DE3865196D1 - Modularer roboter mit ueberfluessigen freiheitsgraden. - Google Patents
Modularer roboter mit ueberfluessigen freiheitsgraden.Info
- Publication number
- DE3865196D1 DE3865196D1 DE8888901269T DE3865196T DE3865196D1 DE 3865196 D1 DE3865196 D1 DE 3865196D1 DE 8888901269 T DE8888901269 T DE 8888901269T DE 3865196 T DE3865196 T DE 3865196T DE 3865196 D1 DE3865196 D1 DE 3865196D1
- Authority
- DE
- Germany
- Prior art keywords
- pct
- robot
- configuration
- actuators
- final position
- 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 - Lifetime
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
- 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
- B25J17/0208—Compliance devices
- B25J17/0216—Compliance devices comprising a stewart mechanism
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40277—Hybrid, connect parallel manipulators in series, Stewart truss
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
- Toys (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8701884A FR2610236B1 (fr) | 1987-02-04 | 1987-02-04 | Robot redondant de type modulaire |
PCT/FR1988/000026 WO1988005712A1 (fr) | 1987-02-04 | 1988-01-19 | Robot redondant de type modulaire |
Publications (1)
Publication Number | Publication Date |
---|---|
DE3865196D1 true DE3865196D1 (de) | 1991-10-31 |
Family
ID=9347921
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE8888901269T Expired - Lifetime DE3865196D1 (de) | 1987-02-04 | 1988-01-19 | Modularer roboter mit ueberfluessigen freiheitsgraden. |
Country Status (7)
Country | Link |
---|---|
US (1) | US5103403A (de) |
EP (1) | EP0344185B1 (de) |
AT (1) | ATE67710T1 (de) |
DE (1) | DE3865196D1 (de) |
ES (1) | ES2006544A6 (de) |
FR (1) | FR2610236B1 (de) |
WO (1) | WO1988005712A1 (de) |
Families Citing this family (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6316899B1 (en) * | 1994-09-07 | 2001-11-13 | Polytechnic University | Apparatus for reducing vibration inputs to a device and/or for micropositioning |
DE19649082C1 (de) * | 1996-11-27 | 1998-01-08 | Fraunhofer Ges Forschung | Vorrichtung zur Fernsteuerung eines Werkzeugs |
US5738481A (en) * | 1996-12-02 | 1998-04-14 | Rogers; Vincent | Universally actuable robot assembly |
DE19846355A1 (de) * | 1998-10-08 | 2000-04-13 | Schaeffler Waelzlager Ohg | Kreuzgelenk |
US6233503B1 (en) * | 1998-10-16 | 2001-05-15 | Xerox Corporation | Space filling robotic polyhedra modules |
US6243622B1 (en) * | 1998-10-16 | 2001-06-05 | Xerox Corporation | Touchable user interface using self movable robotic modules |
US6233502B1 (en) * | 1998-10-16 | 2001-05-15 | Xerox Corporation | Fault tolerant connection system for transiently connectable modular elements |
US6560513B2 (en) | 1999-11-19 | 2003-05-06 | Fanuc Robotics North America | Robotic system with teach pendant |
US6518980B1 (en) | 1999-11-19 | 2003-02-11 | Fanuc Robotics North America, Inc. | Method and system for allowing a programmable controller to communicate with a remote computer |
US6468203B2 (en) | 2000-04-03 | 2002-10-22 | Neoguide Systems, Inc. | Steerable endoscope and improved method of insertion |
US8888688B2 (en) | 2000-04-03 | 2014-11-18 | Intuitive Surgical Operations, Inc. | Connector device for a controllable instrument |
US8517923B2 (en) | 2000-04-03 | 2013-08-27 | Intuitive Surgical Operations, Inc. | Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities |
US6610007B2 (en) | 2000-04-03 | 2003-08-26 | Neoguide Systems, Inc. | Steerable segmented endoscope and method of insertion |
US6858005B2 (en) | 2000-04-03 | 2005-02-22 | Neo Guide Systems, Inc. | Tendon-driven endoscope and methods of insertion |
AU2000259904A1 (en) * | 2000-06-23 | 2002-01-02 | Constructions Mecaniques Des Vosges-Marioni | Method for determining the relative position of two platforms of a six-legged machine |
US6605914B2 (en) | 2001-08-24 | 2003-08-12 | Xerox Corporation | Robotic toy modular system |
KR20070003811A (ko) * | 2003-12-01 | 2007-01-05 | 뉴사우스 이노베이션즈 피티와이 리미티드 | 상호 의존형 유닛들로 형성된 시스템을 제어하기 위한 방법 |
US7747352B2 (en) * | 2004-04-20 | 2010-06-29 | Massachusetts Institute Of Technology | Physical modeling system for constructing and controlling articulated forms with motorized joints |
US7444205B2 (en) * | 2004-10-29 | 2008-10-28 | Neil Desmond | Modular self structuring and computing system |
JP2006154924A (ja) * | 2004-11-25 | 2006-06-15 | Denso Wave Inc | 自動化設備システム |
US7231837B2 (en) * | 2005-05-06 | 2007-06-19 | Oceaneering International, Inc. | Angular movement detector and networks of angular movement detectors for controlling movement of an articulated arm and a method for their use |
US7296486B2 (en) * | 2005-05-06 | 2007-11-20 | Oceaneering International, Inc. | Hydraulic motor drive sensor adapter |
KR20080032111A (ko) * | 2005-06-21 | 2008-04-14 | 올리버 크리스핀 로보틱스 리미티드 | 복수개의 관절 요소와 암 형상을 결정하기 위한 수단을구비한 로봇 암 |
US8233569B2 (en) * | 2006-09-28 | 2012-07-31 | Tektronix, Inc. | Realtime spectrum trigger system on realtime oscilloscope |
DE102010008240B4 (de) * | 2010-02-17 | 2015-10-15 | Siemens Aktiengesellschaft | Verfahren zum Betrieb eines mehrachsigen, vorzugsweise sechsachsigen, Roboters |
WO2011154429A1 (de) | 2010-06-08 | 2011-12-15 | Beckhoff Automation Gmbh | Robotermodul und roboter |
DE102010029786A1 (de) * | 2010-06-08 | 2011-12-08 | Beckhoff Automation Gmbh | Seilroboter |
DE102012008559B4 (de) | 2012-04-04 | 2021-10-07 | Pi4_Robotics Gmbh | Roboterarm-Modul für einen Roboterarm bzw. Roboterarm |
FR2997887B1 (fr) * | 2012-11-14 | 2015-07-10 | Commissariat Energie Atomique | Systeme hexapode |
CN106476013A (zh) * | 2016-12-18 | 2017-03-08 | 河南机电职业学院 | 晶胞结构及算法表达六自由度运动平台结构及算法的方法 |
CN109318210B (zh) * | 2018-11-26 | 2020-11-06 | 燕山大学 | 十三自由度主被动柔顺调姿对接平台及其柔性对接方法 |
CN109955227B (zh) * | 2019-04-04 | 2021-04-02 | 银河航天(北京)通信技术有限公司 | 一种指向机构、机械臂及航天器 |
CN112959297B (zh) * | 2021-01-26 | 2022-08-30 | 清华大学 | 驱动冗余并联机器人的驱动力优化方法 |
CN113733067B (zh) * | 2021-09-23 | 2022-10-11 | 湖南大学 | 一种大负载远距离耐辐射的高精度蛇形臂 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2027386A (en) * | 1932-12-03 | 1936-01-14 | Krummer Adolf | System for moving bodies towards and away from each other |
US3288421A (en) * | 1965-03-29 | 1966-11-29 | Everett R Peterson | Movable and rotatable top |
US3712481A (en) * | 1971-12-23 | 1973-01-23 | Mc Donnell Douglas Corp | Actuator |
US4356554A (en) * | 1980-09-12 | 1982-10-26 | Thermwood Corporation | Method and apparatus for compensating for system error in an industrial robot control |
US4536690A (en) * | 1982-10-19 | 1985-08-20 | Calspan Corporation | Tool-supporting self-propelled robot platform |
FR2549916B1 (fr) * | 1983-07-25 | 1988-05-20 | Onera (Off Nat Aerospatiale) | Dispositif d'articulation actif a compliance |
US4964062A (en) * | 1988-02-16 | 1990-10-16 | Ubhayakar Shivadev K | Robotic arm systems |
-
1987
- 1987-02-04 FR FR8701884A patent/FR2610236B1/fr not_active Expired - Fee Related
-
1988
- 1988-01-19 US US07/397,412 patent/US5103403A/en not_active Expired - Lifetime
- 1988-01-19 DE DE8888901269T patent/DE3865196D1/de not_active Expired - Lifetime
- 1988-01-19 WO PCT/FR1988/000026 patent/WO1988005712A1/fr active IP Right Grant
- 1988-01-19 EP EP88901269A patent/EP0344185B1/de not_active Expired - Lifetime
- 1988-01-19 AT AT88901269T patent/ATE67710T1/de not_active IP Right Cessation
- 1988-01-29 ES ES8800248A patent/ES2006544A6/es not_active Expired
Also Published As
Publication number | Publication date |
---|---|
WO1988005712A1 (fr) | 1988-08-11 |
ATE67710T1 (de) | 1991-10-15 |
US5103403A (en) | 1992-04-07 |
ES2006544A6 (es) | 1989-05-01 |
FR2610236B1 (fr) | 1991-07-12 |
EP0344185A1 (de) | 1989-12-06 |
EP0344185B1 (de) | 1991-09-25 |
FR2610236A1 (fr) | 1988-08-05 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition | ||
8327 | Change in the person/name/address of the patent owner |
Owner name: GIROBO, VERSAILLES, FR |
|
8327 | Change in the person/name/address of the patent owner |
Owner name: GIAT INDUSTRIES, VERSAILLES, FR |
|
8327 | Change in the person/name/address of the patent owner |
Owner name: CYBERNETIX, MARSEILLE, FR |
|
8339 | Ceased/non-payment of the annual fee |