DE69106327T2 - Mehrgelenkige parallelogrammartige Stelleinrichtung. - Google Patents

Mehrgelenkige parallelogrammartige Stelleinrichtung.

Info

Publication number
DE69106327T2
DE69106327T2 DE69106327T DE69106327T DE69106327T2 DE 69106327 T2 DE69106327 T2 DE 69106327T2 DE 69106327 T DE69106327 T DE 69106327T DE 69106327 T DE69106327 T DE 69106327T DE 69106327 T2 DE69106327 T2 DE 69106327T2
Authority
DE
Germany
Prior art keywords
adjusting device
articulated parallelogram
parallelogram
articulated
adjusting
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 - Fee Related
Application number
DE69106327T
Other languages
English (en)
Other versions
DE69106327D1 (de
Inventor
John Peter Karidis
Gerard Mcvicker
Joseph Paul Pawletko
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.)
International Business Machines Corp
Original Assignee
International Business Machines Corp
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 International Business Machines Corp filed Critical International Business Machines Corp
Application granted granted Critical
Publication of DE69106327D1 publication Critical patent/DE69106327D1/de
Publication of DE69106327T2 publication Critical patent/DE69106327T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/22—Feeding members carrying tools or work
    • B23Q5/28—Electric drives
    • 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
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing 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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/035—DC motors; Unipolar motors
    • H02K41/0352—Unipolar motors
    • H02K41/0354—Lorentz force motors, e.g. voice coil motors
    • H02K41/0358—Lorentz force motors, e.g. voice coil motors moving along a curvilinear path
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/18—Machines moving with multiple degrees of freedom

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Machine Tool Units (AREA)
  • Control Of Position Or Direction (AREA)
DE69106327T 1990-10-11 1991-09-21 Mehrgelenkige parallelogrammartige Stelleinrichtung. Expired - Fee Related DE69106327T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US07/596,111 US5180955A (en) 1990-10-11 1990-10-11 Positioning apparatus

Publications (2)

Publication Number Publication Date
DE69106327D1 DE69106327D1 (de) 1995-02-09
DE69106327T2 true DE69106327T2 (de) 1995-07-20

Family

ID=24386024

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69106327T Expired - Fee Related DE69106327T2 (de) 1990-10-11 1991-09-21 Mehrgelenkige parallelogrammartige Stelleinrichtung.

Country Status (4)

Country Link
US (2) US5180955A (de)
EP (1) EP0486787B1 (de)
JP (1) JPH0725046B2 (de)
DE (1) DE69106327T2 (de)

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69032945T2 (de) * 1989-10-20 1999-09-16 Applied Materials Inc Robotereinrichtung
US5447409A (en) * 1989-10-20 1995-09-05 Applied Materials, Inc. Robot assembly
US5410232A (en) * 1992-12-18 1995-04-25 Georgia Tech Research Corporation Spherical motor and method
US5402049A (en) * 1992-12-18 1995-03-28 Georgia Tech Research Corporation System and method for controlling a variable reluctance spherical motor
US5376862A (en) * 1993-01-28 1994-12-27 Applied Materials, Inc. Dual coaxial magnetic couplers for vacuum chamber robot assembly
EP0696242B2 (de) * 1993-04-16 2004-10-13 Brooks Automation, Inc. Handhabungseinrichtung mit gelenkarm
IT1272084B (it) * 1993-12-17 1997-06-11 Comau Spa Robot industriale, particolarmente per la movimentazione di pezzi da una pressa all'altra in una linea di presse
US5649253A (en) * 1995-03-31 1997-07-15 Eastman Kodak Company Self calibration circuit for a camera
US5616917A (en) * 1995-05-16 1997-04-01 Brown & Sharpe Manufacturing Company Device for measuring an angle between pivotally-connected members
DE19681395T1 (de) * 1995-05-16 1998-04-16 Brown & Sharpe Mfg Koordinatenmeßmaschine mit Gelenkarm
GB9614761D0 (en) 1996-07-13 1996-09-04 Schlumberger Ltd Downhole tool and method
US5947213A (en) * 1996-12-02 1999-09-07 Intelligent Inspection Corporation Downhole tools using artificial intelligence based control
US6378627B1 (en) 1996-09-23 2002-04-30 Intelligent Inspection Corporation Autonomous downhole oilfield tool
US6112809A (en) * 1996-12-02 2000-09-05 Intelligent Inspection Corporation Downhole tools with a mobility device
KR19990041206A (ko) * 1997-11-21 1999-06-15 이종수 산업용 로봇의 기준 위치 보정 방법 및 그 장치
US6127832A (en) * 1998-01-06 2000-10-03 International Business Machines Corporation Electrical test tool having easily replaceable electrical probe
SE9900602D0 (sv) * 1999-02-19 1999-02-19 Radians Innova Ab Anordning och metod för att variera den avgivna våglängden från en externkavitetslaser
JP2000301479A (ja) * 1999-04-19 2000-10-31 Denso Corp ロボット制御装置
US6163090A (en) * 1999-06-16 2000-12-19 International Business Machines Corporation Probe position actuator with an elongated stroke
JP3187799B2 (ja) * 1999-12-27 2001-07-11 川崎重工業株式会社 自動探り組立作業方法および装置
GB0002375D0 (en) * 2000-02-03 2000-03-22 Renishaw Plc Reactionless rotary drive mechanism
AT409043B (de) * 2000-02-07 2002-05-27 Heinz Peter Dipl Brandstetter Vorrichtung und verfahren zur zweidimensionalen positionsbestimmung
AU2001259321A1 (en) * 2000-05-02 2001-11-12 Douglas Autotech Corporation Steering column support assembly
US7358635B2 (en) * 2002-04-02 2008-04-15 M-I L.L.C. Magnetic power transmission devices for oilfield applications
US7303010B2 (en) * 2002-10-11 2007-12-04 Intelligent Robotic Corporation Apparatus and method for an autonomous robotic system for performing activities in a well
AU2003303401A1 (en) * 2002-12-31 2004-07-22 Emb-Papst St. Georgen Gmbh And Co. Kg Rotor-position sensor assembly and method for detecting a rotor position
US7433759B2 (en) * 2004-07-22 2008-10-07 Applied Materials, Inc. Apparatus and methods for positioning wafers
WO2006038790A1 (en) * 2004-10-07 2006-04-13 Itrec B.V. Tubular handling apparatus and a drilling rig
US7531979B2 (en) * 2006-09-18 2009-05-12 Asm Technology Singapore Pte Ltd. Direct drive robotic manipulator
US7574082B2 (en) * 2007-03-28 2009-08-11 Verizon Services Organization Inc. Optical power monitoring with robotically moved macro-bending
DE102011103124A1 (de) 2011-05-25 2012-11-29 Audi Ag Elektrische Eingabetaste
JP6458334B1 (ja) * 2018-02-02 2019-01-30 株式会社東京精密 リニア駆動機構及び形状測定機

Family Cites Families (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2282608A (en) * 1940-04-17 1942-05-12 Sun Rubber Co Hoist
US2878641A (en) * 1957-04-08 1959-03-24 Decker Lambert Thermal gravity motor
GB853388A (en) * 1957-09-11 1960-11-09 Nat Res Dev Improvements in or relating to electromagnetic devices for producing mechanical displacements
US3143340A (en) * 1959-05-11 1964-08-04 Wilmot Breeden Ltd Vehicle window regulators
US3924146A (en) * 1975-01-27 1975-12-02 California Computer Products Multiple linear motor positioning system
JPS5685106A (en) * 1979-12-14 1981-07-11 Hitachi Ltd Robot teaching method
EP0060483A1 (de) * 1981-03-18 1982-09-22 Oscar Cordara Handhabungsroboter
JPS58175020A (ja) * 1982-04-05 1983-10-14 Telmec Co Ltd 二次元精密位置決め装置
US4507043A (en) * 1982-09-14 1985-03-26 Textron, Inc. Counterbalance robot arm
JPS5956888A (ja) * 1982-09-22 1984-04-02 Tokyo Erekutoron Kk 二次元駆動装置
US4555189A (en) * 1982-11-23 1985-11-26 Burroughs Corporation Winchester disc drive
US4593191A (en) * 1982-12-29 1986-06-03 At&T Bell Laboratories Pressure and optical sensitive device with deformable protrusions
US4570065A (en) * 1983-01-28 1986-02-11 Pryor Timothy R Robotic compensation systems
JPS60131180A (ja) * 1983-12-16 1985-07-12 松下電器産業株式会社 産業用ロボツト
US4509002A (en) * 1983-12-20 1985-04-02 International Business Machines Corporation Precision X-Y positioner
US4514674A (en) * 1983-12-22 1985-04-30 International Business Machines Corporation Electromagnetic X-Y-Theta precision positioner
US4591198A (en) * 1984-02-16 1986-05-27 Monforte Robotics, Inc. Robotic end effectors
US4672279A (en) * 1984-10-11 1987-06-09 Kabushiki Kaisha Toshiba Robot joint angle detecting system
JPS61121880A (ja) * 1984-11-19 1986-06-09 松下電器産業株式会社 直接駆動方式ロボツト
US4651074A (en) * 1984-12-04 1987-03-17 Wise James A Robotic sensor
GB8513648D0 (en) * 1985-05-30 1985-07-03 Beck M S Slippage sensors
FR2584489B1 (fr) * 1985-07-08 1990-06-08 Bertin & Cie Dispositif pour controler la geometrie d'une structure mecanique.
JPS6224991A (ja) * 1985-07-26 1987-02-02 松下電器産業株式会社 産業用ロボツト
US4662752A (en) * 1985-11-04 1987-05-05 Actel Partnership Position and orientation (POSE) sensor and related method
US4808064A (en) * 1985-12-05 1989-02-28 Odetics, Inc. Micropositioning apparatus for a robotic arm
US4675502A (en) * 1985-12-23 1987-06-23 General Electric Company Real time tracking control for taught path robots
US4756662A (en) * 1986-03-31 1988-07-12 Agency Of Industrial Science & Technology Varible compliance manipulator
DE3737278A1 (de) * 1986-11-04 1988-05-11 Canon Kk Verfahren und vorrichtung zum optischen erfassen der stellung eines objekts
JP2728399B2 (ja) * 1987-03-19 1998-03-18 川崎重工業株式会社 ロボツトの制御方法
JPS63251181A (ja) * 1987-04-08 1988-10-18 松下電器産業株式会社 産業用ロボツト
US4874998A (en) * 1987-06-11 1989-10-17 International Business Machines Corporation Magnetically levitated fine motion robot wrist with programmable compliance
ATE95013T1 (de) * 1988-11-07 1993-10-15 Cornelius Alewyn Jo Kritzinger Elektrische maschine.
US4980839A (en) * 1989-02-03 1990-12-25 Matsushita Electric Industrial Co., Ltd. Method for detecting original position of robot arm for alignment
JPH0790483B2 (ja) * 1989-02-10 1995-10-04 インターナショナル・ビジネス・マシーンズ・コーポレーション コンプライアンス制御方法及びシステム
GB8924500D0 (en) * 1989-10-31 1989-12-20 Portsmouth Tech Consult Scanning devices
US5140242A (en) * 1990-04-30 1992-08-18 International Business Machines Corporation Servo guided stage system

Also Published As

Publication number Publication date
JPH0725046B2 (ja) 1995-03-22
US5180955A (en) 1993-01-19
EP0486787B1 (de) 1994-12-28
EP0486787A1 (de) 1992-05-27
JPH05104367A (ja) 1993-04-27
DE69106327D1 (de) 1995-02-09
US5291112A (en) 1994-03-01

Similar Documents

Publication Publication Date Title
DE69106327T2 (de) Mehrgelenkige parallelogrammartige Stelleinrichtung.
DE69108119D1 (de) Integrale rekonstitutionsvorrichtung.
NO912647D0 (no) Betraktningsanordning.
DE69018921D1 (de) Verstellvorrichtung.
DE59200289D1 (de) Justiervorrichtung.
NO905171D0 (no) Lukkeanordning.
DE69106951D1 (de) Dispersionsvorrichtung.
DE58907933D1 (de) Walzenspalteinstellvorrichtung.
DE59102428D1 (de) Lastverstelleinrichtung.
DE59004171D1 (de) Verstelleinrichtung.
ITRM910970A0 (it) Dispositivo di zettatura.
NO903556D0 (no) Langstrakt pakningsinnretning.
DE59006709D1 (de) Leistungs-Verstelleinrichtung.
DE69113333T2 (de) Ohrstückvorrichtung.
DE59008419D1 (de) Lastverstelleinrichtung.
DE69007066D1 (de) Ventil-Vorrichtung.
DE59106537D1 (de) Mischpolymere.
DE59002858D1 (de) Lastverstelleinrichtung.
DE59106984D1 (de) Lastverstelleinrichtung.
RU1797810C (ru) Приспособление В.П.Бударина дл ловли рыбы
DE69023625T2 (de) Halbleitervorrichtung.
DE59106304D1 (de) Supraleitendes Bauelement.
NL194512B (nl) Klepapparaat.
ES1015227Y (es) Dispositivo henidor graduable.
FI910261A (fi) Regelbar taetning.

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee