DE60023074D1 - Master-slave Manipulator - Google Patents

Master-slave Manipulator

Info

Publication number
DE60023074D1
DE60023074D1 DE60023074T DE60023074T DE60023074D1 DE 60023074 D1 DE60023074 D1 DE 60023074D1 DE 60023074 T DE60023074 T DE 60023074T DE 60023074 T DE60023074 T DE 60023074T DE 60023074 D1 DE60023074 D1 DE 60023074D1
Authority
DE
Germany
Prior art keywords
master
master arm
coupling
slave manipulator
arm
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
Application number
DE60023074T
Other languages
English (en)
Other versions
DE60023074T2 (de
Inventor
Andre Garnier
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.)
Societe dInnovations Techniques SIT SAS
Original Assignee
Societe dInnovations Techniques SIT SAS
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 Societe dInnovations Techniques SIT SAS filed Critical Societe dInnovations Techniques SIT SAS
Application granted granted Critical
Publication of DE60023074D1 publication Critical patent/DE60023074D1/de
Publication of DE60023074T2 publication Critical patent/DE60023074T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F7/00—Shielded cells or rooms
    • G21F7/06—Structural combination with remotely-controlled apparatus, e.g. with manipulators
    • G21F7/061—Integrated manipulators
    • G21F7/062—Integrated manipulators mounted in a wall, e.g. pivotably mounted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • 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
    • Y10T74/20329—Joint between elements
    • 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
    • Y10T74/20372—Manual controlling elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Vehicle Body Suspensions (AREA)
  • Percussion Or Vibration Massage (AREA)
  • Rehabilitation Tools (AREA)
  • Making Paper Articles (AREA)
  • Surgical Instruments (AREA)
DE60023074T 1999-08-13 2000-08-02 Master-slave Manipulator Expired - Lifetime DE60023074T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9910479A FR2797412B1 (fr) 1999-08-13 1999-08-13 Telemanipulateur
FR9910479 1999-08-13

Publications (2)

Publication Number Publication Date
DE60023074D1 true DE60023074D1 (de) 2006-02-23
DE60023074T2 DE60023074T2 (de) 2006-07-13

Family

ID=9549133

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60023074T Expired - Lifetime DE60023074T2 (de) 1999-08-13 2000-08-02 Master-slave Manipulator

Country Status (6)

Country Link
US (1) US6564669B1 (de)
EP (1) EP1075907B1 (de)
AT (1) ATE306368T1 (de)
DE (1) DE60023074T2 (de)
ES (1) ES2250086T3 (de)
FR (1) FR2797412B1 (de)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101774179B (zh) * 2009-01-10 2012-09-19 鸿富锦精密工业（深圳）有限公司 机器人连接轴
DE202010012232U1 (de) * 2010-09-06 2011-12-08 Wälischmiller Engineering GmbH Vorrichtung mit einer Antriebseinheit zum Antrieb eines Manipulatorarms eines Manipulators und Manipulator
CN104149081B (zh) * 2014-07-28 2017-01-18 广东工业大学 一种模块化的手持式双操作端主机器人
CN105500379A (zh) * 2016-01-28 2016-04-20 西安西航集团航空航天地面设备有限公司 一种伸缩式机械手
CN105904446A (zh) * 2016-07-07 2016-08-31 成都航天烽火精密机电有限公司 一种自动平衡式机械手
CN106584503B (zh) * 2016-12-30 2023-09-08 深圳市优必选科技有限公司 机器人头肩转动复用结构
CN113954050B (zh) * 2021-10-14 2023-07-25 中国核动力研究设计院 一种分体式机械手的穿墙连接装置及包含其的机械手

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2689141A (en) * 1952-01-07 1954-09-14 Elmer C Kiekhaefer Adjustable ring clamp
FR1356029A (fr) * 1962-04-30 1964-03-20 Manipulateur avec traversée de paroi protectrice pour l'exécution d'opérations effectuées sur des matières radio-actives
DE1250988B (de) * 1962-04-30
FR86178E (fr) * 1962-04-30 1965-12-24 Manipulateur avec traversée de paroi protectrice pour l'exécution d'opérations effectuées sur des matières radioactives
US3212651A (en) * 1962-06-12 1965-10-19 American Mach & Foundry Manipulator
US3261480A (en) * 1963-11-26 1966-07-19 Central Res Lab Inc Compact master-slave manipulator
US3425569A (en) * 1966-10-28 1969-02-04 Central Research Lab Inc Extended reach sealed manipulator
US3481493A (en) * 1967-08-09 1969-12-02 Hans Walischmiller Apparatus for remotely controlling moving-in and out,respectively of an extension piece
US3510011A (en) * 1967-08-09 1970-05-05 Hans Walischmiller Manipulator for working in non-accessible spaces
US3507163A (en) * 1968-11-08 1970-04-21 Central Research Lab Inc Sealed manipulator
DE3272546D1 (en) * 1981-05-18 1986-09-18 British Nuclear Fuels Plc Shielded cells having manipulators comprising a master arm and a slave arm
US5522625A (en) * 1994-11-29 1996-06-04 Hoechst Marion Roussel, Inc. Coupling device

Also Published As

Publication number Publication date
DE60023074T2 (de) 2006-07-13
EP1075907A1 (de) 2001-02-14
ES2250086T3 (es) 2006-04-16
EP1075907B1 (de) 2005-10-12
FR2797412A1 (fr) 2001-02-16
US6564669B1 (en) 2003-05-20
ATE306368T1 (de) 2005-10-15
FR2797412B1 (fr) 2001-10-19

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition