CA2305320C - Robotic manipulator - Google Patents

Robotic manipulator Download PDF

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Publication number
CA2305320C
CA2305320C CA002305320A CA2305320A CA2305320C CA 2305320 C CA2305320 C CA 2305320C CA 002305320 A CA002305320 A CA 002305320A CA 2305320 A CA2305320 A CA 2305320A CA 2305320 C CA2305320 C CA 2305320C
Authority
CA
Canada
Prior art keywords
pivoting links
link axis
support
base
holder
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 - Fee Related
Application number
CA002305320A
Other languages
English (en)
French (fr)
Other versions
CA2305320A1 (en
Inventor
Mark E. Rosheim
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.)
Ross Hime Designs Inc
Original Assignee
Ross Hime Designs Inc
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 Ross Hime Designs Inc filed Critical Ross Hime Designs Inc
Publication of CA2305320A1 publication Critical patent/CA2305320A1/en
Application granted granted Critical
Publication of CA2305320C publication Critical patent/CA2305320C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
    • 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
    • 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)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)
CA002305320A 1997-10-16 1998-07-28 Robotic manipulator Expired - Fee Related CA2305320C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US08/951,555 US5979264A (en) 1997-03-13 1997-10-16 Robotic manipulator
US08/951,555 1997-10-16
PCT/US1998/015605 WO1999021070A1 (en) 1997-10-16 1998-07-28 Robotic manipulator

Publications (2)

Publication Number Publication Date
CA2305320A1 CA2305320A1 (en) 1999-04-29
CA2305320C true CA2305320C (en) 2007-10-23

Family

ID=25491824

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002305320A Expired - Fee Related CA2305320C (en) 1997-10-16 1998-07-28 Robotic manipulator

Country Status (8)

Country Link
US (2) US5979264A (enExample)
EP (1) EP1023653B1 (enExample)
JP (1) JP2001520941A (enExample)
AT (1) ATE461477T1 (enExample)
AU (1) AU8514498A (enExample)
CA (1) CA2305320C (enExample)
DE (1) DE69841561D1 (enExample)
WO (1) WO1999021070A1 (enExample)

