ATE338605T1 - Vorrichtung zur bewegung und ausrichtung eines objekts im raum und verwendung davon bei schnellbearbeitung - Google Patents

Vorrichtung zur bewegung und ausrichtung eines objekts im raum und verwendung davon bei schnellbearbeitung

Info

Publication number
ATE338605T1
ATE338605T1 AT04707959T AT04707959T ATE338605T1 AT E338605 T1 ATE338605 T1 AT E338605T1 AT 04707959 T AT04707959 T AT 04707959T AT 04707959 T AT04707959 T AT 04707959T AT E338605 T1 ATE338605 T1 AT E338605T1
Authority
AT
Austria
Prior art keywords
support
space
aligning
moving
rapid processing
Prior art date
Application number
AT04707959T
Other languages
English (en)
Inventor
Damien Chablat
Philippe Wenger
Original Assignee
Centre Nat Rech Scient
Nantes Ecole Centrale
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 Centre Nat Rech Scient, Nantes Ecole Centrale filed Critical Centre Nat Rech Scient
Application granted granted Critical
Publication of ATE338605T1 publication Critical patent/ATE338605T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/5468—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair
    • 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
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-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
    • 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
    • Y10T74/20213—Interconnected
    • 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
    • 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
    • Y10T74/20317—Robotic arm including electric motor
    • 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)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Turning (AREA)
  • Machine Tool Units (AREA)
  • Specific Conveyance Elements (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
AT04707959T 2003-02-05 2004-02-04 Vorrichtung zur bewegung und ausrichtung eines objekts im raum und verwendung davon bei schnellbearbeitung ATE338605T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0301350A FR2850599B1 (fr) 2003-02-05 2003-02-05 Dispositif de deplacement et d'orientation d'un objet dans l'espace et utilisation en usinage rapide

Publications (1)

Publication Number Publication Date
ATE338605T1 true ATE338605T1 (de) 2006-09-15

Family

ID=32696389

Family Applications (1)

Application Number Title Priority Date Filing Date
AT04707959T ATE338605T1 (de) 2003-02-05 2004-02-04 Vorrichtung zur bewegung und ausrichtung eines objekts im raum und verwendung davon bei schnellbearbeitung

Country Status (7)

Country Link
US (1) US7997161B2 (de)
EP (1) EP1597017B1 (de)
AT (1) ATE338605T1 (de)
CA (1) CA2515024C (de)
DE (1) DE602004002281T2 (de)
FR (1) FR2850599B1 (de)
WO (1) WO2004071705A1 (de)

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ITTO20050016A1 (it) 2005-01-13 2006-07-14 Prima Ind Spa Macchina operatrice laser
DE102008010269A1 (de) 2008-02-19 2009-08-20 Volkswagen Ag Positioniervorrichtung zum Bewegen und Ausrichten eines Objektes im Raum
DE102008058644A1 (de) * 2008-10-10 2010-04-15 Num Industry Alliance Ag Schneidvorrichtung
US8215199B2 (en) * 2008-11-17 2012-07-10 Marcroft Sacha L Parallel kinematic positioning system
EP2256397B1 (de) * 2009-05-26 2012-07-11 Robert Bosch GmbH Vorrichtung zur sphärischen Orientierung und Herstellungsverfahren dafür
CN102172911B (zh) * 2011-02-11 2014-12-03 中国电力科学研究院 用于测试输电线路舞动性能的移动输入式机器人
US9339975B2 (en) * 2013-12-31 2016-05-17 Nike, Inc. 3D printer with native spherical control
DE102014107071A1 (de) * 2014-05-20 2015-11-26 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Gelenkanordnung mit zumindest einer angetriebenen Achse
CN106625591B (zh) * 2016-12-13 2023-03-10 东莞松山湖机器人产业发展有限公司 一种三平两转五自由度并联机构
JP1607841S (de) * 2017-07-12 2019-12-23
JP1605288S (de) * 2017-07-18 2019-11-25
JP1605287S (de) * 2017-07-18 2019-11-25
JP1605286S (de) * 2017-07-18 2019-11-25
JP1605285S (de) * 2017-07-18 2019-11-25
JP1605289S (de) * 2017-07-18 2019-11-25
JP1615135S (de) * 2018-03-29 2020-03-30
JP1615134S (de) * 2018-03-29 2020-03-30
JP1615133S (de) * 2018-03-29 2020-03-30
JP1615136S (de) * 2018-03-29 2020-03-30
CN108189014B (zh) * 2018-03-30 2024-05-17 四川大学 一种适用于球面加工的三自由度并联机器人
JP1623231S (de) * 2018-04-18 2020-07-13
JP1623232S (de) * 2018-04-18 2020-07-13
JP2020069631A (ja) * 2018-11-02 2020-05-07 ソニー株式会社 パラレルリンク装置、マスタ−スレーブシステム、並びに医療用マスタ−スレーブシステム
JP7022053B2 (ja) * 2018-12-26 2022-02-17 ファナック株式会社 パラレルリンクロボット
CN110900576A (zh) * 2019-12-11 2020-03-24 北京交通大学 一种具有三个平移自由度的单环并联操作手
US11812126B2 (en) * 2020-01-27 2023-11-07 Sanctuary Cognitive Systems Corporation Eye cartridge
CN112008699A (zh) * 2020-09-18 2020-12-01 河南科技大学 一种完全解耦两转动一移动并联机构
RU205104U1 (ru) * 2021-02-17 2021-06-28 федеральное государственное бюджетное образовательное учреждение высшего образования "Российский государственный университет им. А.Н. Косыгина (Технологии. Дизайн. Искусство)" Манипуляционный пространственный механизм
RU209477U1 (ru) * 2021-07-30 2022-03-16 Федеральное государственное бюджетное учреждение науки Институт машиноведения им. А.А. Благонравова Российской академии наук (ИМАШ РАН) Пространственный механизм
CN114734178B (zh) * 2022-06-15 2022-09-16 江苏皓日汽车零部件有限公司 一种汽车零部件自动化焊接装置

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US3478436A (en) * 1967-08-22 1969-11-18 Clair E Barnes Jig master
US4752160A (en) * 1984-03-19 1988-06-21 Ltv Aerospace & Defense Company Automated tool positioning system
US5625576A (en) * 1993-10-01 1997-04-29 Massachusetts Institute Of Technology Force reflecting haptic interface
US5656905A (en) * 1995-04-03 1997-08-12 Tsai; Lung-Wen Multi-degree-of-freedom mechanisms for machine tools and the like
FR2757530A1 (fr) * 1996-12-24 1998-06-26 Rhodia Chimie Sa Utilisation pour la stereophotolithographie - d'une composition liquide photoreticulable par voie cationique comprenant un photoamorceur du type sels d'onium ou de complexes organometalliques
US5893296A (en) * 1997-03-13 1999-04-13 Ross-Hime Designs, Incorporated Multiple rotatable links robotic manipulator
US5979264A (en) * 1997-03-13 1999-11-09 Ross-Hime Designs, Incorporated Robotic manipulator
US5966991A (en) 1997-04-23 1999-10-19 Universite Laval Two degree-of-freedom spherical orienting device
FR2779080B1 (fr) * 1998-05-27 2000-08-11 Renault Automation Dispositif permettant de mettre en oeuvre une structure logique de machine-outil a architecture parallele et machine-outil adoptant un tel dispositif
US6497548B1 (en) * 1999-08-05 2002-12-24 Shambhu Nath Roy Parallel kinematics mechanism with a concentric sperical joint
DE19955520C2 (de) * 1999-11-18 2002-11-07 Variomatic Gmbh & Co Kg Bearbeitungskopf zur Bearbeitung von Freiformflächen
DE10063628B4 (de) * 2000-12-20 2006-02-16 Reichenbacher Hamuel Gmbh Anordnung zur translatorischen Positionierung einer Plattform
ITMI20010830A1 (it) * 2001-04-19 2002-10-19 Consiglio Nazionale Ricerche Robot modulare e riconfigurabile a cinematica parallela

Also Published As

Publication number Publication date
EP1597017A1 (de) 2005-11-23
CA2515024C (fr) 2011-04-12
DE602004002281T2 (de) 2007-08-23
DE602004002281D1 (de) 2006-10-19
CA2515024A1 (fr) 2004-08-26
US7997161B2 (en) 2011-08-16
EP1597017B1 (de) 2006-09-06
FR2850599A1 (fr) 2004-08-06
FR2850599B1 (fr) 2006-03-03
US20070062321A1 (en) 2007-03-22
WO2004071705A1 (fr) 2004-08-26

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