FR2367578A1 - Cardan motorise - Google Patents
Cardan motoriseInfo
- Publication number
- FR2367578A1 FR2367578A1 FR7730812A FR7730812A FR2367578A1 FR 2367578 A1 FR2367578 A1 FR 2367578A1 FR 7730812 A FR7730812 A FR 7730812A FR 7730812 A FR7730812 A FR 7730812A FR 2367578 A1 FR2367578 A1 FR 2367578A1
- Authority
- FR
- France
- Prior art keywords
- axes
- articulation
- elements
- motorized
- around
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
-
- 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
- Y10T74/19—Gearing
- Y10T74/19023—Plural power paths to and/or from gearing
- Y10T74/19126—Plural drivers plural driven
-
- 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
- Y10T74/19—Gearing
- Y10T74/19023—Plural power paths to and/or from gearing
- Y10T74/19144—Miscellaneous [plural power paths]
-
- 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
Abstract
Cardan motorisé dont les trois axes d'articulation se croisent perpendiculairement en un même point. Cette articulation, à laquelle sont incorporés des moteurs permettant de faire tourner ses éléments autour des trois axes précités, ne présente pas l'inconvénient des articulations analogues de la technique antérieure, c'est-à-dire que le mouvement pivotant d'un de ses éléments autour d'un des axes d'articulation n'entraîne pas la nécessité de faire pivoter de façon correspondante ses autres éléments autour des autres axes. Application par exemple aux dispositifs de récupération de satellites à partir d'une navette spatiale.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA263,271A CA1034393A (fr) | 1976-10-13 | 1976-10-13 | Joint articule commande electriquement |
US05/732,733 US4073201A (en) | 1976-10-13 | 1976-10-15 | Powered wrist joint |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2367578A1 true FR2367578A1 (fr) | 1978-05-12 |
FR2367578B1 FR2367578B1 (fr) | 1983-06-03 |
Family
ID=25668374
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR7730812A Granted FR2367578A1 (fr) | 1976-10-13 | 1977-10-13 | Cardan motorise |
Country Status (7)
Country | Link |
---|---|
US (1) | US4073201A (fr) |
JP (1) | JPS5347700A (fr) |
CA (1) | CA1034393A (fr) |
DE (1) | DE2744903A1 (fr) |
FR (1) | FR2367578A1 (fr) |
GB (1) | GB1560181A (fr) |
SE (1) | SE421897B (fr) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2566313A1 (fr) * | 1984-06-26 | 1985-12-27 | Deutsche Forsch Luft Raumfahrt | Dispositif pour le positionnement d'une sonde |
FR2635077A1 (fr) * | 1988-08-08 | 1990-02-09 | Aerospatiale | Articulation auto-motorisee, sans frottement, et ensemble articule tel qu'un panneau solaire de satellite equipe de telles articulations |
WO2021122137A1 (fr) * | 2019-12-18 | 2021-06-24 | Airbus Defence And Space Sas | Dispositif d'orientation d'une charge selon deux axes de rotation orthogonaux |
Families Citing this family (35)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2724004C2 (de) * | 1977-05-27 | 1985-10-24 | Teldix Gmbh, 6900 Heidelberg | Rahmensystem |
US4173324A (en) * | 1978-05-19 | 1979-11-06 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Coupling device for moving vehicles |
