DE2945189C2 - Mechanischer Arm - Google Patents

Mechanischer Arm

Info

Publication number
DE2945189C2
DE2945189C2 DE2945189A DE2945189A DE2945189C2 DE 2945189 C2 DE2945189 C2 DE 2945189C2 DE 2945189 A DE2945189 A DE 2945189A DE 2945189 A DE2945189 A DE 2945189A DE 2945189 C2 DE2945189 C2 DE 2945189C2
Authority
DE
Germany
Prior art keywords
kinematic
links
mechanical arm
chain
link
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
Application number
DE2945189A
Other languages
German (de)
English (en)
Other versions
DE2945189A1 (de
Inventor
Petr Nikolaevič Beljanin
Konstantin Vasilevič Frolov
Aron Efimovič Kobrinskij
Alfred Ivanovič Korendjasev
Boris Šaevič Rozin
Boris L'vovič Salamandra
Feliks Pavlovič Sokolovskij
Jurij Viktorovič Stolin
Leonid Iosifovič Moskva Tyves
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of DE2945189A1 publication Critical patent/DE2945189A1/de
Application granted granted Critical
Publication of DE2945189C2 publication Critical patent/DE2945189C2/de
Expired legal-status Critical Current

Links

Classifications

    • 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
    • B25J19/0008—Balancing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
DE2945189A 1979-10-02 1979-11-08 Mechanischer Arm Expired DE2945189C2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/081,254 US4259876A (en) 1979-10-02 1979-10-02 Mechanical arm

Publications (2)

Publication Number Publication Date
DE2945189A1 DE2945189A1 (de) 1981-05-21
DE2945189C2 true DE2945189C2 (de) 1984-01-19

Family

ID=22163042

Family Applications (1)

Application Number Title Priority Date Filing Date
DE2945189A Expired DE2945189C2 (de) 1979-10-02 1979-11-08 Mechanischer Arm

Country Status (3)

Country Link
US (1) US4259876A (OSRAM)
DE (1) DE2945189C2 (OSRAM)
FR (1) FR2469260A1 (OSRAM)

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USD281980S (en) 1982-06-09 1985-12-31 S & L Maskin Aktiebolag Balance arm for supporting working tools
JPS59501942A (ja) * 1982-11-01 1984-11-22 マイクロボット・インコ−ポレ−テッド ロボットアーム
US4806066A (en) * 1982-11-01 1989-02-21 Microbot, Inc. Robotic arm
EP0118845B1 (de) * 1983-03-10 1987-07-01 Norbert Schlimm Arbeitsgerät zum Bewegen von Gegenständen
DE3322199A1 (de) * 1983-06-21 1985-01-10 Hans 8900 Augsburg Richter Roboterarm
FR2561972A1 (fr) * 1984-03-30 1985-10-04 Berna Philippe Dispositif pour manoeuvrer un organe rotatif, tel qu'un ecrou ou un boulon, peu accessible
GB2168676A (en) * 1984-10-19 1986-06-25 Robot City Technology Limited Robotic arm
US4768918A (en) * 1986-06-13 1988-09-06 American Cimflex Corporation Industrial robot having counterbalanced arms
US4687243A (en) * 1986-09-26 1987-08-18 Gte Government Systems Corporation Apparatus for holding workpiece
US4903536A (en) * 1988-04-21 1990-02-27 Massachusetts Institute Of Technology Compact cable transmission with cable differential
US5207114A (en) * 1988-04-21 1993-05-04 Massachusetts Institute Of Technology Compact cable transmission with cable differential
US5265667A (en) * 1989-09-14 1993-11-30 Westinghouse Electric Corp. Robotic arm for servicing nuclear steam generators
US5193963A (en) * 1990-10-31 1993-03-16 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Force reflecting hand controller
US5246465A (en) * 1991-04-19 1993-09-21 Richard G. Rincoe Prosthetic knee joint
US5632432A (en) * 1994-12-19 1997-05-27 Ethicon Endo-Surgery, Inc. Surgical instrument
US5752644A (en) * 1995-07-11 1998-05-19 United States Surgical Corporation Disposable loading unit for surgical stapler
USRE38708E1 (en) 1995-07-11 2005-03-01 United States Surgical Corporation Disposable loading unit for surgical stapler
US5792135A (en) * 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
AU3301597A (en) * 1996-06-04 1998-01-05 Ralph Lander Sensory tactile-feedback system
US6197017B1 (en) * 1998-02-24 2001-03-06 Brock Rogers Surgical, Inc. Articulated apparatus for telemanipulator system
US6554844B2 (en) 1998-02-24 2003-04-29 Endovia Medical, Inc. Surgical instrument
US7789875B2 (en) * 1998-02-24 2010-09-07 Hansen Medical, Inc. Surgical instruments
US7713190B2 (en) * 1998-02-24 2010-05-11 Hansen Medical, Inc. Flexible instrument
US6692485B1 (en) * 1998-02-24 2004-02-17 Endovia Medical, Inc. Articulated apparatus for telemanipulator system
US8414598B2 (en) 1998-02-24 2013-04-09 Hansen Medical, Inc. Flexible instrument
US20080177285A1 (en) * 1998-02-24 2008-07-24 Hansen Medical, Inc. Surgical instrument
US9155544B2 (en) * 2002-03-20 2015-10-13 P Tech, Llc Robotic systems and methods
JP3944108B2 (ja) * 2003-03-31 2007-07-11 株式会社東芝 医療用マニピュレータの動力伝達機構およびマニピュレータ
US8007511B2 (en) 2003-06-06 2011-08-30 Hansen Medical, Inc. Surgical instrument design
EP2067581B1 (en) * 2007-12-05 2011-01-12 Korea Atomic Energy Research Institute Cable-driven manipulator with a cable compensation device
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US9339342B2 (en) 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
US20100158641A1 (en) * 2008-12-19 2010-06-24 Delaware Capital Formation, Inc. Manipulator System
JP6373581B2 (ja) 2010-07-28 2018-08-15 メドロボティクス コーポレイション 外科的位置決め及びサポートシステム
CN102371590A (zh) * 2010-08-25 2012-03-14 鸿富锦精密工业（深圳）有限公司 机器人的臂结构
EP2629655B1 (en) 2010-10-22 2018-12-19 Medrobotics Corporation Highly articulated robotic probes and methods of production and use of such probes
AU2011338931B2 (en) 2010-11-11 2017-02-09 Medrobotics Corporation Introduction devices for highly articulated robotic probes and methods of production and use of such probes
US20140064905A1 (en) * 2011-01-10 2014-03-06 Sri International Electroadhesive System for Capturing Objects
KR20140065418A (ko) 2011-09-13 2014-05-29 메드로보틱스 코포레이션 안티-트위스트 링크 배열을 가지는 고관절 프로브, 그 형성 방법 및 의료 절차 수행 방법
US8967548B2 (en) * 2011-12-06 2015-03-03 Altius Space Machines Direct to facility capture and release
US8979034B2 (en) * 2011-12-06 2015-03-17 Altius Space Machines Sticky boom non-cooperative capture device
JP6449018B2 (ja) 2011-12-21 2019-01-09 メドロボティクス コーポレイション アーティキュレーティングプローブを駆動する装置
WO2013116632A1 (en) 2012-02-02 2013-08-08 United States Of America, As Represented By The Administrator Of The National Aeronautics And Space Administration Tension stiffened and tendon actuated manipulator and a hinge for use therein
WO2014026104A1 (en) 2012-08-09 2014-02-13 Castro Michael Salvatore Surgical tool positioning systems
US10045761B2 (en) 2012-12-31 2018-08-14 Tdm Surgitech, Inc. Systems, apparatus and methods for tissue dissection
US8968302B2 (en) 2012-12-31 2015-03-03 Tdm Surgitech, Inc. Methods, apparatus, and systems for tissue dissection and modification
AU2014216758A1 (en) 2013-02-14 2015-08-27 Paul Weber Systems, apparatus and methods for tissue dissection
EP2996619A4 (en) 2013-05-02 2017-01-18 Medrobotics Corporation A robotic system including a cable interface assembly
US10932868B2 (en) 2013-08-15 2021-03-02 Intuitive Surgical Operations, Inc. Variable instrument preload mechanism controller
EP3033030B1 (en) 2013-08-15 2020-07-22 Intuitive Surgical Operations, Inc. Robotic instrument driven element
CN109602495B (zh) 2013-08-15 2021-05-11 直观外科手术操作公司 器械无菌适配器驱动特征
WO2015023840A1 (en) 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive interface
JP6553607B2 (ja) 2013-08-15 2019-07-31 インテュイティブ サージカル オペレーションズ， インコーポレイテッド プリロードをかけられた手術器具インタフェース
US9873528B2 (en) * 2013-10-07 2018-01-23 Astroscale Japan Inc. Rotation suppressing device
CA2933354A1 (en) 2013-12-30 2015-07-09 Medrobotics Corporation Articulated robotic probes
US9314934B2 (en) * 2014-02-27 2016-04-19 Disney Enterprises, Inc. Gravity-counterbalanced robot arm
US20150283709A1 (en) * 2014-04-08 2015-10-08 Sergei Dalakian Industrial Robot Arm
US10413708B2 (en) * 2014-08-05 2019-09-17 Jeffrey Thomas Loh Swivel enhanced guidewire and related methods
CN104440904B (zh) * 2014-12-29 2016-11-09 连云港贝斯特机械设备有限公司 一种钢丝绳传动的机械手
CN113180835A (zh) 2016-06-03 2021-07-30 柯惠Lp公司 用于机器人手术系统的控制臂
WO2018013187A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Instrument release
US10569415B2 (en) 2016-08-31 2020-02-25 United States Of America As Represented By The Administrator Of Nasa Tension stiffened and tendon actuated manipulator
USD874655S1 (en) 2018-01-05 2020-02-04 Medrobotics Corporation Positioning arm for articulating robotic surgical system
US11440685B2 (en) 2018-02-06 2022-09-13 Altius Space Machines Inc. Robotic capture interface
CN108381542B (zh) * 2018-04-04 2024-05-28 中国科学院自动化研究所 基于混合传动的水下机械臂
US11728592B2 (en) 2018-07-16 2023-08-15 Altius Space Machines Modular service interface
US11584023B2 (en) 2018-08-21 2023-02-21 William George Bolton Separable robotic interface
CN110070782B (zh) * 2019-06-10 2021-03-12 黑龙江工程学院 一种英语单词辅助记忆装置
CN112576646B (zh) * 2019-09-29 2022-07-22 广东博智林机器人有限公司 施工机器人的驱动装置和具有其的上料机
CN110788848B (zh) * 2019-11-22 2021-01-15 合肥工业大学 一种节能型驱动单元后置工业机器人
CN114469356B (zh) * 2022-01-24 2023-09-15 重庆金山医疗机器人有限公司 一种主手的驱动方法及手术机器人医生控制台
JP2024123745A (ja) * 2023-03-01 2024-09-12 オムロン株式会社 動力伝達機構、関節機構及び多関節ロボット
DE102024117645B3 (de) * 2024-06-21 2025-10-30 Karl Storz Se & Co. Kg Robotervorrichtung mit Ausrichtungsmechanismus zur Kompensation einer Drehbewegung einer Eingabevorrichtung oder eines Effektors sowie medizinisches Robotersystem

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US3212651A (en) * 1962-06-12 1965-10-19 American Mach & Foundry Manipulator
US3631737A (en) * 1970-09-18 1972-01-04 Nasa Remote control manipulator for zero gravity environment
FR2155848B1 (OSRAM) * 1971-10-11 1974-05-31 Commissariat Energie Atomique
FR2183584B1 (OSRAM) * 1972-05-10 1974-09-27 Commissariat Energie Atomique
SU444633A1 (ru) * 1972-10-02 1974-09-30 Предприятие П/Я В-8721 Манипул тор
FR2231482A1 (en) * 1973-06-01 1974-12-27 Koenig Automation Sa Automatic robot assembly for machine tools - has jaws on pivoting arm carried by mobile superstructure
SU547335A1 (ru) * 1973-08-03 1977-02-25 Предприятие П/Я В-8721 Привод захвата манипул тора
SU503709A1 (ru) * 1975-01-22 1976-02-25 Государственный Научно-Исследовательский Институт Машиноведения Манипул тор
SU560746A2 (ru) * 1975-06-13 1977-06-05 Московское Ордена Ленина И Ордена Трудового Красного Знамени Высшее Техническое Училище Им.Н.Э.Баумана Исполнительный орган манипул тора
SU564150A1 (ru) * 1976-03-26 1977-07-05 Научно-Исследовательский Институт Проблем Машиностроения При Московском Высшем Техническом Училище Им. Н.Э. Баумана Задающий орган манипул тора
SU590136A1 (ru) * 1976-10-08 1978-01-30 Предприятие П/Я В-8721 Дистанционный копирующий манипул тор

Also Published As

Publication number Publication date
FR2469260B1 (OSRAM) 1981-12-18
FR2469260A1 (fr) 1981-05-22
DE2945189A1 (de) 1981-05-21
US4259876A (en) 1981-04-07

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Legal Events

Date Code Title Description
OM8 Search report available as to paragraph 43 lit. 1 sentence 1 patent law
OP8 Request for examination as to paragraph 44 patent law
D2 Grant after examination
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee