EP3010735A1 - Élément élastique de torsion - Google Patents

Élément élastique de torsion

Info

Publication number
EP3010735A1
EP3010735A1 EP14728090.3A EP14728090A EP3010735A1 EP 3010735 A1 EP3010735 A1 EP 3010735A1 EP 14728090 A EP14728090 A EP 14728090A EP 3010735 A1 EP3010735 A1 EP 3010735A1
Authority
EP
European Patent Office
Prior art keywords
spring element
receptacles
torsion spring
secant
zero position
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.)
Withdrawn
Application number
EP14728090.3A
Other languages
German (de)
English (en)
Inventor
Joachim Schmitt
Uwe Kessels
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.)
Audi AG
Original Assignee
Audi AG
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 Audi AG filed Critical Audi AG
Publication of EP3010735A1 publication Critical patent/EP3010735A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F3/00—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic
    • F16F3/02—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
    • B60G11/18—Resilient suspensions characterised by arrangement, location or kind of springs having torsion-bar springs only
    • B60G11/184—Resilient suspensions characterised by arrangement, location or kind of springs having torsion-bar springs only the torsion-bar consisting of a bundle of torsion elements
    • B60G11/188—Resilient suspensions characterised by arrangement, location or kind of springs having torsion-bar springs only the torsion-bar consisting of a bundle of torsion elements the elements being cables
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
    • F16D3/56—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic metal lamellae, elastic rods, or the like, e.g. arranged radially or parallel to the axis, the members being shear-loaded collectively by the total load
    • F16D3/58—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic metal lamellae, elastic rods, or the like, e.g. arranged radially or parallel to the axis, the members being shear-loaded collectively by the total load the intermediate members being made of rubber or like material
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
    • F16D3/60—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising pushing or pulling links attached to both parts
    • F16D3/62—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising pushing or pulling links attached to both parts the links or their attachments being elastic
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00—Springs
    • F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
    • F16F1/366—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers made of fibre-reinforced plastics, i.e. characterised by their special construction from such materials
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/10—Type of spring
    • B60G2202/13—Torsion spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/10—Type of spring
    • B60G2202/14—Plastic spring, e.g. rubber
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2206/00—Indexing codes related to the manufacturing of suspensions: constructional features, the materials used, procedures or tools
    • B60G2206/01—Constructional features of suspension elements, e.g. arms, dampers, springs
    • B60G2206/40—Constructional features of dampers and/or springs
    • B60G2206/42—Springs
    • B60G2206/427—Stabiliser bars or tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2206/00—Indexing codes related to the manufacturing of suspensions: constructional features, the materials used, procedures or tools
    • B60G2206/01—Constructional features of suspension elements, e.g. arms, dampers, springs
    • B60G2206/70—Materials used in suspensions
    • B60G2206/71—Light weight materials
    • B60G2206/7101—Fiber-reinforced plastics [FRP]
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2224/00—Materials; Material properties
    • F16F2224/02—Materials; Material properties solids
    • F16F2224/0241—Fibre-reinforced plastics [FRP]
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2236/00—Mode of stressing of basic spring or damper elements or devices incorporating such elements
    • F16F2236/08—Torsion

Definitions

  • the present invention relates to a torsion spring element having at least two axially spaced apart and rotatable relative to each other spring element receptacles, and at least one radially spaced from the axis of rotation and connecting the spring element receiving elastic spring element.
  • Such torsion spring elements allow a relative pivotal movement of the spring element receptacles and the correspondingly attached components about the common axis of rotation.
  • a possible application for a torsion spring element of the type mentioned is found in the automotive industry in the chassis of a vehicle. Here, for example, it is necessary to record the vibration excitations introduced by the roadway via the wheels.
  • DE 100 26 119 A1 discloses an elastic torsion spring element, which has a first inherently rigid connection part, a second inherently rigid connection part and at least three end-to-end mounted on the two connection parts and extending between these shape-changing connecting parts, wherein the connecting parts, the torsional forces and / or Movements around a main axis of the Torsionsfederelements mediate between the connecting parts.
  • the connecting parts are arranged rotationally symmetrical to the main axis and have, at least in a plurality of functional positions of the Torsionsfederelements, between the two connecting parts on a helically curved around the main axis around course with variable pitch.
  • the helical design of the connecting parts requires but that the structural element is effective only in one direction of rotation and in the other direction has a significant idle until the connecting parts take effect.
  • the CN 1749593 A shows a generic Torsionsfederlement with two axially spaced apart and rotatable relative to each other, disk-shaped spring element receptacles, as well as a plurality of radially spaced from the axis of rotation and the spring element receiving connecting elastic spring elements.
  • the spring elements are formed as strips of elastic material and mounted firmly in the spring element receptacles. With a relative rotation of the spring element receptacles about the common axis of rotation, the spring elements are bent accordingly, whereby a restoring force is exerted on the spring element receptacles. However, this results in a shortening of the total length of the Torsionsfederelements.
  • the object of the present invention is therefore to provide an alternative embodiment of a torsion spring element.
  • a torsion spring element has at least two axially spaced apart and rotatable relative to each other spring element receptacles, and at least one radially spaced from the axis of rotation and the spring element recordings connecting elastic spring element, the at least one elastic spring element, at a relative rotational deflection of the spring element recordings out of the zero position, lengthened and experiencing an axial force with an axial force vector and a secant force with a secant force vector, the direction of the secant force vector depending on the displacement from the null position, and the secant force by means of a perpendicular on the secant force vector to the axis of rotation extending lever arm, a restoring moment on the spring element picking exercises.
  • the torsion spring element speaks in a deflection from the zero position out in both directions, preferably evenly with a directed to the zero position restoring moment.
  • the restoring moment is not generated by a bending stress of the spring elements, but by their elongation, resulting in a secant force with a secant force vector.
  • the secant force generates this restoring moment by means of the lever arm, which is perpendicular to the secant force vector and directed to the axis of rotation. It is important that the spring elements are elastic, so return to their initial state after elimination of the applied force, since in this way the restoring moment is generated on the spring element recordings.
  • the spring element receptacles are constantly spaced from each other by means of a shaft forming the axis of rotation.
  • the shaft is preferably provided with corresponding bearings to improve the rotatability, so that the behavior of the torsion spring element occurs smoothly when introducing a torque.
  • the shaft consists of a hollow shaft with a rotatably mounted therein solid shaft. A constant spacing supports the restoring moment generated by the elongation of the spring elements.
  • the spring element receptacles are constantly spaced from one another via a housing that rotatably supports the spring element receptacles.
  • the housing indirectly defines the axis of rotation of the spring element receptacles and at least partially surrounds them in a protective manner. This allows on the one hand connect the constant spacing of the spring element recordings and on the other hand, the protection of the components together.
  • the housing is preferably constructed as a hollow cylinder with two cutouts arranged on both sides (base and top surface) for mounting the spring element receptacles and, for better availability, consists of two shell-shaped housing halves.
  • the spring element receptacles are disc-shaped.
  • Disc-shaped images offer advantages in terms of space utilization.
  • the length of the lever arm can be controlled to the receiving points of the spring elements, which in turn affects the restoring torque.
  • other topology-optimized forms eg polygons
  • the spring element receptacles each have corresponding pins, which are looped around by the at least one spring element.
  • the pins can be integrally formed with the spring element receptacles or joined with them (screwed, pressed).
  • the concrete shape of the pin should support the introduction of force into the spring elements and in particular to avoid undesirable load conditions.
  • the pins are arranged distributed over a radial lateral surface of the spring element receptacles.
  • the at least one spring element in the zero position exerts a defined axial force on the associated spring element receptacles. By this bias, the response of the Torsionsfederelements can influence specifically.
  • the resulting axial force results in a deflection of the spring element recordings from the zero position in the at least one spring element to an elastic deflection of at least one of the associated spring element recordings. Due to the additional elastic bending of the spring element receptacles toward one another, the spring characteristic of the entire torsion spring element can be further influenced.
  • the at least one spring element consists of a glass fiber reinforced plastic.
  • Glass fibers have the advantage that they are inexpensive, have a relatively high elongation at break, absorb almost no moisture, and have a low modulus of elasticity with high strength and low creep.
  • other fiber types such as carbon fibers, aramid fibers or natural fibers can be used.
  • the fiber types mentioned can be embedded in a matrix of a resin for extending the service life. Another possibility is the use of spring steel strips or elastomers.
  • Fig. 1a is an isometric view of a torsion spring element in zero position
  • Figure 1 b is an isometric view of a torsion spring element with a deflection from the zero position.
  • Fig. 2a is a side view of a first embodiment of a Torsionsfederelements;
  • FIG. 2b shows a sectional view of a first embodiment of a Torsionsfederelements
  • FIG. 3a shows a side view of a second embodiment of a Torsionsfederelements
  • FIG. 3b is a sectional view of a second embodiment of a Torsionsfederelements
  • FIG. 4 is a sectional view of a third embodiment of a Torsionsfederelements
  • Fig. 5 is a schematic representation of the forces acting in a front view
  • Fig. 6 is a schematic representation of the forces acting in a plan view.
  • a torsion spring element 1 has two spring element receptacles 2, which are constantly axially spaced apart from each other via a shaft 4.
  • the shaft 4 forms an axis of rotation D, around which the two spring element receptacles 2 can rotate relative to each other upon application of a torque.
  • Each of the two spring element receptacles 2 has a plurality of axially projecting from the lateral surface pin 5, which are so entwined by elastic spring elements 3, that the pins 5 of the opposite spring element receptacles 2 are each connected in pairs. Torques of the components which can be connected thereto can be inserted into the torsion spring element 1 via the spring element receptacles 2. be directed.
  • the torsion spring element 1 is in the zero position, while in Fig. 1b, the torsion spring element 1 has a deflection from the zero position.
  • the spring elements 3 are elongated by the acting forces and therefore exert a restoring moment in the direction of zero position on the spring element receptacles 2.
  • a first embodiment of a torsion spring element 1 has two spring element receptacles 2, which are constantly axially spaced apart from one another via a shaft 4.
  • the shaft 4 forms an axis of rotation D, around which the two spring element receptacles 2 can rotate relative to each other upon application of a torque.
  • the shaft 4 consists of a hollow shaft 4 a, which is rotatably connected to one of the two spring element receptacles 2, and a solid shaft 4 b, which is rotatably connected to the other spring element receptacle 2.
  • the solid shaft 4b is rotatably mounted in the hollow shaft 4a.
  • Each of the two spring element receptacles 2 has a plurality of axially projecting from the lateral surface pin 5, which are so entwined by elastic spring elements 3, that the pins 5 of the opposite spring element receptacles 2 are each connected in pairs.
  • the spring elements 3 hold by the axial tension and the composite of hollow shaft 4a and 4b solid shaft together. Torques of the components which can be connected thereto can be introduced into the torsion spring element 1 via the spring element receptacles 2.
  • a second embodiment of a torsion spring element 1 has two spring element receptacles 2 which are constantly axially spaced apart from one another via a shaft 4.
  • the shaft 4 forms an axis of rotation D, around which the two spring element receptacles 2 can rotate relative to each other upon application of a torque.
  • Each of the two spring element receptacles 2 has a plurality of axially projecting from the lateral surface pin fifth auf, which are so wrapped in elastic spring elements 3, that the pins 5 of the opposite spring element receptacles 2 are each connected in pairs.
  • the spring elements 3 hold by the axial tension and the composite of shaft 4 and recess 4c together. Torques of the components which can be connected thereto can be introduced into the torsion spring element 1 via the spring element receptacles 2.
  • a third embodiment of a torsion spring element 1 has two spring element receptacles 2 which are constantly axially spaced apart from one another via a housing 6.
  • the housing 6 thereby defines an axis of rotation D, around which the two spring element receptacles 2 can rotate relative to each other upon application of a torque.
  • the housing 6 is formed substantially hollow cylindrical and is preferably assembled from two housing halves, so that the housing 6 can store the spring element receptacles 2 rotatable in corresponding recesses and at least partially surrounds them.
  • Each of the two Federeiement- receptacles 2 has a plurality of axially projecting from the lateral surface pin 5, which are so wrapped by elastic spring elements 3, that the pin 5 of the opposite spring element receptacles 2 are each connected in pairs. Torques of the components which can be connected thereto can be introduced into the torsion spring element 1 via the spring element receptacles 2.
  • Fig. 5 shows the forces acting in one of the spring elements in frontal view of the (not shown) Torsionsfederelement, being selected as a reference spring receiving element 2 and the other spring element receptacle 2 (both not shown) relative to a radial angle of rotation ⁇ of the zero position A in the deflection B has been deflected.
  • the radius R is the distance from the connection point of the spring element to the spring element receiving and the rotation axis D.
  • the radius R is constant in the zero position A and the deflection B.
  • the spring element acts at Deflection B a secant force with a secant force vector E.
  • the lever arm H connects the rotation axis D with the secant force vector E, the lever arm H is perpendicular to the secant force vector E.
  • the secant force exerts a restoring moment M on the spring element receptacles by means of the lever arm D defined by the secant force vector E, which always forces the latter back towards the zero position A.
  • the secant force in the secant force vector E can be determined as follows:
  • Fig. 6 shows the forces acting in one of the spring elements in plan view of the (not shown) Torsionsfederelement, being selected as a reference spring receiving element and the other spring element receptacle (both not shown) relative thereto by an axial rotation angle ⁇ of the zero position A in the deflection B was deflected.
  • the axial force vector X and the secant force vector E clamp the spring element force vector L in the resulting force triangle.
  • the mutual dependencies can be calculated with the following formulas, wherein R defines the distance between the spring element and the axis of rotation D as a radius (see FIG. 5):
  • the elongation of the spring element can be determined by the following formulas:

