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
  • 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
  • B25J17/00—Joints
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J18/00—Arms
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
  • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
• • 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
  • Y10T74/20305—Robotic arm
  • Y10T74/20329—Joint between elements

Definitions

• the present invention relates to a robot manipulator or carrier with three degrees of freedom reduced space.
• Manipulator robots are widely used in the industry to perform tasks that may be repetitive, painful, or require a high level of repeatability.
• One of the most common tasks of a robot is to position and / or orient any solid in space.
• several criteria can contribute in the definition of the architecture of the manipulator such as the reachable space, the footprint, the load capacity ...
• the structure of a manipulator robot is generally formed of two parts.
• a first part comprising first axes starting from the frame, used to position the load manipulated and which constitutes what is called the "carrier”, and a second part bearing the last axes, used to guide the load and which constitutes " wrist".
• the carriers with parallel architectures comprise a frame, several identical branches connected to the frame, the branches being composed of series robots whose links are prismatic, rotoid, ..., motorized or not, and a platform constituting the effector of the robot, to which are connected the endings of all the branches.
• These carriers have a significant footprint compared to the work space achievable.
• the series architecture carriers are formed of mechanical links in series.
• they are provided with at least three links to cover the three degrees of freedom of translation. It could be in order, three rotoid links, three prismatic links, two rotoid links and one prismatic link or one rotoid link and two prismatic links.
• each of them induces a rotation on the load during the positioning thereof, ie each displacement of the load by a rotoid connection is composed of a translational movement and a rotation movement.
• the company KUKA realizes a series carrier with three degrees of freedom having an architecture with three rotoid links.
• This carrier is for example described in the document Innovation in the Flexibility of Food Packaging Machinery, Dena Mullen, 2/10/06, Clemson Univeristy.
• an additional device consisting of the recovery bars and a square has been added.
• This device passive and space-saving, has the function of keeping the effector of the robot horizontal.
• the rotations induced by the rotoidal links of horizontal axes are suppressed.
• additional means formed by a motorized vertical axis of rotation have been added at the effector. Therefore this robot is relatively complex by its implementation, and by its operation because of the additional motorized means.
• serial carrier having at least three degrees of freedom including a frame, members hinged together, a member hinged to the frame and an effector carried by one of the members, and at least three connections between the members and the frame, at least two of the three links being orthogonal axis rotational links and the other being a rotoid connection or a prismatic connection, said carrier comprising at least a first deformable parallelogram device and a passive device transmission of the orientation of the frame of the carrier to the effector of the carrier, said passive transmission device having two links each having at least two intersecting axes of rotation.
• a carrier comprising at least one deformable parallelogram device and an orientation transmission device, forming passive means securing the orientation of the effector to that of the base of the wearer.
• the passive means can be used in other ways, for example to deport at the base of the robot the actuation of one or other of the rotations at the wrist, offering the advantage of obtaining an actuation of these rotations decoupled from the axes of the wrist. carrier for positioning the load.
• the passive orientation transmission device is formed by a double universal joint. It is very simple structure and very robust.
• the carrier has three rotoid links. It offers a very attainable space in relation to its footprint.
• the third link is a rotoid link with an axis parallel to one of the first two links, the two parallel axis rotational links being consecutive, and the robot comprises two planar deformable parallelogram devices and two passive transmission devices.
• the passive transmission devices according to the invention also offer the advantage of being adaptable to different carrier architectures. Their addition does not increase the degree of hyperstatism of the original wearer. In addition, they are not motorized, they do not cause complexification of the control systems and the carrier power supply.
• the present invention therefore relates to a serial carrier with at least three degrees of freedom, comprising a first and a second rotoidal connection of orthogonal axes and at least a third rotoid or prismatic connection, one of the first, second and third links for articulating the carrier on a frame, and comprising an effector, said carrier comprising at least one passive device with deformable parallelogram in the plane connected on the one hand to the frame and on the other hand to the effector, and at least a passive transmission device, said transmission device, comprising a first, a second and a third element, the first element being connected to the frame and having a fixed orientation with respect thereto, the third element being connected to the effector and having a fixed orientation with respect to it, and the second element being articulated to the first element and the third element by two links each carrying at least two secant rotation axes, said at least one deformable parallelogram device and said at least one transmission device being able to restrict the movement of the effector to only three degrees of freedom of translation.
• the passive device with deformable parallelogram is an angle device comprising a parallel arm and a recovery bar and connected by two connecting rods by pivot links, one of the rods having the shape of a square on which is articulated the second element.
• the passive deformable parallelogram device is a cable loop device.
• the transmission device may be of fixed length and form a deformable parallelogram in space with an arm of the passive device with deformable parallelogram. At least one of the links, which comprises at least one transmission device, can then connect the second element to the first element and the third element is a ball joint.
• the transmission device is a double universal joint.
• the double universal joint has a variable length.
• the third link may be a rotoid link with an axis parallel to that of one of the other two links, comprising a second device with a deformable parallelogram in the plane, arranged between the first deformable parallelogram device and the effector.
• the second deformable parallelogram device in the plane may be a square system whose bracket is common to the first bracket device, the second bracket device connecting the first bracket device to the effector, the first and second brackets being articulated on the bracket, said carrier also having a second transmission device connecting the first transmission device to the effector, the two transmission devices being connected by an articulated member by a pivot connection relative to said bracket.
• the second transmission device is for example a double universal joint.
• the third link may be a prismatic link, the planar deformable parallelogram device being a cable and muffle device.
• FIG. 1 is a perspective view of an exemplary embodiment of a carrier with three rotoid links according to the invention
• FIG. 2 is a schematic representation of a double universal joint
• FIG. 3 is a side view of a variant of the carrier of FIG.
• FIGS. 3A and 3B are partial views of the carrier of FIG. 3 on which a deformable parallelogram in the space formed by the transmission device D1 and segment 10 is represented,
• FIG. 4 is a view from above of a carrier of FIG. 3 in two extreme positions
• FIGS. 5A and 5B are partial perspective views of a carrier according to another exemplary embodiment implementing ball joints in two different positions (FIG. 5B shows in particular the effect generated by the replacement of the cardan joints; by patella),
• FIG. 6 is a perspective view of another embodiment of a carrier with three rotoid links
• FIG. 7 is a perspective view of another embodiment of a carrier with three rotoid links according to the invention.
• FIG. 8 is a perspective view of an exemplary embodiment of a carrier with two consecutive rotoid links and a prismatic connection according to the invention
• FIG. 9 is a perspective view of an exemplary embodiment of a carrier with two non-consecutive rotoidal connections and a prismatic connection according to the invention.
• FIG. 10 is a perspective view of an example of a flat deformable parallelogram device formed by a cable loop
• FIGS. 11A to 11D are detailed perspective views of the structure of the carrier of FIG. 1. DETAILED PRESENTATION OF PARTICULAR EMBODIMENTS
• the present invention relates to a carrier having at least three links, of which at least two are orthogonal axis rotational links XI and X2 and the third is a rotational link X4 axis or a prismatic link Yl axis.
• the axes XI, X2 and X4 will be used throughout the description to designate the axes of the rotoidal connections of the wearer, the axis XI being orthogonal to the environment to which the wearer is attached, for example the floor or a wall, and the axes X2 and X4 are orthogonal to the axis XI.
• the same references are used in the description of the various examples and embodiments to designate elements having the same functions.
• FIG 1 we can see an example of a particularly advantageous embodiment of a PI series carrier with three rotoid links comprising a frame 2, intended to be fixed. In the example shown it is fixed to the ground.
• the carrier has several elements articulated between them and articulated on the frame 2.
• the carrier PI comprises a yoke 3 rotatably mounted on the frame 2 about the vertical axis XI forming the first rotoid connection, a first articulated assembly 4 deformable parallelogram, mounted articulated in rotation on the yoke 3 about the axis horizontal X2 with a first longitudinal end 4.1 forming the second rotoid connection, a second articulated assembly 6 with a deformable parallevelogram mounted articulated in rotation about the axis X4 by a first longitudinal end 6.1 on a second longitudinal end 4.2 of the first hinged assembly forming the second rotoid link, and an effector 8.
