tel reducteur
JP5893330B2 (ja) 2011-10-18 2016-03-23 オリンパス株式会社 操作入力装置および操作入力装置の初期化方法
US11458579B2 (en) 2013-12-06 2022-10-04 Huber Diffraktionstechnik Gmbh & Co. Kg Redundant parallel positioning table device
US10955084B2 (en) * 2013-12-06 2021-03-23 Huber Diffraktionstechnik Gmbh & Co. Kg Redundant parallel positioning table device
US11458614B2 (en) 2017-06-09 2022-10-04 Shenzhen Institutes Of Advanced Technology 2 degree-of-freedoms decoupling parallel mechanism
CN115781640A (zh) * 2021-09-03 2023-03-14 重庆理工大学 一种并联式机械手
CN114800600B (zh) * 2022-06-14 2024-05-14 东莞理工学院 张拉整体式仿生肩关节系统及其运动轨迹规划方法

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0102082B1 (de) * 1982-08-30 1987-05-20 Hitachi, Ltd. Industrieroboter
CH672089A5 (de) * 1985-12-16 1989-10-31 Sogeva Sa
JPS637280A (ja) * 1986-06-27 1988-01-13 株式会社小松製作所 マスタスレイブ方式マニピユレ−タ
US5207114A (en) * 1988-04-21 1993-05-04 Massachusetts Institute Of Technology Compact cable transmission with cable differential
US5333514A (en) * 1992-04-24 1994-08-02 Toyoda Koki Kabushiki Kaisha Parallel robot
JPH06131114A (ja) * 1992-10-19 1994-05-13 Res Dev Corp Of Japan ３次元データ入力装置
EP0699053B1 (de) * 1993-05-14 1999-03-17 Sri International Chirurgiegerät
JPH075982A (ja) * 1993-06-18 1995-01-10 Fujita Corp 入力装置
JP3009316B2 (ja) * 1993-10-06 2000-02-14 株式会社協和エクシオ 操作レバー装置
JP3612085B2 (ja) * 1993-11-25 2005-01-19 株式会社東芝 マスタ・スレーブシステムのマスタアーム装置
JPH07214482A (ja) * 1994-01-28 1995-08-15 Fujitsu Ltd 多関節アーム機構
US5656905A (en) * 1995-04-03 1997-08-12 Tsai; Lung-Wen Multi-degree-of-freedom mechanisms for machine tools and the like
AU6241896A (en) * 1995-06-29 1997-01-30 Daijiro Hamaguchi Operation unit
US5792135A (en) * 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
JP3534147B2 (ja) * 1997-01-21 2004-06-07 スズキ株式会社 ３次元入力用マニピュレータ
US6047610A (en) * 1997-04-18 2000-04-11 Stocco; Leo J Hybrid serial/parallel manipulator
SE513334C2 (sv) * 1997-09-12 2000-08-28 Abb Ab Anordning för relativ förflyttning av två element
JP4155637B2 (ja) * 1998-10-01 2008-09-24 三菱プレシジョン株式会社 ３次元空間座標入力装置
JP2000246679A (ja) * 1999-03-03 2000-09-12 Suzuki Motor Corp ３次元入力用マニピュレータ

Also Published As

Publication number Publication date
US7086307B2 (en) 2006-08-08
US20030151379A1 (en) 2003-08-14
FR2809047B1 (fr) 2002-07-12
JP4959088B2 (ja) 2012-06-20
EP1282485B1 (de) 2006-07-19
FR2809047A1 (fr) 2001-11-23
CA2408822A1 (fr) 2001-11-22
DE60121571T2 (de) 2007-06-28
JP2004520176A (ja) 2004-07-08
DE60121571D1 (de) 2006-08-31
WO2001087547A1 (fr) 2001-11-22
EP1282485A1 (de) 2003-02-12

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