DE602006006668D1 - Gelenkige verbindung - Google Patents

Gelenkige verbindung

Info

Publication number
DE602006006668D1
DE602006006668D1 DE602006006668T DE602006006668T DE602006006668D1 DE 602006006668 D1 DE602006006668 D1 DE 602006006668D1 DE 602006006668 T DE602006006668 T DE 602006006668T DE 602006006668 T DE602006006668 T DE 602006006668T DE 602006006668 D1 DE602006006668 D1 DE 602006006668D1
Authority
DE
Germany
Prior art keywords
lever arm
joint
flexible connection
controlled
rotation
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
DE602006006668T
Other languages
English (en)
Inventor
Ham Ronald Van
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.)
Vrije Universiteit Brussel VUB
Universite Libre de Bruxelles ULB
Original Assignee
Vrije Universiteit Brussel VUB
Universite Libre de Bruxelles ULB
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 Vrije Universiteit Brussel VUB, Universite Libre de Bruxelles ULB filed Critical Vrije Universiteit Brussel VUB
Publication of DE602006006668D1 publication Critical patent/DE602006006668D1/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
    • 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
    • B25J19/0016—Balancing devices using springs
    • 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
    • B25J19/06—Safety devices
    • B25J19/068—Actuating means with variable stiffness
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y10S901/28—Joint
    • 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
    • Y10T403/00—Joints and connections
    • Y10T403/32—Articulated members
    • Y10T403/32541—Rotatable members resiliently biased to one position

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Cable Accessories (AREA)
  • Coupling Device And Connection With Printed Circuit (AREA)
DE602006006668T 2005-05-23 2006-05-19 Gelenkige verbindung Active DE602006006668D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP05447118A EP1726412A1 (de) 2005-05-23 2005-05-23 Gelenk mit einstellbarer Steifigkeit
PCT/BE2006/000056 WO2006125282A1 (en) 2005-05-23 2006-05-19 Articulated joint

Publications (1)

Publication Number Publication Date
DE602006006668D1 true DE602006006668D1 (de) 2009-06-18

Family

ID=35134296

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602006006668T Active DE602006006668D1 (de) 2005-05-23 2006-05-19 Gelenkige verbindung

Country Status (6)

Country Link
US (1) US8950967B2 (de)
EP (2) EP1726412A1 (de)
AT (1) ATE430645T1 (de)
CA (1) CA2609437A1 (de)
DE (1) DE602006006668D1 (de)
WO (1) WO2006125282A1 (de)

Families Citing this family (26)

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WO2008112687A1 (en) * 2007-03-13 2008-09-18 Brown Garrett W Biased hinge for equipoising support equipment
CN101795601A (zh) 2007-08-30 2010-08-04 加勒特·W·布朗 铰接的人体手臂支撑
CN102165242A (zh) 2008-09-30 2011-08-24 加勒特·W·布朗 用于平衡支撑装备的偏压铰链
WO2010040742A1 (en) * 2008-10-09 2010-04-15 Leica Geosystems Ag Device for marking or processing a surface, tool, and articulated arm
KR101237893B1 (ko) 2011-04-28 2013-02-27 (주)미래컴퍼니 수술용 관절, 수술도구, 및 구동장치
WO2014093408A2 (en) 2012-12-11 2014-06-19 Levitate Technologies, Inc. Adaptive arm support systems and methods for use
US20140263205A1 (en) * 2013-03-15 2014-09-18 Lincoln Global, Inc. Torch height mechansim
ES2526726B1 (es) 2013-06-13 2015-10-20 Consejo Superior De Investigaciones Científicas (Csic) Articulación con rigidez controlable y dispositivo de medición de fuerza
CN103419200B (zh) * 2013-07-23 2015-10-28 大连理工大学 一种机器人的仿肌弹性关节驱动装置
KR101625269B1 (ko) 2013-10-17 2016-05-27 원텍 주식회사 굴절암 방식의 의료용 레이저 전달 장치
CN103753604B (zh) * 2013-12-27 2015-08-19 北京航空航天大学 一种可动态调整刚度的模块化柔性连接装置
KR20150142361A (ko) * 2014-06-11 2015-12-22 삼성전자주식회사 링크 구조체
CN104260106B (zh) * 2014-08-18 2016-03-23 北京航空航天大学 一种可变刚度的关节模块
US10502284B2 (en) 2014-09-29 2019-12-10 Delbert Tesar Spring augmented orthotic or prosthetic equipped with a compact parallel eccentric actuator
KR101793338B1 (ko) * 2014-11-19 2017-11-02 국립암센터 회전 및 병진 운동 시의 출력부재의 강성을 제어하는 장치
US11166864B2 (en) 2016-12-06 2021-11-09 Delbert Tesar Actuators for patient mobility devices, patient healthcare devices and human prosthetics
DE102017203595B3 (de) * 2017-03-06 2018-07-12 Deutsches Zentrum für Luft- und Raumfahrt e.V. Robotergelenk
CN110869175B (zh) * 2017-06-29 2023-07-28 索尼互动娱乐股份有限公司 机器人关节结构
US10040207B1 (en) * 2017-09-18 2018-08-07 Institute of Nuclear Energy Research, Atomic Energy Council, Executive Yuan, R.O.C. Adjustable passive gravity compensation apparatus
JP6581235B1 (ja) * 2018-03-30 2019-09-25 本田技研工業株式会社 リンク機構
US11691269B2 (en) 2018-10-30 2023-07-04 Apptronik, Inc. Robotic manipulator having a plurality of spring compensated joints
CN110053076B (zh) * 2019-03-26 2020-11-13 清华大学 变刚度驱动器
CN110842977B (zh) * 2019-12-04 2022-11-11 南昌航空大学 一种用于装配装夹的大范围变刚度手腕
KR102360823B1 (ko) * 2020-09-01 2022-02-08 재단법인대구경북과학기술원 직렬 탄성 액추에이터
CN112975935B (zh) * 2021-04-15 2022-03-04 东南大学 一种可转向的绳牵引式软体机器人及控制方法
CN113334355B (zh) * 2021-06-16 2022-10-25 北京航空航天大学 一种模块化低能耗的变刚度驱动器

