CN104995417A - 并联运动机构及其轴承与致动器 - Google Patents

并联运动机构及其轴承与致动器 Download PDF

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Publication number
CN104995417A
CN104995417A CN201380047660.9A CN201380047660A CN104995417A CN 104995417 A CN104995417 A CN 104995417A CN 201380047660 A CN201380047660 A CN 201380047660A CN 104995417 A CN104995417 A CN 104995417A
Authority
CN
China
Prior art keywords
voice coil
ball
pcb
socket joint
cabling
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.)
Pending
Application number
CN201380047660.9A
Other languages
English (en)
Chinese (zh)
Inventor
N.克鲁格里科夫
T.拉曼
L.麦克内尔
M.摩根
N.潘萨尔
D.希克斯
M.罗伯斯
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.)
Memorial University of Newfoundland
Original Assignee
Genesis Group 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 Genesis Group Inc filed Critical Genesis Group Inc
Publication of CN104995417A publication Critical patent/CN104995417A/zh
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/035—DC motors; Unipolar motors
    • H02K41/0352—Unipolar motors
    • H02K41/0354—Lorentz force motors, e.g. voice coil motors
    • H02K41/0356—Lorentz force motors, e.g. voice coil motors moving along a straight path
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L27/00—Materials for grafts or prostheses or for coating grafts or prostheses
    • A61L27/50—Materials characterised by their function or physical properties, e.g. injectable or lubricating compositions, shape-memory materials, surface modified materials
    • A61L27/58—Materials at least partially resorbable by the body
    • 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
    • B25J9/0033—Program-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B25J9/0039—Program-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-spherical-spherical
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F16C11/0619—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints the female part comprising a blind socket receiving the male part
    • F16C11/0623—Construction or details of the socket member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F16C11/0604—Construction of the male part
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C25/00—Bearings for exclusively rotary movement adjustable for wear or play
    • F16C25/02—Sliding-contact bearings
    • F16C25/04—Sliding-contact bearings self-adjusting
    • F16C25/045—Sliding-contact bearings self-adjusting with magnetic means to preload the bearing
    • 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
    • Y10T403/00—Joints and connections
    • Y10T403/32—Articulated members
    • Y10T403/32606—Pivoted
    • Y10T403/32631—Universal ball and socket

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Combustion & Propulsion (AREA)
  • Dermatology (AREA)
  • Medicinal Chemistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Transplantation (AREA)
  • Epidemiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Manipulator (AREA)
  • Pivots And Pivotal Connections (AREA)
CN201380047660.9A 2012-09-12 2013-09-12 并联运动机构及其轴承与致动器 Pending CN104995417A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261700080P 2012-09-12 2012-09-12
US61/700,080 2012-09-12
PCT/CA2013/050702 WO2014040188A1 (en) 2012-09-12 2013-09-12 Parallel kinematic mechanism and bearings and actuators thereof

Publications (1)

Publication Number Publication Date
CN104995417A true CN104995417A (zh) 2015-10-21

Family

ID=52686632

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201380047660.9A Pending CN104995417A (zh) 2012-09-12 2013-09-12 并联运动机构及其轴承与致动器

Country Status (11)

Country Link
US (1) US20150239082A1 (https=)
EP (2) EP2895755A4 (https=)
JP (1) JP6327569B2 (https=)
KR (2) KR20150071014A (https=)
CN (1) CN104995417A (https=)
AU (2) AU2013315173B2 (https=)
BR (1) BR112015005408A2 (https=)
CA (2) CA2920422C (https=)
IL (2) IL237651A (https=)
IN (1) IN2015DN02392A (https=)
WO (1) WO2014040188A1 (https=)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105838027A (zh) * 2016-01-27 2016-08-10 宁波新大陆磁制品有限公司 一种万向连杆吸盘
CN116406448A (zh) * 2020-09-23 2023-07-07 3Sae技术有限公司 多轴线定位器
US20250028117A1 (en) * 2016-09-30 2025-01-23 3Sae Technologies, Inc. Multi-axis positioner
CN119567236A (zh) * 2025-02-10 2025-03-07 之江实验室 一种基于折纸结构的抗扭力连续体机器人执行器

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* Cited by examiner, † Cited by third party
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EP3154748B1 (en) * 2014-06-11 2023-08-09 Xenidev AB A parallel kinematic manipulator system and control method therefor
US10112296B2 (en) * 2014-08-08 2018-10-30 Bbz S.R.L. Remote manipulation input device
WO2016164824A1 (en) 2015-04-09 2016-10-13 Auris Surgical Robotics, Inc. Surgical system with configurable rail-mounted mechanical arms
CN105522569A (zh) * 2016-02-24 2016-04-27 常州机电职业技术学院 一种精密模具打磨机器人机构
US11681100B2 (en) 2016-09-30 2023-06-20 3Sae Technologies, Inc. Multi-axis positioner
TWI629974B (zh) * 2017-05-26 2018-07-21 醫百科技股份有限公司 Surgical guidance system
WO2019126919A1 (zh) * 2017-12-25 2019-07-04 深圳先进技术研究院 三自由度并联机构
KR102264368B1 (ko) 2018-01-17 2021-06-17 아우리스 헬스, 인코포레이티드 조절가능 아암 지지부를 갖는 수술 플랫폼
US11202683B2 (en) 2019-02-22 2021-12-21 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
WO2020185516A1 (en) 2019-03-08 2020-09-17 Auris Health, Inc. Tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and
DE102022101921B4 (de) * 2022-01-27 2026-01-15 Toptica Photonics SE Halteanordung für ein optisches Element
CN119077707B (zh) * 2024-09-25 2025-10-10 燕山大学 六自由度弱耦合并联机构及其构建方法

