CA2802330C - A parallel-kinematical machine with gimbal holders - Google Patents

A parallel-kinematical machine with gimbal holders Download PDF

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Publication number
CA2802330C
CA2802330C CA2802330A CA2802330A CA2802330C CA 2802330 C CA2802330 C CA 2802330C CA 2802330 A CA2802330 A CA 2802330A CA 2802330 A CA2802330 A CA 2802330A CA 2802330 C CA2802330 C CA 2802330C
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CA
Canada
Prior art keywords
gimbal
holder
common
parallel
axis
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.)
Active
Application number
CA2802330A
Other languages
English (en)
French (fr)
Other versions
CA2802330A1 (en
Inventor
Karl-Erik Neumann
Thomas Andersson
Kristoffer Larsson
Fredrik Palmquist
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.)
Exechon Technologies Holding AB
Original Assignee
Exechon Technologies Holding 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 Exechon Technologies Holding AB filed Critical Exechon Technologies Holding AB
Publication of CA2802330A1 publication Critical patent/CA2802330A1/en
Application granted granted Critical
Publication of CA2802330C publication Critical patent/CA2802330C/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C1/00—Milling machines not designed for particular work or special operations
    • B23C1/12—Milling machines not designed for particular work or special operations with spindle adjustable to different angles, e.g. either horizontal or vertical
    • 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
    • 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—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0063—Program-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • 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
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/306664—Milling including means to infeed rotary cutter toward work
    • Y10T409/307672—Angularly adjustable cutter head
    • 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
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/309576—Machine frame
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Rolling Contact Bearings (AREA)
  • Manipulator (AREA)
  • Motor Or Generator Frames (AREA)
  • Machine Tool Units (AREA)
  • Mounting Of Bearings Or Others (AREA)
  • Supporting Of Heads In Record-Carrier Devices (AREA)
  • Jigs For Machine Tools (AREA)
  • Rehabilitation Tools (AREA)
CA2802330A 2010-06-17 2011-06-09 A parallel-kinematical machine with gimbal holders Active CA2802330C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE1050623-6 2010-06-17
SE1050623A SE535182C2 (sv) 2010-06-17 2010-06-17 En parallellkinematisk maskin med kardanhållare
PCT/SE2011/050709 WO2011159225A1 (en) 2010-06-17 2011-06-09 A parallel-kinematical machine with gimbal holders

Publications (2)

Publication Number Publication Date
CA2802330A1 CA2802330A1 (en) 2011-12-22
CA2802330C true CA2802330C (en) 2017-07-18

Family

ID=45348423

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2802330A Active CA2802330C (en) 2010-06-17 2011-06-09 A parallel-kinematical machine with gimbal holders

Country Status (21)

Country Link
US (1) US9199381B2 (enExample)
EP (1) EP2582495B1 (enExample)
JP (1) JP5676756B2 (enExample)
KR (1) KR101443545B1 (enExample)
CN (1) CN102947061B (enExample)
AU (1) AU2011265794B2 (enExample)
BR (1) BR112012032168B1 (enExample)
CA (1) CA2802330C (enExample)
DK (1) DK2582495T3 (enExample)
ES (1) ES2523592T3 (enExample)
IL (1) IL223051A0 (enExample)
MX (1) MX2012014716A (enExample)
MY (1) MY164490A (enExample)
PL (1) PL2582495T3 (enExample)
PT (1) PT2582495E (enExample)
RU (1) RU2558324C2 (enExample)
SE (1) SE535182C2 (enExample)
SI (1) SI2582495T1 (enExample)
TW (1) TWI573657B (enExample)
WO (1) WO2011159225A1 (enExample)
ZA (1) ZA201209097B (enExample)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE527873C2 (sv) * 2004-11-18 2006-07-04 Exechon Ab Parallellkinematisk maskin
WO2014185877A2 (en) * 2013-05-13 2014-11-20 Coşkunöz Metal Form Maki̇na Endüstri̇ Ve Ti̇c. A.Ş. A laser processing machine with a movement mechanism
WO2016149034A1 (en) * 2015-03-13 2016-09-22 Utica Enterprises, Inc. Work station and method for joining metallic sheets
CN104985596B (zh) * 2015-07-09 2017-01-11 天津大学 一种含多轴转动支架的五自由度混联机器人
CN105690165B (zh) * 2016-02-03 2017-05-10 中北大学 一种大姿态角2r1t三自由度空间并联机构
DE102016219162B4 (de) 2016-10-04 2019-01-17 Siemens Healthcare Gmbh Patientenlagerungsvorrichtung mit sechs Freiheitsgraden und Verfahren zum Neigen einer derartigen Patientenlagerungsvorrichtung
CN106378770B (zh) * 2016-11-09 2018-10-02 南京理工大学 一种可实现两平一转的三自由度机器人机构
CN106426102B (zh) * 2016-11-09 2018-10-02 南京理工大学 一种具有三平两转的五自由度机器人机构
CN106426103B (zh) * 2016-11-09 2018-10-02 南京理工大学 一种可实现两平两转的四自由度机器人机构
CN106426106B (zh) * 2016-11-09 2018-10-02 南京理工大学 一种四自由度机器人机构
CN107671845B (zh) * 2017-11-10 2020-07-28 燕山大学 一种少关节过约束五自由度混联机器人
CN108500953A (zh) * 2018-02-28 2018-09-07 上海大学 一种含有动平台附加约束的五自由度精密串并联机器人
CN109128872B (zh) * 2018-09-26 2019-09-17 燕山大学 一种能够实现多方向定点转动的对称三轴并联主轴头
EP3628439B1 (de) * 2018-09-28 2022-01-19 Picum MT GmbH Werkzeugmaschine
US11254015B2 (en) * 2019-09-24 2022-02-22 Thermo Crs Ltd. Multi-axis gripper for lab automation robot
CN111604883A (zh) * 2020-04-30 2020-09-01 南京理工大学 多自由度高性能混联机器人
CN111941393B (zh) * 2020-07-25 2022-06-28 南京理工大学 一种球坐标型五自由度混联机器人
CN113664809B (zh) * 2021-09-10 2022-08-09 江南大学 一种含圆弧导轨的新型up型两转一移并联机构
CN117506871A (zh) * 2023-12-15 2024-02-06 天津大学 一种三自由度并联机构、并联机器人及机床
EP4659894A1 (en) 2024-06-03 2025-12-10 Neos Robotics Pte. Ltd. Parallel kinematical machine
CN121132596A (zh) * 2025-09-18 2025-12-16 天津大学 一种基于非正交万向铰的混联机器人

