DE602007000192D1 - Gelenkstruktur eines roboters - Google Patents

Gelenkstruktur eines roboters

Info

Publication number
DE602007000192D1
DE602007000192D1 DE602007000192T DE602007000192T DE602007000192D1 DE 602007000192 D1 DE602007000192 D1 DE 602007000192D1 DE 602007000192 T DE602007000192 T DE 602007000192T DE 602007000192 T DE602007000192 T DE 602007000192T DE 602007000192 D1 DE602007000192 D1 DE 602007000192D1
Authority
DE
Germany
Prior art keywords
robot
joint structure
joint
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
DE602007000192T
Other languages
English (en)
Inventor
Yoshinari Takemura
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.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
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 Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of DE602007000192D1 publication Critical patent/DE602007000192D1/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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • 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
    • 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
    • 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • 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
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
    • 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)
  • Transmission Devices (AREA)
DE602007000192T 2006-02-01 2007-01-22 Gelenkstruktur eines roboters Active DE602007000192D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006024289 2006-02-01
PCT/JP2007/050893 WO2007088743A1 (ja) 2006-02-01 2007-01-22 ロボットの関節構造

Publications (1)

Publication Number Publication Date
DE602007000192D1 true DE602007000192D1 (de) 2008-12-04

Family

ID=38327322

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602007000192T Active DE602007000192D1 (de) 2006-02-01 2007-01-22 Gelenkstruktur eines roboters

Country Status (7)

Country Link
US (1) US20090071282A1 (de)
EP (1) EP1857230B1 (de)
JP (1) JP4971984B2 (de)
KR (1) KR100888078B1 (de)
CN (1) CN100588512C (de)
DE (1) DE602007000192D1 (de)
WO (1) WO2007088743A1 (de)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2930905B1 (fr) * 2008-05-09 2010-10-01 Bia Cheville pour robot humanoide
US8498741B2 (en) * 2009-09-22 2013-07-30 Gm Global Technology Operations Dexterous humanoid robotic wrist
JP5184502B2 (ja) * 2009-12-22 2013-04-17 本田技研工業株式会社 ロボットの関節機構の制御装置
CN102848401B (zh) * 2011-07-01 2015-04-22 山东科技大学 一种动力万向联轴节
JP5722747B2 (ja) * 2011-10-24 2015-05-27 Thk株式会社 ロボットの関節構造及びこの関節構造が組み込まれたロボット
US20150352727A1 (en) * 2012-12-28 2015-12-10 Namiki Seimitsu Houseki Kabushiki Kaisha Manipulator
CN103286791B (zh) * 2013-07-07 2015-09-09 林佳杰 一种机器人关节结构
CN103753527B (zh) * 2014-01-07 2015-07-15 青岛华东工程机械有限公司 可俯仰物料夹持装置
JP6087329B2 (ja) * 2014-09-19 2017-03-01 Thk株式会社 ロボットにおける回転駆動機構
CN104260113A (zh) * 2014-09-22 2015-01-07 珠海林顺机电有限公司 码垛机器人连杆装置
JP6105024B2 (ja) 2014-10-28 2017-03-29 Thk株式会社 ロボットにおける回転駆動機構
US9845850B2 (en) 2015-01-30 2017-12-19 Irobot Corporation Robotic arm and wrist mechanisms
KR102458112B1 (ko) * 2015-12-03 2022-10-24 가와사끼 쥬고교 가부시끼 가이샤 2자유도의 구동 기구
KR101766576B1 (ko) * 2016-01-14 2017-08-09 한양대학교 산학협력단 다자유도 구동장치
JP1573749S (de) * 2016-01-29 2017-04-10
JP6646756B2 (ja) * 2016-10-28 2020-02-14 シャープ株式会社 装置の可動構造、および装置
DE112018001700T5 (de) * 2017-03-29 2019-12-24 Groove X, Inc. Für Robotergelenk geeignete Gelenkstruktur
CN107901075B (zh) * 2017-11-28 2023-12-01 天津扬天科技有限公司 多自由度中空协作机械臂采用的关节模块
CN108544529A (zh) * 2018-04-09 2018-09-18 时枫娇 一种可精确调整的机器人及操作臂用多轴关节结构
KR102246778B1 (ko) * 2018-12-10 2021-05-03 한국기계연구원 손가락 기구 및 이를 포함하는 로봇 핸드
CN109822618B (zh) * 2019-04-18 2023-08-22 北京因时机器人科技有限公司 手腕结构和机器人
JP7369111B2 (ja) * 2019-08-07 2023-10-25 株式会社バンダイ 可動構造及び人形体

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE453974B (sv) * 1984-05-18 1988-03-21 Asea Ab Industrirobot med tva kardanskt anordnande svengningsaxlar
US4805477A (en) * 1987-10-22 1989-02-21 Gmf Robotics Corporation Multiple joint robot part
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
JPH0569374A (ja) * 1991-09-14 1993-03-23 Toyota Central Res & Dev Lab Inc 指モジユール、指モジユール構造、ロボツトハンドおよび指モジユールの信号検出取出方法
JP3419637B2 (ja) * 1996-07-24 2003-06-23 富士通株式会社 関節機構及びこれを使用するロボット
JPH10133733A (ja) * 1996-10-31 1998-05-22 Kokoro:Kk アミューズメントロボットの動作教示方法及び動作教示装置
US6030130A (en) * 1997-07-07 2000-02-29 George Paddock Ii, Inc. Body mounted camera support system
US6244644B1 (en) * 1999-01-25 2001-06-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Compact dexterous robotic hand
US6418811B1 (en) * 2000-05-26 2002-07-16 Ross-Hime Designs, Inc. Robotic manipulator
JP2002085353A (ja) * 2000-09-11 2002-03-26 Mamoru Mitsuishi 遠隔診断システム
JP3974353B2 (ja) * 2001-08-23 2007-09-12 三菱電機株式会社 ジンバル機構及び関節機構
JP4589712B2 (ja) * 2004-12-14 2010-12-01 本田技研工業株式会社 ロボットの関節構造

Also Published As

Publication number Publication date
CN101213051A (zh) 2008-07-02
JPWO2007088743A1 (ja) 2009-06-25
KR20070094827A (ko) 2007-09-21
EP1857230A1 (de) 2007-11-21
JP4971984B2 (ja) 2012-07-11
EP1857230A4 (de) 2008-01-09
EP1857230B1 (de) 2008-10-22
WO2007088743A1 (ja) 2007-08-09
KR100888078B1 (ko) 2009-03-11
CN100588512C (zh) 2010-02-10
US20090071282A1 (en) 2009-03-19

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition