DE69714715T2 - Einrichtung zur relativbewegung von zwei elementen - Google Patents

Einrichtung zur relativbewegung von zwei elementen

Info

Publication number
DE69714715T2
DE69714715T2 DE69714715T DE69714715T DE69714715T2 DE 69714715 T2 DE69714715 T2 DE 69714715T2 DE 69714715 T DE69714715 T DE 69714715T DE 69714715 T DE69714715 T DE 69714715T DE 69714715 T2 DE69714715 T2 DE 69714715T2
Authority
DE
Germany
Prior art keywords
arrangement
rod
rods
relative
joints
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 - Lifetime
Application number
DE69714715T
Other languages
German (de)
English (en)
Other versions
DE69714715D1 (de
Inventor
Torgny Brogaardh
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.)
ABB AB
Original Assignee
ABB AB
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 ABB AB filed Critical ABB AB
Publication of DE69714715D1 publication Critical patent/DE69714715D1/de
Application granted granted Critical
Publication of DE69714715T2 publication Critical patent/DE69714715T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • 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
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • Y10S414/00—Material or article handling
    • Y10S414/13—Handlers utilizing parallel links
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)
  • Vehicle Body Suspensions (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
DE69714715T 1996-03-14 1997-03-14 Einrichtung zur relativbewegung von zwei elementen Expired - Lifetime DE69714715T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE9600999A SE508890C2 (sv) 1996-03-14 1996-03-14 Manipulator
PCT/SE1997/000434 WO1997033726A1 (en) 1996-03-14 1997-03-14 A device for relative movement of two elements

Publications (2)

Publication Number Publication Date
DE69714715D1 DE69714715D1 (de) 2002-09-19
DE69714715T2 true DE69714715T2 (de) 2003-04-24

Family

ID=20401806

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69714715T Expired - Lifetime DE69714715T2 (de) 1996-03-14 1997-03-14 Einrichtung zur relativbewegung von zwei elementen

Country Status (11)

Country Link
US (1) US6301988B1 (enExample)
EP (1) EP0894038B1 (enExample)
JP (2) JP2000506451A (enExample)
KR (1) KR100484985B1 (enExample)
AT (1) ATE222161T1 (enExample)
AU (1) AU2185097A (enExample)
CA (1) CA2248627A1 (enExample)
DE (1) DE69714715T2 (enExample)
ES (1) ES2184074T3 (enExample)
SE (1) SE508890C2 (enExample)
WO (1) WO1997033726A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9505139B2 (en) 2013-02-15 2016-11-29 Oldin Beheer B.V. Load handling robot with three single degree of freedom actuators

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE508890C2 (sv) * 1996-03-14 1998-11-16 Asea Brown Boveri Manipulator
KR100569638B1 (ko) * 1997-01-14 2006-04-10 에이비비 에이비 2 개의 물체의 상대운동용 장치
US6336374B1 (en) 1997-01-14 2002-01-08 Asea Brown Boveri A.B. Device for relative displacement of two elements
SE513334C2 (sv) 1997-09-12 2000-08-28 Abb Ab Anordning för relativ förflyttning av två element
JP3926501B2 (ja) * 1998-11-13 2007-06-06 ナブテスコ株式会社 ロボットアーム及びその駆動装置
JP2000150617A (ja) * 1998-11-17 2000-05-30 Tokyo Electron Ltd 搬送装置
DE19962247A1 (de) * 1999-12-22 2001-09-20 Agie Sa Bewegungsübertragungsvorrichtung
US6675479B1 (en) 2000-02-29 2004-01-13 The Gillette Company Shaving razor and blade unit with improved guard
SE517356C2 (sv) * 2000-09-11 2002-05-28 Abb Ab Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden
CN1155458C (zh) * 2001-12-31 2004-06-30 天津大学 仅含转动副的二自由度平动并联机器人机构
AU2002226827A1 (en) * 2002-01-16 2003-07-30 Abb Ab Industrial robot
SE524747C2 (sv) 2002-02-06 2004-09-28 Abb Ab Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden
EP1560681A1 (en) * 2002-11-06 2005-08-10 McGILL UNIVERSITY Four-degree-of-freedom parallel manipulator for producing schönflies motions
US20050220580A1 (en) * 2004-03-15 2005-10-06 Thomas Arnold Dual mode stacking system and method of use
EP1800645A1 (de) * 2005-12-21 2007-06-27 Körber AG Verpackung für medizinische Produkte und dergleichen
FR2901596B1 (fr) * 2006-05-24 2010-10-22 Agence Spatiale Europeenne Mecanisme spherique parallele a deux degres de liberte
DE102006039860B3 (de) * 2006-08-25 2008-03-27 Zf Friedrichshafen Ag Betätigungsvorrichtung für Kraftfahrzeuggetriebe
TW200932457A (en) * 2008-01-18 2009-08-01 Fundacion Fatronik Two degree-of-freedom parallel manipulator
IL196421A0 (en) * 2009-01-11 2009-09-22 Effrayim Drori Movable assembly and application to movable devices
CN105563459B (zh) * 2014-10-15 2017-09-05 上海工程技术大学 用于微创手术的解耦两转动串联机构
KR20200105657A (ko) 2018-01-15 2020-09-08 코그니보티스 에이비 산업용 로봇 아암
EP3611420A1 (de) * 2018-08-16 2020-02-19 Ondal Medical Systems GmbH Vorrichtung zum tragen eines monitors

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH617559GA3 (enExample) * 1977-12-29 1980-06-13
CH637869A5 (de) * 1979-06-19 1983-08-31 Microbo Ag Handhabungseinrichtung, insbesondere fuer industrieroboter.
CH672089A5 (enExample) 1985-12-16 1989-10-31 Sogeva Sa
SU1549746A1 (ru) 1987-07-27 1990-03-15 Куйбышевский политехнический институт им.В.В.Куйбышева Промышленный робот
SU1505775A1 (ru) 1987-12-31 1989-09-07 Могилевский Машиностроительный Институт Манипул тор
JPH0623437Y2 (ja) * 1988-10-13 1994-06-22 日産自動車株式会社 工業用ロボットの作業アーム
SU1691092A1 (ru) 1989-10-24 1991-11-15 Одесское специальное конструкторское бюро прецизионных станков Обрабатывающее устройство
GB9107207D0 (en) * 1991-04-05 1991-05-22 Tycho Technology Ltd Mechanical manipulator
US5156062A (en) * 1991-07-01 1992-10-20 Rockwell International Corporation Anti-rotation positioning mechanism
US5386741A (en) 1993-06-07 1995-02-07 Rennex; Brian G. Robotic snake
JP3640087B2 (ja) * 1994-11-29 2005-04-20 豊田工機株式会社 工作機械
SE508890C2 (sv) * 1996-03-14 1998-11-16 Asea Brown Boveri Manipulator
DE19611130A1 (de) * 1996-03-21 1997-09-25 Vdw Verein Deutscher Werkzeugm Vorrichtung zur Erzeugung einer definierten Positionierung und Orientierung mindestens einer Plattform

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9505139B2 (en) 2013-02-15 2016-11-29 Oldin Beheer B.V. Load handling robot with three single degree of freedom actuators
DE102014101912B4 (de) * 2013-02-15 2021-01-14 Oldin Beheer B.V. Lastenhandhabungsroboter mit drei Aktuatoren für einzelne Freiheitsgrade

Also Published As

Publication number Publication date
AU2185097A (en) 1997-10-01
KR19990087796A (ko) 1999-12-27
KR100484985B1 (ko) 2005-06-16
EP0894038A1 (en) 1999-02-03
ES2184074T3 (es) 2003-04-01
SE508890C2 (sv) 1998-11-16
DE69714715D1 (de) 2002-09-19
CA2248627A1 (en) 1997-09-18
JP2008200846A (ja) 2008-09-04
ATE222161T1 (de) 2002-08-15
US6301988B1 (en) 2001-10-16
EP0894038B1 (en) 2002-08-14
SE9600999L (sv) 1997-09-15
SE9600999D0 (sv) 1996-03-14
WO1997033726A1 (en) 1997-09-18
JP2000506451A (ja) 2000-05-30

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