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Springs (AREA)

Abstract

La présente invention concerne un élément élastique de torsion (1) qui comporte au moins deux montures d'éléments élastiques, espacées axialement et aptes à tourner l'une par rapport à l'autre, et un ou plusieurs éléments élastiques (3) espacés radialement de l'axe de rotation D et reliant les montures d'éléments élastiques (2). Lorsque les montures d'éléments élastiques (2) sont soumises à une déviation relative en rotation depuis la position neutre A, le ou les éléments élastiques (3) s'allongent et sont alors soumis à une force axiale suivant un vecteur de force axiale X et à une force sécante suivant un vecteur de force sécante E. La direction du vecteur de force sécante E dépend de la déviation B par rapport à la position neutre A et la force sécante exerce un couple de rappel M sur les montures d'éléments élastiques (2) au moyen d'un bras de levier H qui s'étend verticalement du vecteur de force sécante E à l'axe de rotation D.
EP14728090.3A 2013-06-21 2014-06-03 Élément élastique de torsion Withdrawn EP3010735A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201310010418 DE102013010418A1 (de) 2013-06-21 2013-06-21 Torsionsfederelement
PCT/EP2014/001495 WO2014202185A1 (fr) 2013-06-21 2014-06-03 Élément élastique de torsion

Publications (1)

Publication Number Publication Date
EP3010735A1 true EP3010735A1 (fr) 2016-04-27

Family

ID=50884857

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14728090.3A Withdrawn EP3010735A1 (fr) 2013-06-21 2014-06-03 Élément élastique de torsion

Country Status (3)

Country Link
EP (1) EP3010735A1 (fr)
DE (1) DE102013010418A1 (fr)
WO (1) WO2014202185A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013017708B4 (de) 2013-10-24 2015-08-27 Audi Ag Torsionsfederelement
DE102013017707B4 (de) 2013-10-24 2019-03-14 Audi Ag Torsionsfederelement
DE102013017687A1 (de) 2013-10-24 2015-04-30 Audi Ag Torsionsfederelement

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996027055A1 (fr) * 1995-03-01 1996-09-06 Krumme Robert C Dispositifs et procedes d'amortissement par hysterese
FR2847958A1 (fr) * 2002-12-03 2004-06-04 Commissariat Energie Atomique Ressort d'equilibrage, pour mecanisme articule, notamment pour bras de robot.

Family Cites Families (9)

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Publication number Priority date Publication date Assignee Title
US2884240A (en) * 1955-01-07 1959-04-28 Robert W Loughlin Tension spring
US4214458A (en) * 1978-12-11 1980-07-29 Dayco Corporation Flexible coupling and method of making same
DE19528560C1 (de) * 1995-08-03 1997-01-30 Sgf Gmbh & Co Kg Schwingungstilger
DE10026169C2 (de) 1999-05-26 2003-06-05 Deutsch Zentr Luft & Raumfahrt Verwendung eines elastischen Konstruktionselements als Torsionsfeder
GB0402625D0 (en) * 2004-02-06 2004-03-10 Boc Group Plc Vibration damper
CN1749593A (zh) 2005-10-17 2006-03-22 杨海洋 组合式扭转弹簧
US20080274816A1 (en) * 2007-05-04 2008-11-06 Mcclellan W Thomas Non-helical, multiple compound element, true torsion system
DE102010035524A1 (de) * 2010-08-25 2012-03-01 Benteler Automobiltechnik Gmbh Faserverbundwerkstoffstabilisator
US20130074620A1 (en) * 2011-09-23 2013-03-28 First Dome Corporation Semiautomatic rotational/swinging device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996027055A1 (fr) * 1995-03-01 1996-09-06 Krumme Robert C Dispositifs et procedes d'amortissement par hysterese
FR2847958A1 (fr) * 2002-12-03 2004-06-04 Commissariat Energie Atomique Ressort d'equilibrage, pour mecanisme articule, notamment pour bras de robot.

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2014202185A1 *

Also Published As

Publication number Publication date
DE102013010418A1 (de) 2014-12-24
WO2014202185A1 (fr) 2014-12-24

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