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JPH06270077A (ja) * 1992-04-24 1994-09-27 Toyoda Mach Works Ltd パラレルロボット
JPH11182529A (ja) * 1997-12-16 1999-07-06 Maguna:Kk ボールジョイント
JP2000333437A (ja) * 1999-05-18 2000-11-30 Yaskawa Electric Corp リニアモータ
JP2005057992A (ja) * 2003-07-22 2005-03-03 Neomax Co Ltd 可動コイル型リニアモータ及びその制御方法
JP2007202314A (ja) * 2006-01-27 2007-08-09 Toshiba Mach Co Ltd リニアモータを使用した直交ロボットの軸用移動装置
JP2008245492A (ja) * 2007-03-29 2008-10-09 Hitachi Metals Ltd 可動コイル型リニアモータ
US20090085706A1 (en) * 2007-09-28 2009-04-02 Access Business Group International Llc Printed circuit board coil

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US4331990A (en) * 1979-10-18 1982-05-25 Burroughs Corporation Flat coil linear actuator for multiple transducer arms
US4669013A (en) * 1985-04-02 1987-05-26 International Business Machines Corporation Multiple coils for reduction of stray magnetic fields in disk file actuators
US5333514A (en) * 1992-04-24 1994-08-02 Toyoda Koki Kabushiki Kaisha Parallel robot
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JP4142399B2 (ja) * 2002-10-25 2008-09-03 富士通コンポーネント株式会社 アクチュエータ
JP2005223958A (ja) * 2004-02-03 2005-08-18 Fujitsu Component Ltd アクチュエータ
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Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06270077A (ja) * 1992-04-24 1994-09-27 Toyoda Mach Works Ltd パラレルロボット
JPH11182529A (ja) * 1997-12-16 1999-07-06 Maguna:Kk ボールジョイント
JP2000333437A (ja) * 1999-05-18 2000-11-30 Yaskawa Electric Corp リニアモータ
JP2005057992A (ja) * 2003-07-22 2005-03-03 Neomax Co Ltd 可動コイル型リニアモータ及びその制御方法
JP2007202314A (ja) * 2006-01-27 2007-08-09 Toshiba Mach Co Ltd リニアモータを使用した直交ロボットの軸用移動装置
JP2008245492A (ja) * 2007-03-29 2008-10-09 Hitachi Metals Ltd 可動コイル型リニアモータ
US20090085706A1 (en) * 2007-09-28 2009-04-02 Access Business Group International Llc Printed circuit board coil

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E.A. LOMONOVA: "Advanced Actuation Systems - State of the Art:Fundamental and Applied Research", 《ELECTRICAL MACHINES AND SYSTEMS(ICEMS),2010 INTERNATIONAL CONFERENCE ON,IEEE.PISCATAWAY,NJ,USA》 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105838027A (zh) * 2016-01-27 2016-08-10 宁波新大陆磁制品有限公司 一种万向连杆吸盘
US20250028117A1 (en) * 2016-09-30 2025-01-23 3Sae Technologies, Inc. Multi-axis positioner
CN116406448A (zh) * 2020-09-23 2023-07-07 3Sae技术有限公司 多轴线定位器
CN119567236A (zh) * 2025-02-10 2025-03-07 之江实验室 一种基于折纸结构的抗扭力连续体机器人执行器
CN119567236B (zh) * 2025-02-10 2025-06-06 之江实验室 一种基于折纸结构的抗扭力连续体机器人执行器

Also Published As

Publication number Publication date
WO2014040188A1 (en) 2014-03-20
CA2920422C (en) 2016-05-17
EP3056228A1 (en) 2016-08-17
JP6327569B2 (ja) 2018-05-23
AU2013315173A1 (en) 2015-04-30
AU2016201670A1 (en) 2016-04-07
EP2895755A4 (en) 2016-06-01
KR20150071014A (ko) 2015-06-25
IL237651A (en) 2017-01-31
EP2895755A1 (en) 2015-07-22
IN2015DN02392A (https=) 2015-09-04
US20150239082A1 (en) 2015-08-27
AU2013315173B2 (en) 2016-04-28
JP2015531461A (ja) 2015-11-02
CA2884541A1 (en) 2014-03-20
CA2920422A1 (en) 2014-03-20
BR112015005408A2 (pt) 2017-07-04
AU2016201670B2 (en) 2016-06-09
IL247205A (en) 2017-06-29
KR20160054049A (ko) 2016-05-13
IL237651A0 (en) 2015-04-30
CA2884541C (en) 2016-05-17

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Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C41 Transfer of patent application or patent right or utility model
TA01 Transfer of patent application right

Effective date of registration: 20160406

Address after: Newfoundland and Labrador, Canada

Applicant after: Memorial University of Newfoundland

Address before: Newfoundland and Labrador, Canada

Applicant before: GENESIS GROUP INC

WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20151021

WD01 Invention patent application deemed withdrawn after publication