• the axis X4 is parallel to the axis X2 in this embodiment.
• the effector 8 is for example a device capable of carrying a load or a tool.
• Articulated assemblies 4 and 6 have a deformable parallelogram structure which is well known to those skilled in the art, these will be briefly described.
• the articulated assembly 4 comprises a support arm 10 and a recovery arm 12 mounted parallel to each other.
• the carrying arm 10 is articulated on the yoke 3 about the axis X2, and a rod 14 is articulated on the support arm 10 about the axis X2 and is articulated in rotation about an axis X2 'parallel to X2 on the lever arm 12.
• the rod 14 has a fixed orientation relative to the yoke 3, which imposes the orientation of the bracket 16 around X4.
• actuating the rod 14 around X2 which allows to deport to the base of the robot actuation of one or other of the rotations at the wrist, offering the advantage of to obtain an actuation of these rotations decoupled from the axes of the carrier used to position the load.
• the carrying arm 10 is articulated at its other longitudinal end about the axis X4 on a bracket 16 and the recovery arm 12 is also articulated on the bracket 16 about an axis X4 'parallel to the axis X4.
• the support arm assembly 10, recovery arm 12, rod 14 and bracket 16 forms a planar deformable parallelogram, contained in a substantially vertical plane.
• the second articulated assembly 6 comprises an arrow arm 18 and a recovery arm 20 parallel to each other and articulated by a first end on the bracket 16 respectively about the axis X4 and an axis X4 "parallel to the axis X4, and by a second end to a platelet link 22 respectively about the axis X5 and an axis X5 'parallel to the axis X5.
• the bracket 16 is common to the two articulated assemblies 4, 6.
• the effector 8 is pivotally connected about an axis parallel to the axis XI with the plate 22.
• the articulated assemblies move the plate 22 and the effector 8 into space while maintaining it in horizontal orientation.
• the plate 22 and the effector 8 thus keep a horizontal orientation whatever their movements in the different directions of space.
• the one or more deformable parallelogram articulated assemblies could be replaced by one or more parallelogram cable devices as shown in FIG. 10 in two positions.
• the pulley PI represents the rod 14: its center is carried by the axis X2, and it is fixed relative to the yoke 3.
• the P2 pulley is embedded in the square 16. Its center is carried by the axis X4 and it is in the same plane as the pulley Pl.
• a loop of cable C is wrapped around the two pulleys, and a point of the cable Cl is crimped on the pulley PI, and a second point P2 of the cable is crimped on the pulley P2.
• the orientations of the two pulleys PI, P2 around the axes X2 and X4 are coupled.
• the hen P21 can replace the bracket 16, in this case the assembly 6 is also formed by a parallelogram cable.
• the pulley 16 is a double groove pulley to form one of the pulleys of the cable parallelogram replacing the deformable parallelogram 6.
• the carrier also comprises first and second devices D1 and D2 for transmitting the orientation of the frame 2 to the effector 8.
• the first D1 and second D2 devices for transmitting the orientation of the frame to the effector are formed by double cardan joints.
• the devices D1 and D2 will be designated hereafter as a transmission device D1 and a transmission device D2.
• FIG. 2 A double universal joint is shown diagrammatically in FIG. 2, which comprises a central member 24 of longitudinal axis provided at its two ends with a fork 26, 28 and two other forks 30, 32 connected respectively to the forks 26, 28 by a cross 34, 36 carrying four axes perpendicular to each other.
• the forks 26, 28 are carried at the end of an input shaft and at the end of an output shaft.
• the double universal joint makes it possible to obtain rotation transmission between any input shaft and any output shaft. If the forks 26 and 28 are coplanar, and the output axis is parallel to the input shaft, the universal joint is then called 'homokinetic', and the rotational speeds of the input and output shafts are rigorously equal.
• a rod 40 is fixed on the frame, the first end 38 of the transmission device D1 is connected to the rod 40 and has a fixed orientation relative thereto.
