DE602009000328D1 - Parallelmechanismus - Google Patents

Parallelmechanismus

Info

Publication number
DE602009000328D1
DE602009000328D1 DE602009000328T DE602009000328T DE602009000328D1 DE 602009000328 D1 DE602009000328 D1 DE 602009000328D1 DE 602009000328 T DE602009000328 T DE 602009000328T DE 602009000328 T DE602009000328 T DE 602009000328T DE 602009000328 D1 DE602009000328 D1 DE 602009000328D1
Authority
DE
Germany
Prior art keywords
parallel mechanism
parallel
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
DE602009000328T
Other languages
English (en)
Inventor
Tatsuhiko Nishida
Hideaki Nakanishi
Takashi Nakao
Manabu Yamashita
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.)
Murata Machinery Ltd
Original Assignee
Murata Machinery 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 Murata Machinery Ltd filed Critical Murata Machinery Ltd
Publication of DE602009000328D1 publication Critical patent/DE602009000328D1/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
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • 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
    • 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
    • B23Q1/70—Stationary or movable members for carrying working-spindles for attachment of tools or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • B25J17/0283—Three-dimensional joints
    • 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
    • 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
    • B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
    • 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
    • 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
    • Y10T74/20341—Power elements as controlling elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Testing Of Short-Circuits, Discontinuities, Leakage, Or Incorrect Line Connections (AREA)
DE602009000328T 2008-04-10 2009-03-19 Parallelmechanismus Active DE602009000328D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2008102969A JP4850863B2 (ja) 2008-04-10 2008-04-10 パラレルメカニズム

Publications (1)

Publication Number Publication Date
DE602009000328D1 true DE602009000328D1 (de) 2010-12-23

Family

ID=40592525

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602009000328T Active DE602009000328D1 (de) 2008-04-10 2009-03-19 Parallelmechanismus

Country Status (8)

Country Link
US (1) US8132481B2 (de)
EP (1) EP2116339B1 (de)
JP (1) JP4850863B2 (de)
KR (1) KR101300518B1 (de)
CN (1) CN101554727B (de)
DE (1) DE602009000328D1 (de)
ES (1) ES2354011T3 (de)
TW (1) TW200944347A (de)

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JP4420959B2 (ja) * 2008-04-10 2010-02-24 村田機械株式会社 パラレルメカニズム
DE102008001314A1 (de) * 2008-04-22 2009-10-29 Robert Bosch Gmbh Vorrichtung zum Bewegen und Positionieren eines Gegenstandes im Raum
DE102008025845B4 (de) * 2008-05-29 2013-07-11 Festo Ag & Co. Kg Antriebssystem
DE102008063869A1 (de) * 2008-12-19 2010-07-01 Elau Gmbh Deltaroboter mit besonderer Anordnung der Kugelgelenke
DE112010003206A5 (de) * 2009-08-04 2012-05-24 Majatronic Gmbh Parallelroboter
CN101708611B (zh) * 2009-11-09 2011-07-27 天津大学 一种具有三维平动一维转动的并联机构
CN102069499B (zh) * 2009-11-19 2013-08-28 鸿富锦精密工业（深圳）有限公司 并联机器人
CN102069495B (zh) 2009-11-23 2014-01-22 鸿富锦精密工业（深圳）有限公司 并联机器人
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JP5408211B2 (ja) * 2011-09-06 2014-02-05 株式会社安川電機 パラレルリンクロボット、パラレルリンクロボットシステムおよびパラレルリンクロボットの制御方法
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CN102490185B (zh) * 2011-12-13 2014-05-21 天津大学 面对称五自由度并联机械手
CN102490186B (zh) * 2011-12-13 2013-12-18 天津大学 新型四自由度并联机械手
JP5888988B2 (ja) * 2012-01-06 2016-03-22 日本電産サンキョー株式会社 産業用ロボット
CZ306033B6 (cs) * 2012-02-13 2016-07-07 ÄŚVUT v Praze, Fakulta strojnĂ­ Způsob nastavení polohy manipulačních ramen na nosném rámu a manipulační ramena pro uchycení technologických nebo měřicích prostředků
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CN102773856A (zh) * 2012-08-29 2012-11-14 江西省机械科学研究所 转动运动和平动运动单独控制的空间五自由度机构
JP5674734B2 (ja) * 2012-08-31 2015-02-25 ファナック株式会社 ボールジョイントにより接続されたパラレルリンクロボット
JP5977137B2 (ja) * 2012-10-04 2016-08-24 ヤマハ発動機株式会社 回転軸およびこの回転軸を備える産業用ロボット
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DE102013208082A1 (de) * 2013-05-02 2014-11-06 Krones Aktiengesellschaft Vorrichtung zum Umgang mit Artikeln
DE102013106004A1 (de) * 2013-06-10 2014-12-11 Krones Aktiengesellschaft Vorrichtung zum Umgang mit Artikeln und Verfahren zum Betrieb einer derartigen Vorrichtung
US9884426B2 (en) 2013-06-27 2018-02-06 De-Sta-Co Europe Gmbh Boom utilized in a geometric end effector system
CN103448059B (zh) * 2013-08-19 2015-11-18 燕山大学 含平面六杆闭环支链6自由度并联机构
JP5723426B2 (ja) * 2013-09-02 2015-05-27 株式会社カイジョー 駆動機構及び製造装置
CN103753521B (zh) * 2014-01-17 2016-06-29 天津大学 一种齿轮齿条式四自由度高速并联机器人
CN103817689B (zh) * 2014-02-12 2017-08-25 青岛汇智智能系统工程有限公司 一种并联机器人下底板
CN103786148A (zh) * 2014-02-12 2014-05-14 青岛汇智机器人有限公司 一种并联机器人下底盘
CN103802094A (zh) * 2014-02-14 2014-05-21 青岛汇智机器人有限公司 一种并联机器人
EP2952304A1 (de) * 2014-06-03 2015-12-09 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Feststellung einer unsachgemäßen Belastung eines Elementes
CN104526681B (zh) * 2014-12-25 2016-05-04 东莞理工学院 并联机械手
DE102015211344B4 (de) * 2015-06-19 2019-06-27 Krones Aktiengesellschaft Vorrichtung zur Handhabung von Artikeln und Verfahren zur Verschleißerkennung bei einer solchen Handhabungsvorrichtung
JP6502194B2 (ja) 2015-06-30 2019-04-17 ヤマハ発動機株式会社 産業用ロボット
JP2017052040A (ja) * 2015-09-08 2017-03-16 川崎重工業株式会社 ロボット
JP6374439B2 (ja) * 2016-06-03 2018-08-15 ファナック株式会社 パラレルリンクロボットの関節部の異常検出装置及び異常検出方法
CN106272346A (zh) * 2016-08-31 2017-01-04 上海交通大学 具有三移动二转动解耦的五自由度分拣机器人装置
CN106272348B (zh) * 2016-08-31 2019-05-28 上海交通大学 具有三移二转五自由度的混联分拣机构
CN106429485A (zh) * 2016-12-27 2017-02-22 南宁学院 一种并联滑动微调式码垛机
JP6846717B2 (ja) * 2018-02-14 2021-03-24 ファナック株式会社 ロボットのジョイントの異常検出装置及び異常検出方法
JP6688470B2 (ja) * 2018-03-12 2020-04-28 株式会社安川電機 パラレルリンクロボット及びパラレルリンクロボットシステム
CN108852565A (zh) * 2018-03-14 2018-11-23 北京工业大学 一种可实现环转运动的并联假手腕关节
CN108836582B (zh) * 2018-04-16 2020-04-17 北京工业大学 一种三自由度串并混联假手腕关节
JP7029681B2 (ja) * 2020-03-18 2022-03-04 株式会社安川電機 ロボット制御装置、ロボット制御システム、及びロボット制御方法
CN111496840B (zh) * 2020-06-11 2021-09-24 山东大学 一种基于张拉整体结构的多自由度可变刚度机器人关节及其工作方法
CN114766202B (zh) * 2022-04-14 2023-04-21 华南农业大学 一种九自由度的茶叶采摘机器人

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Also Published As

Publication number Publication date
TW200944347A (en) 2009-11-01
JP2009248289A (ja) 2009-10-29
CN101554727B (zh) 2012-10-03
ES2354011T3 (es) 2011-03-09
EP2116339A1 (de) 2009-11-11
KR20090107924A (ko) 2009-10-14
US8132481B2 (en) 2012-03-13
CN101554727A (zh) 2009-10-14
JP4850863B2 (ja) 2012-01-11
US20090255363A1 (en) 2009-10-15
EP2116339B1 (de) 2010-11-10
KR101300518B1 (ko) 2013-09-02

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