DE602005004956D1 - Gelenkmechanismus mit zwei Aktuatoren für eine Roboterhand und dergleichen - Google Patents

Gelenkmechanismus mit zwei Aktuatoren für eine Roboterhand und dergleichen

Info

Publication number
DE602005004956D1
DE602005004956D1 DE602005004956T DE602005004956T DE602005004956D1 DE 602005004956 D1 DE602005004956 D1 DE 602005004956D1 DE 602005004956 T DE602005004956 T DE 602005004956T DE 602005004956 T DE602005004956 T DE 602005004956T DE 602005004956 D1 DE602005004956 D1 DE 602005004956D1
Authority
DE
Germany
Prior art keywords
actuators
robot hand
articulating mechanism
articulating
robot
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.)
Active
Application number
DE602005004956T
Other languages
English (en)
Other versions
DE602005004956T2 (de
Inventor
Junji Koyama
Hiroshi Kameda
Toshiaki Kamata
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.)
Harmonic Drive Systems Inc
Original Assignee
Harmonic Drive Systems Inc
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 Harmonic Drive Systems Inc filed Critical Harmonic Drive Systems Inc
Publication of DE602005004956D1 publication Critical patent/DE602005004956D1/de
Application granted granted Critical
Publication of DE602005004956T2 publication Critical patent/DE602005004956T2/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • 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
    • Y10T74/20317—Robotic arm including electric motor
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE602005004956T 2004-07-16 2005-07-08 Gelenkmechanismus mit zwei Aktuatoren für eine Roboterhand und dergleichen Active DE602005004956T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004209450A JP2006026806A (ja) 2004-07-16 2004-07-16 ロボットハンド等の関節機構
JP2004209450 2004-07-16

Publications (2)

Publication Number Publication Date
DE602005004956D1 true DE602005004956D1 (de) 2008-04-10
DE602005004956T2 DE602005004956T2 (de) 2009-03-12

Family

ID=34937805

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602005004956T Active DE602005004956T2 (de) 2004-07-16 2005-07-08 Gelenkmechanismus mit zwei Aktuatoren für eine Roboterhand und dergleichen

Country Status (4)

Country Link
US (1) US7454995B2 (de)
EP (1) EP1616672B1 (de)
JP (1) JP2006026806A (de)
DE (1) DE602005004956T2 (de)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009107164A1 (ja) 2008-02-25 2009-09-03 株式会社ハーモニック・ドライブ・システムズ ロボットハンドの指機構
FR2930905B1 (fr) * 2008-05-09 2010-10-01 Bia Cheville pour robot humanoide
WO2010029595A1 (ja) * 2008-09-10 2010-03-18 株式会社ハーモニック・ドライブ・システムズ ロボットハンドおよび板状物品のハンドリング方法
US20100126293A1 (en) * 2008-11-21 2010-05-27 Comau Inc. Robotic radial tool positioning system
WO2010101203A1 (ja) * 2009-03-06 2010-09-10 株式会社安川電機 ロボットの関節ユニット及びロボット
US8504198B2 (en) * 2009-05-14 2013-08-06 Honda Motor Co., Ltd. Robot hand and control system, control method and control program for the same
US9140344B2 (en) 2010-10-01 2015-09-22 Industrial Technology Research Institute Differential-velocity driving device and mechanical arm to which the differential-velocity driving device is applied
TWI401144B (zh) * 2010-10-01 2013-07-11 Ind Tech Res Inst 高反應力關節裝置的控制方法
TWI477706B (zh) * 2012-09-06 2015-03-21 Ind Tech Res Inst 差速驅動裝置及應用該裝置之機械手臂
TW201219175A (en) * 2010-11-05 2012-05-16 Hon Hai Prec Ind Co Ltd Power switching appratus
CN102085661B (zh) * 2010-12-18 2012-05-09 浙江理工大学 全驱动式灵巧机械手
WO2014162562A1 (ja) * 2013-04-04 2014-10-09 Thk株式会社 関節機構、指及びハンド
CN104908058A (zh) * 2015-07-06 2015-09-16 周健华 一种关节传动机构
JP7126817B2 (ja) * 2017-11-15 2022-08-29 Thk株式会社 把持システムおよび把持方法
CN108214537B (zh) * 2018-02-02 2023-07-18 昆明理工大学 一种多功能的灵活抓取机构
US11345024B2 (en) * 2018-02-02 2022-05-31 Sony Corporation Drive device and robot device
CN112045692A (zh) * 2020-09-18 2020-12-08 上海微电机研究所(中国电子科技集团公司第二十一研究所) 一种四足机器人的柔性躯干和四足机器人
JP2022129023A (ja) * 2021-02-24 2022-09-05 株式会社ソニー・インタラクティブエンタテインメント 回転装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3992930A (en) * 1975-12-08 1976-11-23 United Technologies Corporation Engine cylinder identification
JPS6080591A (ja) * 1983-10-05 1985-05-08 株式会社日立製作所 マニプレ−タ
JPH043434Y2 (de) 1987-08-04 1992-02-03
JP2591968B2 (ja) 1987-12-28 1997-03-19 株式会社日立製作所 産業用ロボットの手首
GB2235246A (en) * 1989-06-20 1991-02-27 Epic Prod Ltd A drive system for a pump/compressor
US6263755B1 (en) * 1999-02-10 2001-07-24 New York University Robotic manipulator and method
US6658962B1 (en) * 2001-10-31 2003-12-09 Ross-Hime Designs, Incorporated Robotic manipulator
JP4133188B2 (ja) 2002-10-07 2008-08-13 株式会社ハーモニック・ドライブ・システムズ ロボットハンドの指ユニット

Also Published As

Publication number Publication date
EP1616672B1 (de) 2008-02-27
US7454995B2 (en) 2008-11-25
JP2006026806A (ja) 2006-02-02
US20060011009A1 (en) 2006-01-19
EP1616672A1 (de) 2006-01-18
DE602005004956T2 (de) 2009-03-12

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Legal Events

Date Code Title Description
8381 Inventor (new situation)

Inventor name: KOYAMA, JUNJI, MINAMIAZUMI-GUN NAGANO-KEN, 399, JP

Inventor name: KAMEDA, HIROSHI, MINAMIAZUMI-GUN NAGANO-KEN, 3, JP

Inventor name: KAMATA, TOSHIAKI, MINAMIAZUMI-GUN NAGANO-KEN, , JP

8364 No opposition during term of opposition