• the link The transmission device D1 comprises a second end 42 linked to, and has a fixed orientation relative to a bar 44 which is articulated in rotation on the bracket 16 about an axis X3 parallel to the axis XI.
• the bar 44 is rotatably mounted on a rod 47 integral with the bracket 16.
• the transmission device D2 has a first end 46 connected to the bar 44 and has a fixed orientation relative thereto.
• the transmission device D2 has a second end 48 connected to the effector 8 and has a fixed orientation relative thereto.
• a rod 50 is fixed on the effector 8, the second end of the transmission device D2 is embedded on the rod 50.
• connections between the second end 42 of the transmission device D1 and the bar 44, between the first end 46 of the transmission device D2 and the bar 44, between the second end 48 of the transmission device D2 and the effector 8 are either slides, or recesses, all the links are not necessarily the same type.
• the rod 50 passes through the plate 22 and is in axis X7 pivot connection parallel to the axis XI with the plate, so that the effector is in pivot connection with the plate.
• the plate can be pierced to accommodate a bearing, which will provide the pivot connection between the effector and the plate.
• the transmission devices comprise a slide connection 52, 54 at their central member so that the central member is of variable length.
• the transmission devices D1 and D2 transmit the vertical axis orientation to the effector via the bar 44 and the rod 50.
• This embodiment with variable length transmission devices makes it possible to obtain a global isostatic assembly. Therefore, it offers the advantage of having a great freedom in the realization of the carrier, more particularly in the arrangement of the axes.
• the carrier may be such that the axes XI and X2 are not concurrent as shown in Figure 11A.
• the articulated assemblies can also be made so that the recovery arms define a plane T that does not contain the axis XI, as shown in FIG. 11B.
• the axis of the pivot connection between the bar 44 and the rod 47 secured to the bracket may not be intersecting with the axis X4, as shown in Figure 11C.
• the axis of the pivot connection between the plate 22 and the effector 8 may have any position relative to the plate 22, as shown in Figure 11D.
• the fixed position of the rod 40 with respect to the ground can be arbitrary.
• the transmission devices are of fixed length.
• the carrier is such that the axes XI and X2 are concurrent, the articulated assemblies are such that the recovery arms 12, 20 define a plane containing the axis XI.
• the axis of the pivot connection between the bar 44 and the rod 47 secured to the bracket is secant with the axis X4 of the rotoid connection.
• the axis of the pivot connection between the plate 22 and the effector 8 is in the plane defined by the recovery arms which contains the axis XI and more is secant with the axis of rotation between the arm of arrow 18 and the plate 22 and the rod 40 has a length and a ground position such that the support arm 10 and the central element of the device D1 form a parallelogram.
• the transmission devices D1 and D2 then form, with the segments 10 and 18 of the carrier, deformable parallelograms in space.
• the parallelogram is deformed by rotation around one of its sides, and / or by modification of its angles.
• the deformable parallelograms are shown in dashed lines in FIGS. 3A and 3B.
• only one of the transmission devices, the first, could include a slide connection.
• FIGS. 5A and 5B partially show a carrier showing the structure of the carrier of FIGS. 3 and 4, but including transmission devices D1 D2 'in which at least one of the universal joint spacers is replaced by a ball joint.
• This carrier nevertheless has singular positions, and its achievable space is considerably limited compared to the carrier having dual cardan joints.
• the transmission devices D1 and D2 do not see the load and can have relatively small dimensions compared to other segments of the carrier.
• the horizontal orientation of the effector is maintained regardless of its displacement in space by the control of the first and second articulated assemblies and thanks to the planar deformable parallelogram devices, and the orientation of vertical axis is maintained through transmission devices Dl and D2.
• carrier P3 three roto links.
• the carrier has two rotoidal links of parallel axes X2 and X4 and a rotoid link of axis X1 orthogonal to X2 and X4.
• the two rotational links of axes X2 and X4 generate induced rotations of axes parallel to the axis X2 (and to the axis X4) and the rotoid connection of axis XI generates an induced rotation about the axis XI.
• the carrier is attached to a vertical wall M, for example a wall.
• the carrier comprises a frame recessed wall M, two articulated assemblies 4, 6, a first articulated assembly 4 on the frame 2 about the axis X2 and a second articulated assembly 6 on the first element articulated about the axis X4.
• the first 4 and second 6 articulated assemblies make it possible to eliminate the induced rotations of axes parallel to the axis X2.
• the carrier comprises a third deformable parallelogram assembly 57 hinged to the second articulated assembly 6 about the axis XI, and a transmission device D1 for transmitting the orientation of the wall to the effector.
• the axis XI is carried by the second segment of the robot, it remains horizontal but not necessarily perpendicular to the wall.
• a plate 55 is articulated about an axis X5 parallel to X4, the second end of the second articulated assembly 6 and on which a rod 56 is fixed.
• the plate 55 has a fixed orientation with respect to the frame 2 fixed to the wall thanks to the two articulated assemblies 4 and 6.
• the transmission device D1 connects the rod 56 to the effector 8 which is in pivot connection axis parallel to X4 with the plate 22 of the third articulated assembly 57.
• the transmission device makes it possible to cross the rotoid connection of axis XI, the induced rotation of axis XI is suppressed by the articulated assembly 57.
• the effector maintains a fixed orientation relative to the plate 55 and therefore relative to the frame 2 through the transmission device Dl.
• the transmission device comprises a slide connection so as to have a variable length thus making the assembly isostatic.
• the joints of the device D1 it is possible by means of a particular arrangement of the joints of the device D1, to form a deformable parallelogram in the space between the latter and the articulated assembly 57.
• the slide connection of the device D1 can be omitted. with a functional hyperstatic assembly.
• at least one of the universal joints of the device D1 can be replaced by a ball joint. The reachable space of the robot is considerably reduced because of a singular position introduced by the ball joint.
• FIG. 7 another example of carrier P4 with three orthogonal axis roto-links can be seen.
• This carrier differs from that of FIG. 1 in that the axes of three rotoid links are orthogonal.
• the carrier comprises two articulated assemblies 4, 6, the second articulated assembly 6 being articulated on the first articulated assembly 4 around the axis X4.
• the carrier implements a transmission device D1 linking the rod 40 to the bar 44, a second transmission device D2 linking the bar 44 to the effector 8, these two transmission devices D1, D2 ensuring the transmission of the orientation vertical axis; and a third transmission device D3 between the bracket 16 and a plate 22 articulated in rotation around an axis parallel to the axis X2 on the connecting rod 23 of the second articulated assembly.
• the effector 8 is articulated on the plate 22 about an axis parallel to the axis XI.
• This third transmission device D3 ensures the transmission of the horizontal axis orientation parallel to X2 to the plate 22, which is imposed on the effector.
• the rotoid links have axes designated XI and X2 and the prismatic link has an axis designated Y1.
• the carrier P5 comprises a frame 2 on which is mounted a yoke 3 articulated in rotation around the axis XI, a support arm 62 rotatably articulated in the yoke 3 about the axis X2 and a carriage 64 able to slide on the carrier arm 62 along the axis Y1.
• a plate 66 is articulated in rotation about an axis parallel to X2 on the carriage 64 and the effector 8 is articulated in rotation on the plate.
• a cable and muffle system 67 known to those skilled in the art connects the axis X2 to the plate 66 so that the plate 66 remains horizontal in the example represent.
• the cable and mitt system is shown partially in Figure 8 for clarity.
• the cable and muffle system is well known to those skilled in the art and its operation will be described briefly. This is used to suppress a rotation whose axis is perpendicular to the axis of a slide link to cross.
• the two mittens 68 move in the same direction and of the same value along the axis Y1, and keep the cable 70 taut.
• the assembly rotates about the axis X2
• the mittens 68 remain motionless relative to the carrying arm 62
• the cable 70 fixed on a pulley 72 connected to the plate 66 on the one hand and on the pulley 71 connected to the clevis 3 on the other hand, makes it possible to eliminate the rotation induced on the plate 66.