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SE452279B (sv) * 1985-05-10 1987-11-23 Neos Products Hb Robot
US5987726A (en) * 1996-03-11 1999-11-23 Fanuc Robotics North America, Inc. Programmable positioner for the stress-free assembly of components
US6240799B1 (en) * 1998-05-26 2001-06-05 Hexel Corporation Triangular gimbal
SE512338C2 (sv) * 1998-06-25 2000-02-28 Neos Robotics Ab System och metod för reglering av en robot
FR2780670B1 (fr) * 1998-07-01 2000-09-22 Cfcimsi Fondazione Module de travail robotise a cinematique parallele
DE10141865B4 (de) * 2001-08-27 2006-02-02 Deckel Maho Pfronten Gmbh Programmgesteuerte Universal-Fräs- und Bohrmaschine
JP2003311668A (ja) * 2002-04-19 2003-11-05 Murata Mach Ltd パラレルリンクマニピュレータ
DE10252824A1 (de) * 2002-11-13 2004-06-03 Deckel Maho Pfronten Gmbh Werkzeugmaschine
CN100446940C (zh) * 2003-09-16 2008-12-31 天津大学 非对称空间5自由度混联机器人
SE525668C2 (sv) * 2003-10-02 2005-03-29 Parallel Kinematics Machines S Led till ett lagrat ställdon lagrat kring ett wobbelorgan
JP2005292290A (ja) * 2004-03-31 2005-10-20 Olympus Corp 移動ステージ装置及びプロジェクタ装置
ES2255386B1 (es) * 2004-05-13 2007-10-01 Loxin 2002, S.L. Sistema mejorado de remachado automatico.
SE527873C2 (sv) * 2004-11-18 2006-07-04 Exechon Ab Parallellkinematisk maskin
SE527992C2 (sv) * 2004-12-09 2006-08-01 Exechon Ab Parallellkinematisk maskin med aktivt mätsystem
CN100348375C (zh) * 2005-07-11 2007-11-14 天津大学 五自由度机器人
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CN100377847C (zh) * 2006-04-30 2008-04-02 天津大学 一种具有两转动和一平动自由度的并联机构

Also Published As

Publication number Publication date
IL223051A0 (en) 2013-02-03
AU2011265794B2 (en) 2014-06-05
SE1050623A1 (sv) 2011-12-18
MX2012014716A (es) 2013-05-20
KR101443545B1 (ko) 2014-09-22
EP2582495B1 (en) 2014-08-13
CA2802330A1 (en) 2011-12-22
BR112012032168A2 (pt) 2016-11-16
AU2011265794A1 (en) 2012-12-06
SI2582495T1 (sl) 2015-01-30
PL2582495T3 (pl) 2015-01-30
US20130087004A1 (en) 2013-04-11
ZA201209097B (en) 2013-08-28
JP2013528505A (ja) 2013-07-11
RU2558324C2 (ru) 2015-07-27
CN102947061B (zh) 2015-09-02
TWI573657B (zh) 2017-03-11
ES2523592T3 (es) 2014-11-27
KR20130043658A (ko) 2013-04-30
PT2582495E (pt) 2014-11-13
WO2011159225A1 (en) 2011-12-22
EP2582495A4 (en) 2013-12-11
BR112012032168B1 (pt) 2020-12-08
JP5676756B2 (ja) 2015-02-25
SE535182C2 (sv) 2012-05-08
CN102947061A (zh) 2013-02-27
RU2013102115A (ru) 2014-08-20
DK2582495T3 (en) 2014-12-01
TW201206613A (en) 2012-02-16
US9199381B2 (en) 2015-12-01
EP2582495A1 (en) 2013-04-24
MY164490A (en) 2017-12-29

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