AU2002211135A1 - Industrial robot - Google Patents

Industrial robot

Info

Publication number
AU2002211135A1
AU2002211135A1 AU2002211135A AU1113502A AU2002211135A1 AU 2002211135 A1 AU2002211135 A1 AU 2002211135A1 AU 2002211135 A AU2002211135 A AU 2002211135A AU 1113502 A AU1113502 A AU 1113502A AU 2002211135 A1 AU2002211135 A1 AU 2002211135A1
Authority
AU
Australia
Prior art keywords
actuator
platform
arm
links
movement
Prior art date
Legal status (The legal status 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 status listed.)
Abandoned
Application number
AU2002211135A
Inventor
Torgny Brogardh
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB AB
Original Assignee
ABB AB
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 ABB AB filed Critical ABB AB
Publication of AU2002211135A1 publication Critical patent/AU2002211135A1/en
Abandoned legal-status Critical Current

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
    • 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
    • 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
    • B25J9/0042—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-universal-universal
    • 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
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • 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
    • 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
    • Y10T74/20341—Power elements as controlling elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

An industrial robot for movement of an object (12) in space comprising a platform (1,1a-1g) arranged for carrying the object, a first arm arranged for influencing the platform in a first movement and comprising a first actuator and two links (13,14), each of which comprises an outer joint arranged in the platform and an inner joint arranged in the first actuator, a second arm arranged for influencing the platform in a second movement and comprising a second actuator and two links (15,16), each of which comprises an outer joint arranged in the platform and an inner joint arranged in the second actuator, and a third arm arranged for influencing the platform in a third movement and comprising a third actuator and a link (17), which comprises an outer joint arranged in the platform and an inner joint arranged in the third actuator. The first actuator comprises a first linearly movable carriage (2), whereby the two inner joints are displaceable in parallel, the second actuator comprises a second linearly movable carriage (3), whereby the two inner joints are displaceable in parallel, and the third actuator comprises a third linearly movable carriage (5), whereby the inner joint is linearly displaceable. A first line (80) being defined as going through the centre points of the two outer joints of the two links of the first arm is parallel to a second line (81) being defined as going through the centre points of the two outer joints of the two links of the second arm.
AU2002211135A 2000-10-24 2001-10-19 Industrial robot Abandoned AU2002211135A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE0003912 2000-10-24
SE0003912A SE0003912D0 (en) 2000-10-24 2000-10-24 Industrial robot
PCT/SE2001/002291 WO2002034480A1 (en) 2000-10-24 2001-10-19 Industrial robot

Publications (1)

Publication Number Publication Date
AU2002211135A1 true AU2002211135A1 (en) 2002-05-06

Family

ID=20281592

Family Applications (1)

Application Number Title Priority Date Filing Date
AU2002211135A Abandoned AU2002211135A1 (en) 2000-10-24 2001-10-19 Industrial robot

Country Status (9)

Country Link
US (1) US6974297B2 (en)
EP (2) EP2105264B1 (en)
JP (1) JP4083574B2 (en)
AT (2) ATE490057T1 (en)
AU (1) AU2002211135A1 (en)
DE (2) DE60143595D1 (en)
ES (2) ES2323852T3 (en)
SE (1) SE0003912D0 (en)
WO (1) WO2002034480A1 (en)

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WO2004033161A1 (en) * 2002-09-30 2004-04-22 Evotech S.R.L. Device for moving and orienting an object with at least two degrees of freedom
US6871115B2 (en) * 2002-10-11 2005-03-22 Taiwan Semiconductor Manufacturing Co., Ltd Method and apparatus for monitoring the operation of a wafer handling robot
JP4230196B2 (en) * 2002-10-30 2009-02-25 川崎重工業株式会社 Positioning calculation method and positioning calculation apparatus
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CN101708611B (en) * 2009-11-09 2011-07-27 天津大学 Parallel mechanism with three-dimensional translation and one-dimensional rotation
US9259271B2 (en) * 2009-11-27 2016-02-16 Mehran Anvari Automated in-bore MR guided robotic diagnostic and therapeutic system
TW201127573A (en) * 2010-02-05 2011-08-16 Hon Hai Prec Ind Co Ltd Robot arm
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CN102384341B (en) * 2010-08-31 2013-12-11 鸿富锦精密工业（深圳）有限公司 Six-freedom degree motion platform
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EP2574428A1 (en) 2011-09-30 2013-04-03 Güdel Group AG Industrial robot with parallel kinematics and method for controlling such a robot
EP2740563B1 (en) * 2012-12-05 2018-04-04 TRUMPF Werkzeugmaschinen GmbH & Co. KG Processing device, processing machine and method for moving a machining head
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FR3020977B1 (en) * 2014-05-19 2017-07-28 Univ Montpellier 2 Sciences Et Techniques NACELLE FOR PARALLEL ROBOT FOR ACTING ON AN OBJECT
US10272562B2 (en) 2014-06-09 2019-04-30 Abb Schweiz Ag Parallel kinematics robot with rotational degrees of freedom
CN104552278B (en) * 2015-01-15 2015-12-30 南京信息职业技术学院 Robotized spiral hole making system
CN104589339B (en) * 2015-01-24 2015-12-02 江西省机械科学研究所 The flat one turn of space four-degree-of-freedom manipulator of V belt translation three
GB201505800D0 (en) * 2015-04-02 2015-05-20 Mclaren Applied Technologies Ltd Motion arrangement
DE102015224874A1 (en) * 2015-12-10 2017-06-14 Krones Aktiengesellschaft Device for handling articles
CN105710866B (en) * 2016-04-22 2017-12-29 燕山大学 A kind of four-degree-of-freedparallel parallel manipulator with nested structure
EP3342547B1 (en) 2017-01-02 2021-08-25 Manz AG Positioning unit
EP3740350B1 (en) * 2018-01-15 2021-12-01 Cognibotics AB An industrial robot arm
CN108381547A (en) * 2018-05-17 2018-08-10 上海金东唐科技有限公司 Parallel manipulator and materials conveying system
KR102149410B1 (en) * 2018-08-17 2020-08-28 국민대학교산학협력단 Micro transfer mechanism and high-precision positioning aparatus comprising the same
CN110883565B (en) * 2018-09-10 2024-04-26 华东至正工业自动化(常熟)有限公司 Novel six-degree-of-freedom platform
US10906172B2 (en) * 2018-11-14 2021-02-02 Battelle Energy Alliance, Llc Linear delta systems, hexapod systems, and related methods
US11059166B2 (en) 2018-11-14 2021-07-13 Battelle Energy Alliance, Llc Linear delta systems with additional degrees of freedom and related methods
US10821599B2 (en) 2018-11-14 2020-11-03 Battelle Energy Alliance, Llc Dual linear delta assemblies, linear delta systems, and related methods
CN110450141B (en) * 2019-08-30 2022-06-10 燕山大学 Four-branch-chain six-degree-of-freedom hybrid mechanism
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CN117506870A (en) * 2023-12-11 2024-02-06 河北农业大学 Orchard operation device with serial-parallel mechanism

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Also Published As

Publication number Publication date
ATE427815T1 (en) 2009-04-15
US6974297B2 (en) 2005-12-13
JP2004512187A (en) 2004-04-22
ES2323852T3 (en) 2009-07-27
WO2002034480A1 (en) 2002-05-02
ES2355447T3 (en) 2011-03-25
DE60143595D1 (en) 2011-01-13
EP2105264A1 (en) 2009-09-30
DE60138298D1 (en) 2009-05-20
EP2105264B1 (en) 2010-12-01
EP1341647A1 (en) 2003-09-10
ATE490057T1 (en) 2010-12-15
JP4083574B2 (en) 2008-04-30
EP1341647B1 (en) 2009-04-08
US20040028516A1 (en) 2004-02-12
SE0003912D0 (en) 2000-10-24

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