Family Cites Families (18)

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Publication number Priority date Publication date Assignee Title
US3003737A (en) * 1960-10-31 1961-10-10 Dazor Mfg Corp Telescopic arm unit
JPS5539520B2 (de) * 1972-11-14 1980-10-11
SE416452B (sv) * 1975-06-16 1981-01-05 Asea Ab Industrirobot
JPS5916915B2 (ja) * 1975-08-27 1984-04-18 ダイキン工業株式会社 産業用ロボツトのア−ム
JPS5227158A (en) * 1975-08-27 1977-03-01 Daikin Ind Ltd Arm of industrial robbot
JPS5847315B2 (ja) * 1975-12-24 1983-10-21 ダイキン工業株式会社 サンギヨウヨウロボツトノア−ム
US4502588A (en) * 1983-06-13 1985-03-05 Leesona Corporation Apparatus and methods for transferring nested stacks of plastic articles from an elevated chute to an underlying conveyor surface
US4659280A (en) * 1985-01-22 1987-04-21 Gmf Robotics Corporation Robot with balancing mechanism having a variable counterbalance force
US5934147A (en) * 1992-10-02 1999-08-10 Telepoint New Zealand Limited Linkage arrangement
US5667325A (en) * 1995-07-21 1997-09-16 Spar Aerospace Limited Joint for storable tubular extendible member
US6082552A (en) * 1997-09-04 2000-07-04 Gear Up Technologies Corporation Wall-mounted storage device
JP3806273B2 (ja) * 1999-09-17 2006-08-09 株式会社ジェイテクト 四自由度パラレルロボット
SE516878C2 (sv) * 1999-12-09 2002-03-19 Abb Ab Industrirobot med en skruvfjäderuppbyggd balanseringsanordning med en teleskopisk enhet, samt förfarande för och användning av roboten
ES2166735B1 (es) * 2000-10-06 2003-10-16 Consejo Superior Investigacion Actuador para las piernas de un robot caminante.
JP3674778B2 (ja) * 2001-09-27 2005-07-20 本田技研工業株式会社 脚式移動ロボットの脚体関節アシスト装置
US7428855B2 (en) * 2002-05-22 2008-09-30 Duval Eugene F Counter balance system and method with one or more mechanical arms
JP3901079B2 (ja) * 2002-11-26 2007-04-04 トヨタ自動車株式会社 剛性を変化させながら歩行するロボット
JP4148280B2 (ja) * 2005-10-18 2008-09-10 セイコーエプソン株式会社 平行リンク機構及び産業用ロボット

Also Published As

Publication number Publication date
EP1885525A1 (de) 2008-02-13
EP1885525B1 (de) 2009-05-06
EP1726412A1 (de) 2006-11-29
WO2006125282A1 (en) 2006-11-30
CA2609437A1 (en) 2006-11-30
US8950967B2 (en) 2015-02-10
US20080205975A1 (en) 2008-08-28
ATE430645T1 (de) 2009-05-15

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition