ES312602A1 - Improvements in or relating to master slave manipulators - Google Patents

Improvements in or relating to master slave manipulators

Info

Publication number
ES312602A1
ES312602A1 ES0312602A ES312602A ES312602A1 ES 312602 A1 ES312602 A1 ES 312602A1 ES 0312602 A ES0312602 A ES 0312602A ES 312602 A ES312602 A ES 312602A ES 312602 A1 ES312602 A1 ES 312602A1
Authority
ES
Spain
Prior art keywords
arm
tube
relating
master slave
slave manipulators
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
Application number
ES0312602A
Other languages
Spanish (es)
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
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 Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Publication of ES312602A1 publication Critical patent/ES312602A1/en
Expired 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G7/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with one single controlled member; Details thereof
    • G05G7/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with one single controlled member; Details thereof characterised by special provisions for conveying or converting motion, or for acting at a distance
    • G05G7/10—Manually-actuated control mechanisms provided with one single controlling member co-operating with one single controlled member; Details thereof characterised by special provisions for conveying or converting motion, or for acting at a distance specially adapted for remote control

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

In a manipulator in which the movements of the master arm 6, 8 are transmitted to the slave arm 12, 14 through an intervening wall 2 by coaxial tubes 40, 42, 43 (Fig. 2, not shown) arranged within an outer tube 18, the arm 14 is normally held in a plane at right angles to the axis of the tube 18, as shown in Fig. 1, by means of a remotely operable locking device (Fig. 3, not shown). However, by releasing the locking device the arm 14 may be pivoted about a shaft 30 disposed at right angles to the axis of tube 18 to enable the arm 14 (and hence arm 12) to be aligned with the tube 18 and permit withdrawal of the slave arm through the wall 2.
ES0312602A 1964-05-05 1965-05-05 Improvements in or relating to master slave manipulators Expired ES312602A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR973432A FR1405253A (en) 1964-05-05 1964-05-05 Mechanical manipulator

Publications (1)

Publication Number Publication Date
ES312602A1 true ES312602A1 (en) 1966-06-01

Family

ID=8829371

Family Applications (1)

Application Number Title Priority Date Filing Date
ES0312602A Expired ES312602A1 (en) 1964-05-05 1965-05-05 Improvements in or relating to master slave manipulators

Country Status (8)

Country Link
BE (1) BE663046A (en)
CH (1) CH435904A (en)
DE (1) DE1274298B (en)
ES (1) ES312602A1 (en)
FR (1) FR1405253A (en)
GB (1) GB1095691A (en)
LU (1) LU48503A1 (en)
NL (1) NL6505559A (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4503722A (en) * 1980-02-19 1985-03-12 Kabushiki Kaisha Yaskawa Denki Seisakusho Arm operating device in automatic operating machine
JPS59201790A (en) * 1983-04-30 1984-11-15 ファナック株式会社 Drive for wrist of robot
JPS60127989A (en) * 1983-12-14 1985-07-08 ファナック株式会社 Driving mechanism of wrist of industrial robot
FR2754206B1 (en) * 1996-10-09 1998-10-30 Commissariat Energie Atomique ARTICULATED MECHANICAL ARM

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3128887A (en) * 1960-02-25 1964-04-14 Mechanical manipulators for the displacement of

Also Published As

Publication number Publication date
LU48503A1 (en) 1965-06-29
DE1274298B (en) 1968-08-01
FR1405253A (en) 1965-07-09
CH435904A (en) 1967-05-15
GB1095691A (en) 1967-12-20
NL6505559A (en) 1965-11-08
BE663046A (en) 1965-08-17

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