• a transmission device D1 with double universal joints is provided between the frame 2 and the effector 8 so as to maintain the axis orientation parallel to the axis XI of the effector 8 relative to the frame 2.
• the device transmission also has a slide connection making the carrier isostatic.
• a carrier comprising in order, from the frame, a prismatic connection, and two rotoidal links of orthogonal axes, in which the orientation of the effector is connected to that of the building.
• a carrier starting from the architecture of the carrier of FIG. 6, and modifying it so as to replace the X2 axis pivot connection linking the robot to the frame by a slide connection of axis X2.
• the return bar of the articulated assembly 4 can be omitted, and the bracket 16 can then be embedded in the support arm 10.
• FIG. 9 shows another example of a carrier P6 having two orthogonal axis rotational connections and a prismatic connection, in which the two rotoid links are not consecutive.
• the carrier comprises a frame 2 fixed to the ground, a shaft 74 rotatable relative to the frame about an axis XI, a carrier arm 75 fixed to the shaft 74 along which is slidable a carriage 77 along Yl axis, an articulated parallelogram assembly 4 mounted hinged on the carriage 77 about the axis X2.
• a cable and muffle system 67 to cross the slide connection makes it possible to eliminate the rotation induced by the rotoid link with axis XI, and to thus link the orientation of the plate 78 to that of the frame, the plate 78 being in pivot connection of axis parallel to XI with the carriage 77.
• the articulated assembly 2 makes it possible to eliminate the induced rotation of the rotoid link with axis X2 and thus to maintain the orientation of the plate 22 horizontally, the latter being in pivot connection of axis parallel to X2 relative to the support arm 10 of the articulated assembly 4
• a dual cardan joint transmission device Dl connects the orientation of the effector 8 to that of the plate 78, the latter being, as in the example of FIG. 1, in pivot connection with an axis parallel to XI with the plate. 22.
• the orientation of the effector is thus linked to that of the frame.
• the transmission device also comprises a slide connection making the assembly isostatic.
• the double cardan joint transmission devices may comprise a slide connection so as to have a variable length and allow isostatic structures to be produced.
• the universal joint connections of the transmission devices whose length is fixed, can be replaced by ball joints, with a particular arrangement of the joints of these devices, so that they form with the corresponding articulated sets, deformable parallelograms in space.
• the transmission of the fixed orientation of the frame to the effector has been described. It keeps a constant orientation regardless of its movements in space. It may be envisaged to modify this orientation by providing a device linked to one of the double universal joints and to the frame or to an intermediate element having the orientation of the frame, able to move the double universal joint and to act on it. orientation of the effector.
• the control of the orientation of the effector is offset on the frame or at the intermediate element and is not shipped at the effector.
• the actuation of the vertical axis rotation is done by actuating the rod 40 in rotation around the axis XI relative to on the frame, for example on a turntable.
• the orientation holding cable may be replaced by a toothed belt, which will allow the vertical axis to be actuated by the plate 78 and the effector 8.
• the series carriers form pure translational positioners.
• the means implemented by the invention have the advantage of being passive, in embodiments, they do not involve motorized means and in other embodiments, the motorized means are upstream of the devices of the invention. transmission, nor to be ordered, they do not increase the degree of hyperstatism of the original bearer. They perform the function of suppressing induced rotations, which is separate from the function of handling the load provided by the wearer himself.
• these means are easily integrable to existing carriers, they are relatively discrete and compact and follow the morphology of the wearer so that they have a very low impact on the achievable space of the original wearer.

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• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Manipulator (AREA)
• Transmission Devices (AREA)

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• 2013
  • 2013-01-08 FR FR1350127A patent/FR3000696B1/fr not_active Expired - Fee Related
• 2014
  • 2014-01-08 WO PCT/EP2014/050194 patent/WO2014108424A1/fr active Application Filing
  • 2014-01-08 JP JP2015551203A patent/JP2016505396A/ja active Pending
  • 2014-01-08 US US14/759,072 patent/US20150336266A1/en not_active Abandoned
  • 2014-01-08 EP EP14700568.0A patent/EP2943317A1/de not_active Withdrawn

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