DE60132604D1 - M mit mindestens drei armen - Google Patents

M mit mindestens drei armen

Info

Publication number
DE60132604D1
DE60132604D1 DE60132604T DE60132604T DE60132604D1 DE 60132604 D1 DE60132604 D1 DE 60132604D1 DE 60132604 T DE60132604 T DE 60132604T DE 60132604 T DE60132604 T DE 60132604T DE 60132604 D1 DE60132604 D1 DE 60132604D1
Authority
DE
Germany
Prior art keywords
joint arrangement
poor
fist
manipulator
arms
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
DE60132604T
Other languages
English (en)
Other versions
DE60132604T2 (de
Inventor
Torgny Brogardh
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.)
ABB AB
Original Assignee
ABB AB
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 ABB AB filed Critical ABB AB
Publication of DE60132604D1 publication Critical patent/DE60132604D1/de
Application granted granted Critical
Publication of DE60132604T2 publication Critical patent/DE60132604T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
DE60132604T 2000-09-11 2001-08-20 Manipulator zur bewegung eines gegenstandes im raum mit mindestens drei armen Expired - Lifetime DE60132604T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE0003224A SE517356C2 (sv) 2000-09-11 2000-09-11 Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden
SE0003224 2000-09-11
PCT/SE2001/001770 WO2002022320A1 (en) 2000-09-11 2001-08-20 A manipulator to move an object in the space with at least tree arms

Publications (2)

Publication Number Publication Date
DE60132604D1 true DE60132604D1 (de) 2008-03-13
DE60132604T2 DE60132604T2 (de) 2008-05-21

Family

ID=20280976

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60132604T Expired - Lifetime DE60132604T2 (de) 2000-09-11 2001-08-20 Manipulator zur bewegung eines gegenstandes im raum mit mindestens drei armen

Country Status (8)

Country Link
US (1) US20040054438A1 (de)
EP (1) EP1320448B1 (de)
JP (1) JP4901057B2 (de)
AT (1) ATE384601T1 (de)
AU (1) AU2001280408A1 (de)
DE (1) DE60132604T2 (de)
SE (1) SE517356C2 (de)
WO (1) WO2002022320A1 (de)

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7337691B2 (en) * 1999-08-05 2008-03-04 Shambhu Nath Roy Parallel kinematics mechanism with a concentric spherical joint
SE524747C2 (sv) 2002-02-06 2004-09-28 Abb Ab Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden
SE521539C2 (sv) * 2002-03-18 2003-11-11 Abb Ab Manipulator och förfarande involverande manipulator för förflyttning av ett objekt,innefattande minst två drivande parallellkinematiska förbindningskedjor
SE0201848D0 (sv) * 2002-06-14 2002-06-14 Abb Ab Anordning vid industrirobot
AU2002347621A1 (en) * 2002-09-30 2004-05-04 Evotech S.R.L. Device for moving and orienting an object with at least two degrees of freedom
ITGE20030040A1 (it) * 2003-05-30 2004-11-30 Rezia Molfino Meccanismo armillare per il supporto alla visione stereoscopica in ambienti sottomarini e ad alta resistenza idrodinamica
DE102005004522A1 (de) * 2005-01-31 2006-08-17 Sitec Industrietechnologie Gmbh Bewegungs- und/oder Positioniervorrichtung
ES2258917B1 (es) 2005-02-17 2007-12-01 Fundacion Fatronik Robot paralelo con cuatro grados de libertad de alta velocidad.
JP4960038B2 (ja) * 2006-08-09 2012-06-27 オークマ株式会社 パラレルメカニズム機械の制御方法及び制御装置
DE102008058644A1 (de) * 2008-10-10 2010-04-15 Num Industry Alliance Ag Schneidvorrichtung
CN101497198B (zh) * 2009-02-24 2011-01-05 燕山大学 具有远程运动中心的三自由度转动并联机构
US20120073738A1 (en) 2010-09-29 2012-03-29 The Boeing Company Method and apparatus for laying up barrel-shaped composite structures
KR101179046B1 (ko) 2010-12-27 2012-09-03 한국기계연구원 스프링-댐퍼 기구를 가지는 병렬로봇
JP2012192499A (ja) * 2011-03-17 2012-10-11 Canon Electronics Inc パラレルリンクロボット
CN102152306B (zh) * 2011-04-27 2012-05-23 天津大学 杆轮组合式三平一转并联机构
CN102161201B (zh) * 2011-04-27 2012-05-16 天津大学 上下伸缩式三平一转并联机构
CN102161200B (zh) * 2011-04-27 2012-05-16 天津大学 平行错动式三平一转并联机构
JP5602676B2 (ja) * 2011-05-20 2014-10-08 Ｃｋｄ株式会社 可動体支持装置
JP5866154B2 (ja) * 2011-07-06 2016-02-17 キヤノン電子株式会社 パラレルリンクロボット
KR20150023458A (ko) * 2012-06-15 2015-03-05 에이비비 테크놀로지 아게 블랭크 전단기 또는 프레스 기계로부터 생산된 블랭크들을 적재하기 위한 적재 라인 시스템 및 방법
KR101488440B1 (ko) 2013-07-24 2015-02-12 한국로봇융합연구원 병렬형 도포 로봇
US20170190057A1 (en) * 2014-06-11 2017-07-06 Xenidev Ab A parallel kinematic manipulator system and control method therefor
JP6310901B2 (ja) * 2015-11-30 2018-04-11 Ckd株式会社 支持装置
CN105269569B (zh) * 2015-11-30 2017-12-08 梅江平 一种三同轴二维转动一维平动并联机构
KR101868235B1 (ko) * 2016-12-07 2018-06-15 고려대학교 세종산학협력단 6 자유도 메커니즘
CN106671062A (zh) * 2016-12-15 2017-05-17 常州大学 一种三平移一转动的四自由度并联机构
KR20200105657A (ko) 2018-01-15 2020-09-08 코그니보티스 에이비 산업용 로봇 아암
US11135783B2 (en) 2018-09-26 2021-10-05 The Boeing Company System and method for manufacturing composite structures
US11135784B2 (en) 2018-09-26 2021-10-05 The Boeing Company System and method for manufacturing composite structures

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH672089A5 (de) * 1985-12-16 1989-10-31 Sogeva Sa
JPH04125960A (ja) * 1990-09-18 1992-04-27 Nec Corp 半導体装置
US5156062A (en) * 1991-07-01 1992-10-20 Rockwell International Corporation Anti-rotation positioning mechanism
US5847528A (en) * 1995-05-19 1998-12-08 Canadian Space Agency Mechanism for control of position and orientation in three dimensions
SE508890C2 (sv) * 1996-03-14 1998-11-16 Asea Brown Boveri Manipulator
WO1998030366A1 (en) * 1997-01-14 1998-07-16 Asea Brown Boveri Ab A device for relative displacement of two elements
SE512931C2 (sv) * 1998-04-29 2000-06-05 Abb Ab Anordning för relativ förflyttning av två element
JP2000246680A (ja) * 1999-03-03 2000-09-12 Suzuki Motor Corp ３次元入力用マニピュレータ
SE0100134D0 (sv) * 2001-01-15 2001-01-15 Abb Ab Industrirobot

Also Published As

Publication number Publication date
EP1320448B1 (de) 2008-01-23
SE0003224D0 (sv) 2000-09-11
JP4901057B2 (ja) 2012-03-21
AU2001280408A1 (en) 2002-03-26
ATE384601T1 (de) 2008-02-15
DE60132604T2 (de) 2008-05-21
SE517356C2 (sv) 2002-05-28
SE0003224L (sv) 2002-03-12
EP1320448A1 (de) 2003-06-25
WO2002022320A1 (en) 2002-03-21
US20040054438A1 (en) 2004-03-18
JP2004508950A (ja) 2004-03-25

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