CA2277846A1 - A device for relative displacement of two elements - Google Patents
A device for relative displacement of two elements Download PDFInfo
- Publication number
- CA2277846A1 CA2277846A1 CA002277846A CA2277846A CA2277846A1 CA 2277846 A1 CA2277846 A1 CA 2277846A1 CA 002277846 A CA002277846 A CA 002277846A CA 2277846 A CA2277846 A CA 2277846A CA 2277846 A1 CA2277846 A1 CA 2277846A1
- Authority
- CA
- Canada
- Prior art keywords
- arrangement
- link
- force
- links
- elements
- 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
Links
- 238000006073 displacement reaction Methods 0.000 title claims description 7
- 230000033001 locomotion Effects 0.000 claims abstract description 53
- 230000005540 biological transmission Effects 0.000 claims description 20
- 230000008859 change Effects 0.000 claims description 5
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 230000002452 interceptive effect Effects 0.000 claims 1
- 238000013461 design Methods 0.000 description 14
- 229910052729 chemical element Inorganic materials 0.000 description 7
- 239000000976 ink Substances 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- CNQCVBJFEGMYDW-UHFFFAOYSA-N lawrencium atom Chemical compound [Lr] CNQCVBJFEGMYDW-UHFFFAOYSA-N 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 239000000306 component Substances 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 241000282320 Panthera leo Species 0.000 description 2
- 238000007792 addition Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000037230 mobility Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
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- 241001289435 Astragalus brachycalyx Species 0.000 description 1
- 235000002917 Fraxinus ornus Nutrition 0.000 description 1
- 239000007983 Tris buffer Substances 0.000 description 1
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- 239000000969 carrier Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000010348 incorporation Methods 0.000 description 1
- 150000002500 ions Chemical class 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000005019 pattern of movement Effects 0.000 description 1
- 229920000136 polysorbate Polymers 0.000 description 1
- LENZDBCJOHFCAS-UHFFFAOYSA-N tris Chemical compound OCC(N)(CO)CO LENZDBCJOHFCAS-UHFFFAOYSA-N 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S414/00—Material or article handling
- Y10S414/13—Handlers utilizing parallel links
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE9700090-5 | 1997-01-14 | ||
| SE9700090A SE521584C2 (sv) | 1996-03-14 | 1997-01-14 | Anordning för relativ förflyttning av två element |
| PCT/SE1998/000046 WO1998030366A1 (en) | 1997-01-14 | 1998-01-14 | A device for relative displacement of two elements |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2277846A1 true CA2277846A1 (en) | 1998-07-16 |
Family
ID=20405419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002277846A Abandoned CA2277846A1 (en) | 1997-01-14 | 1998-01-14 | A device for relative displacement of two elements |
Country Status (10)
| Country | Link |
|---|---|
| US (1) | US6540471B1 (enExample) |
| EP (1) | EP1007292B1 (enExample) |
| JP (1) | JP2001508158A (enExample) |
| KR (1) | KR100569638B1 (enExample) |
| CN (1) | CN1072094C (enExample) |
| AU (1) | AU5685498A (enExample) |
| CA (1) | CA2277846A1 (enExample) |
| DE (1) | DE69833850T2 (enExample) |
| ES (1) | ES2260827T3 (enExample) |
| WO (1) | WO1998030366A1 (enExample) |
Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7337691B2 (en) * | 1999-08-05 | 2008-03-04 | Shambhu Nath Roy | Parallel kinematics mechanism with a concentric spherical joint |
| FR2810573B1 (fr) * | 2000-06-21 | 2002-10-11 | Commissariat Energie Atomique | Bras de commande a deux branches en parallele |
| GB0020461D0 (en) * | 2000-08-18 | 2000-10-11 | Oliver Crispin Consulting Ltd | Improvements in and relating to the robotic positioning of a work tool to a sensor |
| SE517356C2 (sv) * | 2000-09-11 | 2002-05-28 | Abb Ab | Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden |
| SE0100134D0 (sv) | 2001-01-15 | 2001-01-15 | Abb Ab | Industrirobot |
| EP1492649B1 (en) * | 2002-01-16 | 2009-03-04 | Abb Ab | Industrial robot |
| SE521539C2 (sv) * | 2002-03-18 | 2003-11-11 | Abb Ab | Manipulator och förfarande involverande manipulator för förflyttning av ett objekt,innefattande minst två drivande parallellkinematiska förbindningskedjor |
| JP4222068B2 (ja) * | 2003-03-10 | 2009-02-12 | 東京エレクトロン株式会社 | 被処理体の搬送装置 |
| US7331750B2 (en) * | 2005-03-21 | 2008-02-19 | Michael Merz | Parallel robot |
| US7950306B2 (en) * | 2007-02-23 | 2011-05-31 | Microdexterity Systems, Inc. | Manipulator |
| US8181799B2 (en) * | 2009-11-30 | 2012-05-22 | GM Global Technology Operations LLC | Actuation system configured for moving a payload |
| US20120073738A1 (en) | 2010-09-29 | 2012-03-29 | The Boeing Company | Method and apparatus for laying up barrel-shaped composite structures |
| JP2012192499A (ja) * | 2011-03-17 | 2012-10-11 | Canon Electronics Inc | パラレルリンクロボット |
| CN104875201B (zh) * | 2015-06-08 | 2016-05-18 | 广西大学 | 一种变构态大空间码垛机器人机构 |
| CN105855983A (zh) * | 2016-06-02 | 2016-08-17 | 刘瑞 | 一种机械加工用平移机械装置 |
| CN107414800B (zh) * | 2017-09-11 | 2023-05-26 | 中国地质大学（武汉） | 一种采用旋转驱动的两分支并联手术机器人 |
| WO2019138025A1 (en) * | 2018-01-15 | 2019-07-18 | Cognibotics Ab | An industrial robot arm |
| EP3611420A1 (de) * | 2018-08-16 | 2020-02-19 | Ondal Medical Systems GmbH | Vorrichtung zum tragen eines monitors |
| EP3838499A1 (en) * | 2019-12-19 | 2021-06-23 | Cognibotics AB | An agile robot arm for positioning a tool with controlled orientation |
| DE102023133156B4 (de) * | 2023-11-28 | 2025-08-07 | Karl Storz Se & Co. Kg | Positioniervorrichtung und haptisches eingabegerät |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4483074A (en) * | 1980-12-18 | 1984-11-20 | Kaunassky Politekhnichesky Institut Imeni A. Snechkusa | Method for locating a point by its coordinates and a device for accomplishing same |
| JPS5856789A (ja) * | 1981-09-25 | 1983-04-04 | 松下電器産業株式会社 | ハンドリング装置 |
| FR2572981A1 (fr) * | 1984-11-13 | 1986-05-16 | Inadex | Dispositif de deplacement et de manipulation d'objets dans l'espace. |
| DE3445055A1 (de) * | 1984-12-11 | 1986-06-12 | Reis GmbH & Co, 8753 Obernburg | Mehrachsiger, programmierbarer manipulator mit einem trainingsarm zum programmieren des manipulators |
| CH672089A5 (enExample) | 1985-12-16 | 1989-10-31 | Sogeva Sa | |
| SE502256C2 (sv) * | 1989-03-22 | 1995-09-25 | Niclas Klintberg | Anordning för styrning av ett verktyg |
| US5222409A (en) * | 1991-09-25 | 1993-06-29 | Dalakian Sergei V | Industrial robot arms |
| US5263382A (en) * | 1992-04-13 | 1993-11-23 | Hughes Aircraft Company | Six Degrees of freedom motion device |
| SE501207C2 (sv) * | 1993-04-30 | 1994-12-12 | Asea Brown Boveri | Industrirobot |
| DE69317574T2 (de) | 1993-09-01 | 1998-07-09 | Yaskawa Denki Kitakyushu Kk | Gelenkroboter |
| US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
| SE508890C2 (sv) * | 1996-03-14 | 1998-11-16 | Asea Brown Boveri | Manipulator |
-
1998
- 1998-01-14 US US09/341,334 patent/US6540471B1/en not_active Expired - Lifetime
- 1998-01-14 CN CN98803059A patent/CN1072094C/zh not_active Expired - Lifetime
- 1998-01-14 WO PCT/SE1998/000046 patent/WO1998030366A1/en not_active Ceased
- 1998-01-14 DE DE69833850T patent/DE69833850T2/de not_active Expired - Lifetime
- 1998-01-14 AU AU56854/98A patent/AU5685498A/en not_active Abandoned
- 1998-01-14 CA CA002277846A patent/CA2277846A1/en not_active Abandoned
- 1998-01-14 KR KR1019997006367A patent/KR100569638B1/ko not_active Expired - Lifetime
- 1998-01-14 ES ES98901156T patent/ES2260827T3/es not_active Expired - Lifetime
- 1998-01-14 EP EP98901156A patent/EP1007292B1/en not_active Expired - Lifetime
- 1998-01-14 JP JP53081398A patent/JP2001508158A/ja not_active Ceased
Also Published As
| Publication number | Publication date |
|---|---|
| DE69833850D1 (de) | 2006-05-11 |
| ES2260827T3 (es) | 2006-11-01 |
| JP2001508158A (ja) | 2001-06-19 |
| CN1072094C (zh) | 2001-10-03 |
| KR20000070142A (ko) | 2000-11-25 |
| EP1007292B1 (en) | 2006-03-15 |
| AU5685498A (en) | 1998-08-03 |
| DE69833850T2 (de) | 2006-09-28 |
| US6540471B1 (en) | 2003-04-01 |
| CN1249705A (zh) | 2000-04-05 |
| KR100569638B1 (ko) | 2006-04-10 |
| WO1998030366A1 (en) | 1998-07-16 |
| EP1007292A1 (en) | 2000-06-14 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request | ||
| FZDE | Dead |