CA1268797A - Manipulator-head drive assembly - Google Patents

Manipulator-head drive assembly

Info

Publication number
CA1268797A
CA1268797A CA000525377A CA525377A CA1268797A CA 1268797 A CA1268797 A CA 1268797A CA 000525377 A CA000525377 A CA 000525377A CA 525377 A CA525377 A CA 525377A CA 1268797 A CA1268797 A CA 1268797A
Authority
CA
Canada
Prior art keywords
segment
axis
shaft
rotation
stepdown
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.)
Expired - Lifetime
Application number
CA000525377A
Other languages
English (en)
French (fr)
Inventor
Ernst Zimmer
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.)
KUKA Systems GmbH
Original Assignee
KUKA Schweissanlagen und Roboter GmbH
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 KUKA Schweissanlagen und Roboter GmbH filed Critical KUKA Schweissanlagen und Roboter GmbH
Application granted granted Critical
Publication of CA1268797A publication Critical patent/CA1268797A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
    • 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
    • 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
    • Y10T74/19—Gearing
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Retarders (AREA)
  • Gear Transmission (AREA)
  • Supporting Of Heads In Record-Carrier Devices (AREA)
CA000525377A 1985-12-19 1986-12-15 Manipulator-head drive assembly Expired - Lifetime CA1268797A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19853545068 DE3545068A1 (de) 1985-12-19 1985-12-19 Getriebekopf fuer manipulatoren
DEP3545068.1 1985-12-19

Publications (1)

Publication Number Publication Date
CA1268797A true CA1268797A (en) 1990-05-08

Family

ID=6288934

Family Applications (1)

Application Number Title Priority Date Filing Date
CA000525377A Expired - Lifetime CA1268797A (en) 1985-12-19 1986-12-15 Manipulator-head drive assembly

Country Status (12)

Country Link
US (1) US4771652A (en, 2012)
EP (1) EP0229941B1 (en, 2012)
JP (1) JPS62148183A (en, 2012)
KR (1) KR900003641B1 (en, 2012)
CN (1) CN1004867B (en, 2012)
AT (1) ATE47074T1 (en, 2012)
AU (1) AU587749B2 (en, 2012)
CA (1) CA1268797A (en, 2012)
DD (1) DD252787A5 (en, 2012)
DE (2) DE3545068A1 (en, 2012)
ES (1) ES2002442A6 (en, 2012)
SU (1) SU1524801A3 (en, 2012)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109661297B (zh) * 2016-09-23 2021-07-23 雅马哈发动机株式会社 机器人

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US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
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CA2690808C (en) 2007-07-12 2016-09-27 Board Of Regents Of The University Of Nebraska Methods and systems of actuation in robotic devices
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CN201840427U (zh) * 2010-10-11 2011-05-25 洋通工业股份有限公司 驱动模块
CN102242794A (zh) * 2011-05-31 2011-11-16 国营红峰机械厂 一种斜交角谐波减速器
EP3714821A1 (en) 2011-06-10 2020-09-30 Board of Regents of the University of Nebraska Surgical end effector
EP3588217A1 (en) 2011-07-11 2020-01-01 Board of Regents of the University of Nebraska Robotic surgical devices, systems and related methods
EP3730031A1 (en) 2011-10-03 2020-10-28 Board of Regents of the University of Nebraska Robotic surgical devices and systems
US10582973B2 (en) 2012-08-08 2020-03-10 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
US9636178B2 (en) * 2011-12-07 2017-05-02 Specialty Surgical Instrumentation, Inc. System and method for an articulating shaft
US20140058205A1 (en) 2012-01-10 2014-02-27 Board Of Regents Of The University Of Nebraska Methods, Systems, and Devices for Surgical Access and Insertion
EP3845190B1 (en) 2012-05-01 2023-07-12 Board of Regents of the University of Nebraska Single site robotic device and related systems
EP3424651B1 (en) 2012-06-22 2020-02-12 Board of Regents of the University of Nebraska Local control robotic surgical devices
US12295680B2 (en) 2012-08-08 2025-05-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
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WO2014152418A1 (en) 2013-03-14 2014-09-25 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
US9743987B2 (en) 2013-03-14 2017-08-29 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
WO2014144220A1 (en) 2013-03-15 2014-09-18 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methdos
EP3021779A4 (en) 2013-07-17 2017-08-23 Board of Regents of the University of Nebraska Robotic surgical devices, systems and related methods
CN103758932B (zh) * 2014-01-26 2016-05-25 浙江来福谐波传动股份有限公司 大减速比角向谐波减速装置
WO2016040946A1 (en) 2014-09-12 2016-03-17 Board Of Regents Of University Of Nebraska Quick-release end effectors and related systems and methods
CA2967593C (en) 2014-11-11 2024-02-27 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
CN104608146A (zh) * 2015-01-27 2015-05-13 中国科学技术大学 基于双斜面偏转关节的新型机械臂
CN114027986B (zh) 2015-08-03 2024-06-14 内布拉斯加大学董事会 机器人手术装置系统及相关方法
FR3040145B1 (fr) * 2015-08-21 2018-02-09 Nimbl'bot Bras de robot articule
CN105150239B (zh) * 2015-08-26 2017-02-01 希美埃（芜湖）机器人技术有限公司 一种工业机器人腕部中空偏置结构
WO2017201310A1 (en) 2016-05-18 2017-11-23 Virtual Incision Corporation Robotic surgicla devices, systems and related methods
NL2016878B1 (en) * 2016-06-02 2018-01-25 State Of The Art Ltd Link for an articulated manipulator
US11173617B2 (en) 2016-08-25 2021-11-16 Board Of Regents Of The University Of Nebraska Quick-release end effector tool interface
EP4523648A3 (en) 2016-08-30 2025-04-09 Board of Regents of the University of Nebraska Robotic device with compact joint design and an additional degree of freedom and related systems and methods
US11104011B2 (en) * 2016-11-10 2021-08-31 Robert Chisena Mechanical robot arm assembly
JP2020500674A (ja) 2016-11-22 2020-01-16 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 改良された全体的位置決めデバイスならびに関連するシステムおよび方法
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WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
CN107379004B (zh) * 2017-08-29 2023-02-17 天津大学 一种三自由度中空柔性手腕
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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
NL2021133B1 (nl) 2018-06-15 2019-12-20 Exact Dynamics B V Vertragingsunit, Armgewricht voorzien van twee respectievelijk drie vertragingsunits, alsmede een robotarm
CN108818608B (zh) * 2018-08-24 2024-02-13 上海哲谦应用科技有限公司 一种并联式三自由度人形机器人关节
CN109465813A (zh) * 2018-12-07 2019-03-15 曾林旺 一种机械手臂
WO2020146348A1 (en) 2019-01-07 2020-07-16 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
IT201900009081A1 (it) * 2019-06-14 2020-12-14 Free Energy Tech S R L Modulo per giunto di collegamento e giunto di collegamento modulare comprendente detto modulo
CN110303519A (zh) * 2019-07-09 2019-10-08 郑州科技学院 腕关节及机器人
CN110937102A (zh) * 2019-12-06 2020-03-31 中国航空工业集团公司沈阳飞机设计研究所 一种飞机翼面偏转机构
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109661297B (zh) * 2016-09-23 2021-07-23 雅马哈发动机株式会社 机器人

Also Published As

Publication number Publication date
EP0229941A3 (en) 1987-08-12
EP0229941B1 (de) 1989-10-11
SU1524801A3 (ru) 1989-11-23
DD252787A5 (de) 1987-12-30
KR870005755A (ko) 1987-07-07
JPH0314594B2 (en, 2012) 1991-02-27
EP0229941A2 (de) 1987-07-29
CN86108531A (zh) 1987-11-11
CN1004867B (zh) 1989-07-26
US4771652A (en) 1988-09-20
KR900003641B1 (ko) 1990-05-28
DE3545068C2 (en, 2012) 1987-09-24
AU6671286A (en) 1987-06-25
DE3545068A1 (de) 1987-06-25
JPS62148183A (ja) 1987-07-02
ATE47074T1 (de) 1989-10-15
AU587749B2 (en) 1989-08-24
ES2002442A6 (es) 1988-08-01
DE3666173D1 (en) 1989-11-16

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