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JP3806273B2 (ja) * 1999-09-17 2006-08-09 株式会社ジェイテクト 四自由度パラレルロボット
US6418811B1 (en) * 2000-05-26 2002-07-16 Ross-Hime Designs, Inc. Robotic manipulator
EP1296805A1 (en) * 2000-06-20 2003-04-02 Meganic APS Parallel manipulator provided with a truss structure
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US6729202B2 (en) * 2001-05-31 2004-05-04 UNIVERSITé LAVAL Cartesian parallel manipulators
US7077619B2 (en) * 2001-07-13 2006-07-18 3M Innovative Properties Company Continuous motion robotic manipulator
AU2002353941A1 (en) * 2001-10-31 2003-05-12 Ross-Hime Designs, Incoporated Robotic manipulator
JP3749946B2 (ja) * 2002-02-07 2006-03-01 国立大学法人 東京大学 関節機構、それを用いた双腕ロボットおよび二足歩行ロボット
US6898484B2 (en) 2002-05-01 2005-05-24 Dorothy Lemelson Robotic manufacturing and assembly with relative radio positioning using radio based location determination
CN1233511C (zh) * 2002-05-23 2005-12-28 河北工业大学 可重组模块化3～6自由度结构解耦并联微动机器人
US6865011B2 (en) * 2002-07-30 2005-03-08 The University Of British Columbia Self-stabilized electrophoretically frustrated total internal reflection display
FR2850599B1 (fr) * 2003-02-05 2006-03-03 Centre Nat Rech Scient Dispositif de deplacement et d'orientation d'un objet dans l'espace et utilisation en usinage rapide
US7162309B2 (en) * 2003-04-07 2007-01-09 Medtronic, Inc. Epicardial lead delivery system and method
JP2005144627A (ja) * 2003-11-18 2005-06-09 Ntn Corp リンク作動装置
EP1690650A4 (en) * 2003-12-03 2008-01-09 Ntn Toyo Bearing Co Ltd DEVICE FOR CONTROLLING CONNECTIONS
US8197469B2 (en) * 2004-01-20 2012-06-12 Ross-Hime Designs, Inc. Inserter joint and inserter
US7971505B2 (en) * 2004-03-11 2011-07-05 Ntn Corporation Link actuating device
US20050252329A1 (en) * 2004-05-13 2005-11-17 Jean-Guy Demers Haptic mechanism
FR2873317B1 (fr) * 2004-07-22 2008-09-26 Inst Nat Sciences Appliq Robot parallele comprenant des moyens de mise en mouvement decomposees en deux sous-ensemble
US8371187B2 (en) 2004-12-20 2013-02-12 Simon Fraser University Spherical linkage and force feedback controls
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
EP1690652A1 (en) * 2005-02-11 2006-08-16 Force Dimension S.à.r.l Device for transmitting movements comprising a parallel kinematic structure and components thereof
WO2006102393A2 (en) * 2005-03-22 2006-09-28 Ross-Hime Designs, Incorporated Robotic manipulator
US7259535B1 (en) * 2006-05-08 2007-08-21 Boeing Company Apparatus and method for situating a tool with respect to a work site on a workpiece
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JP2008264904A (ja) * 2007-04-17 2008-11-06 Fanuc Ltd パラレルリンク型作業装置
US20090084219A1 (en) * 2007-09-10 2009-04-02 Ross-Hime Designs, Inc. Robotic manipulator
JP2009248288A (ja) * 2008-04-10 2009-10-29 Murata Mach Ltd パラレルメカニズム
US8245595B2 (en) * 2009-04-30 2012-08-21 Wisconsin Alumni Research Foundation Two-axis non-singular robotic wrist
US20120067354A1 (en) 2009-06-03 2012-03-22 Moog B.V. Skewed-axis three degree-of-freedom remote-center gimbal
JP4754011B2 (ja) * 2009-06-16 2011-08-24 株式会社誠和工業 真空吸着パッドセッティング装置における定置板の傾斜角度設定装置
JP5397856B2 (ja) * 2009-08-28 2014-01-22 国立大学法人東京工業大学 ６自由度パラレル機構
JPWO2011155070A1 (ja) * 2010-06-11 2013-08-01 国立大学法人福島大学 手術支援ロボット用のパラレルマニピュレータ
TWI401144B (zh) * 2010-10-01 2013-07-11 Ind Tech Res Inst 高反應力關節裝置的控制方法
JP5681564B2 (ja) * 2011-05-23 2015-03-11 川崎重工業株式会社 ロボット
JP5951224B2 (ja) * 2011-11-02 2016-07-13 Ntn株式会社 リンク作動装置の原点位置初期設定方法およびリンク作動装置
JP5785055B2 (ja) * 2011-11-07 2015-09-24 Ntn株式会社 リンク作動装置
US20140187857A1 (en) * 2012-02-06 2014-07-03 Vantage Surgical Systems Inc. Apparatus and Methods for Enhanced Visualization and Control in Minimally Invasive Surgery
US20140066700A1 (en) * 2012-02-06 2014-03-06 Vantage Surgical Systems Inc. Stereoscopic System for Minimally Invasive Surgery Visualization
US20140066701A1 (en) * 2012-02-06 2014-03-06 Vantage Surgical Systems Inc. Method for minimally invasive surgery steroscopic visualization
EP2935972B1 (en) * 2012-12-21 2017-09-06 Materialise N.V. Apparatus and methods of positioning an object using an adjustment block
CN103433916B (zh) * 2013-08-06 2016-01-20 北京航空航天大学 二自由度等径球面纯滚并联转动机构
US9579786B2 (en) * 2013-09-26 2017-02-28 Wen-Der TRUI Spherical coordinates manipulating mechanism
JP6289973B2 (ja) * 2014-03-31 2018-03-07 Ntn株式会社 パラレルリンク機構およびリンク作動装置
JP6396078B2 (ja) * 2014-05-30 2018-09-26 Ntn株式会社 パラレルリンク機構およびリンク作動装置
JP6352054B2 (ja) * 2014-05-30 2018-07-04 Ntn株式会社 パラレルリンク機構およびリンク作動装置
JP6482188B2 (ja) * 2014-06-03 2019-03-13 川崎重工業株式会社 ロボットアーム
EP2990005B1 (en) * 2014-08-31 2017-06-21 Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi A manipulator of a medical device
EP3123040B1 (en) 2014-10-09 2018-08-01 Harris Dynamics Articulating torsional coupling
JP6502115B2 (ja) * 2015-02-13 2019-04-17 Ntn株式会社 リンク作動装置を用いた多関節ロボット
CN105752288A (zh) * 2016-03-24 2016-07-13 褚宏鹏 新型两自由度并联舰载雷达天线稳定平台
EP3470704B1 (en) 2016-06-08 2021-04-28 NTN Corporation Link operating device
JP6297622B2 (ja) * 2016-06-08 2018-03-20 Ntn株式会社 リンク作動装置
US9889874B1 (en) * 2016-08-15 2018-02-13 Clause Technology Three-axis motion joystick
US9823686B1 (en) * 2016-08-15 2017-11-21 Clause Technology Three-axis motion joystick
JP6817893B2 (ja) * 2017-05-18 2021-01-20 Ntn株式会社 外観検査装置
JP6498738B1 (ja) * 2017-09-26 2019-04-10 Ntn株式会社 リンク作動装置
AT520763B1 (de) * 2017-12-21 2022-09-15 Hans Kuenz Gmbh Kransteuerung
JP6534751B1 (ja) * 2018-01-09 2019-06-26 Ntn株式会社 パラレルリンク機構およびリンク作動装置
JP2019130600A (ja) * 2018-01-30 2019-08-08 ソニー株式会社 マスタ−スレーブシステム、操作装置、並びにロボット装置
CN108656079A (zh) * 2018-04-13 2018-10-16 上海大学 一种三平一转四自由度的并联机构
JP7417917B2 (ja) * 2019-07-02 2024-01-19 国立大学法人九州工業大学 パラレルリンク機構およびリンク作動装置
KR20220126328A (ko) * 2021-03-08 2022-09-16 삼성전자주식회사 다자유도 구동기 및 이를 채용한 디스플레이 장치
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Also Published As

Publication number Publication date
US6105455A (en) 2000-08-22
JP2001520941A (ja) 2001-11-06
EP1023653A4 (en) 2001-01-03
EP1023653B1 (en) 2010-03-17
ATE461477T1 (de) 2010-04-15
WO1999021070A1 (en) 1999-04-29
AU8514498A (en) 1999-05-10
DE69841561D1 (de) 2010-04-29
CA2305320A1 (en) 1999-04-29
EP1023653A1 (en) 2000-08-02
US5979264A (en) 1999-11-09

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