CN113752256B - 具有路线规划稳定机构的机器人系统 - Google Patents

具有路线规划稳定机构的机器人系统 Download PDF

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Publication number
CN113752256B
CN113752256B CN202110996294.8A CN202110996294A CN113752256B CN 113752256 B CN113752256 B CN 113752256B CN 202110996294 A CN202110996294 A CN 202110996294A CN 113752256 B CN113752256 B CN 113752256B
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China
Prior art keywords
catheter
end effector
routing
joints
bracket
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CN202110996294.8A
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English (en)
Chinese (zh)
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CN113752256A (zh
Inventor
沟口弘悟
渡边将司
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Mu Jinkeji
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Mu Jinkeji
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Publication of CN113752256A publication Critical patent/CN113752256A/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN202110996294.8A 2020-04-03 2021-04-02 具有路线规划稳定机构的机器人系统 Active CN113752256B (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US202063004509P 2020-04-03 2020-04-03
US63/004,509 2020-04-03
CN202180001919.0A CN113766998A (zh) 2020-04-03 2021-04-02 具有路线规划稳定机构的机器人系统
PCT/JP2021/014399 WO2021201292A1 (en) 2020-04-03 2021-04-02 Robotic systems with routing stability mechanisms

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN202180001919.0A Division CN113766998A (zh) 2020-04-03 2021-04-02 具有路线规划稳定机构的机器人系统

Publications (2)

Publication Number Publication Date
CN113752256A CN113752256A (zh) 2021-12-07
CN113752256B true CN113752256B (zh) 2023-04-07

Family

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Application Number Title Priority Date Filing Date
CN202110996294.8A Active CN113752256B (zh) 2020-04-03 2021-04-02 具有路线规划稳定机构的机器人系统
CN202180001919.0A Pending CN113766998A (zh) 2020-04-03 2021-04-02 具有路线规划稳定机构的机器人系统

Family Applications After (1)

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CN202180001919.0A Pending CN113766998A (zh) 2020-04-03 2021-04-02 具有路线规划稳定机构的机器人系统

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Country Link
US (2) US11806866B2 (https=)
JP (2) JP7094506B2 (https=)
CN (2) CN113752256B (https=)
WO (1) WO2021201292A1 (https=)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113396035A (zh) 2019-02-27 2021-09-14 伯克希尔格雷股份有限公司 用于在可编程运动系统中的软管布线的系统和方法
ES2982678T3 (es) 2019-04-25 2024-10-17 Berkshire Grey Operating Company Inc Sistema y método para mantener la vida útil de una manguera de vacío en sistemas de enrutamiento de mangueras en sistemas de movimientos programables
WO2021201292A1 (en) * 2020-04-03 2021-10-07 Mujin, Inc. Robotic systems with routing stability mechanisms
EP4507859A1 (de) * 2022-04-14 2025-02-19 KUKA Deutschland GmbH Lagerungsvorrichtung und roboterarm
CN115599016B (zh) * 2022-09-22 2025-06-24 杭州电子科技大学 一种用于易碎工件多级传输过程中的协同定位控制系统
CN116115342B (zh) * 2022-10-08 2025-07-29 中国科学院自动化研究所 柔性连续体引导装置和柔性连续体机器人
CN119057789B (zh) * 2024-09-29 2025-07-15 西南交通大学 基于空间智能划分的接触网腕臂检修机械臂路径规划方法

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29908623U1 (de) 1999-05-15 1999-07-29 Kuka Roboter GmbH, 86165 Augsburg Haltearm für Energiezuführung
US6431018B1 (en) * 1999-09-09 2002-08-13 Fanuc Ltd. Guide device for wiring member and/or piping member and robot with guide device
KR100743612B1 (ko) 2006-03-28 2007-08-01 최광술 산업용 로봇의 케이블 조절장치
WO2008037276A1 (de) 2006-09-27 2008-04-03 Leoni Protec Cable Systems Gmbh Vorrichtung zum führen eines zumindest eine versorgungsleitung aufweisenden schlauches
CN101356043A (zh) 2006-11-09 2009-01-28 株式会社Ihi 蛙腿臂式机器人及其控制方法
US8594841B2 (en) * 2008-12-31 2013-11-26 Intuitive Surgical Operations, Inc. Visual force feedback in a minimally invasive surgical procedure
DE102010043121A1 (de) * 2010-10-29 2012-05-03 Siemens Aktiengesellschaft Roboteranordnung mit einem Führungselement für Versorgungsleitungen
FR3001176B1 (fr) * 2013-01-18 2015-02-27 Leoni Cia Cable Systems Dispositif de guidage et de rappel
US9688472B1 (en) 2015-12-10 2017-06-27 Amazon Technologies, Inc. Mobile robot manipulator
JP6441254B2 (ja) 2016-04-05 2018-12-19 ファナック株式会社 ロボットの線条体処理構造
US10625419B2 (en) 2018-03-21 2020-04-21 The Boeing Company Robotic system and method for operating on a workpiece
WO2021201292A1 (en) * 2020-04-03 2021-10-07 Mujin, Inc. Robotic systems with routing stability mechanisms

Also Published As

Publication number Publication date
US11806866B2 (en) 2023-11-07
JP2022522087A (ja) 2022-04-14
WO2021201292A1 (en) 2021-10-07
JP7094506B2 (ja) 2022-07-04
US20210308879A1 (en) 2021-10-07
CN113766998A (zh) 2021-12-07
JP2022111345A (ja) 2022-07-29
US20240025059A1 (en) 2024-01-25
CN113752256A (zh) 2021-12-07

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