US4318522A (en) * | 1979-05-01 | 1982-03-09 | Rockwell International Corporation | Gimbal mechanism |
JPS5844194U (ja) * | 1981-09-21 | 1983-03-24 | 大日機工株式会社 | 産業用ロボツト |
JPS5851090A (ja) * | 1981-09-21 | 1983-03-25 | 株式会社東芝 | 関節装置 |
JPS58126090A (ja) * | 1982-01-18 | 1983-07-27 | 株式会社神戸製鋼所 | 多関節腕機構 |
JPS58211891A (ja) * | 1982-05-31 | 1983-12-09 | 松下電器産業株式会社 | 工業用ロボツト |
FR2534176A1 (fr) * | 1982-10-11 | 1984-04-13 | Pharemme | Avant-bras de robot a pince double |
FR2537301B1 (fr) * | 1982-12-07 | 1986-01-24 | France Etat | Convertisseur electro-mecanique a plusieurs degres de liberte |
JPS59166478A (ja) * | 1983-03-10 | 1984-09-19 | 三菱電機株式会社 | 産業用ロボツト |
DE8310054U1 (de) * | 1983-04-06 | 1986-02-27 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Robotergelenk |
DE3312404A1 (de) * | 1983-04-06 | 1984-10-18 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Robotergelenk |
EP0394225A4 (en) * | 1984-04-12 | 1991-10-30 | Mark E. Rosheim | Wrist actuator |
US4723460A (en) * | 1984-04-12 | 1988-02-09 | Rosheim Mark E | Robot wrist actuator |
FR2576378A1 (fr) * | 1985-01-21 | 1986-07-25 | Stanik Carol | Rotule motorisee |
GB8501654D0 (en) * | 1985-01-23 | 1985-02-27 | Emi Ltd | Compliant coupling mechanism |
US4628765A (en) * | 1985-02-27 | 1986-12-16 | Rensselaer Polytechnic Institute | Spherical robotic wrist joint |
CA1273379A (fr) * | 1986-01-21 | 1990-08-28 | Mark E. Rosheim | Actionneur des tendons du poignet |
US4804220A (en) * | 1986-01-21 | 1989-02-14 | Rosheim Mark E | Wrist tendon actuator |
US4778332A (en) * | 1987-02-09 | 1988-10-18 | The Perkin-Elmer Corporation | Wafer flip apparatus |
FR2620837B1 (fr) * | 1987-09-21 | 1990-11-30 | Commissariat Energie Atomique | Dispositif d'orientation d'un objet autour de deux axes de rotation |
US4878393A (en) * | 1988-05-27 | 1989-11-07 | Oprea Duta | Dextrous spherical robot wrist |
US4821594A (en) * | 1988-06-10 | 1989-04-18 | Mark E. Rosheim | Robot joints |
FR2653761B1 (fr) * | 1989-10-27 | 1992-01-10 | Potain Sa | Robot manipulateur de grande dimension et de forte capacite pour utilisation en milieu ouvert. |
US5239883A (en) * | 1991-09-26 | 1993-08-31 | Rosheim Mark E | Modular robot wrist |
US5243873A (en) * | 1992-01-23 | 1993-09-14 | Honeywell Inc. | Two-axis motion mechanism |
US6026703A (en) * | 1997-08-14 | 2000-02-22 | Stanisic; Michael M. | Dexterous split equator joint |
EP1735213B1 (fr) * | 2004-04-08 | 2015-03-11 | Astrium Limited | Mât dépliable |
CN100544904C (zh) * | 2007-11-09 | 2009-09-30 | 燕山大学 | 实现屈曲和旋转运动的机器人的肘关节 |
DE102009017581B4 (de) * | 2009-04-18 | 2021-06-24 | Igus Gmbh | Mehrachsengelenk insbesondere für die Robotik |
US8498741B2 (en) * | 2009-09-22 | 2013-07-30 | Gm Global Technology Operations | Dexterous humanoid robotic wrist |
DE102012105313A1 (de) * | 2012-06-19 | 2013-12-19 | Technische Universität München | Agiles, angetriebenes Gelenk mit drei Freiheitsgraden |
FR2997384B1 (fr) | 2012-10-26 | 2016-09-16 | Thales Sa | Systeme de motorisation pour articulation a moyens d'enroulement croises a roulement fiabilise |
CN111022866B (zh) * | 2019-12-30 | 2021-07-30 | 深圳瑞尔康生物科技股份有限公司 | 一种全方位扫描工具 |
CN111301725B (zh) * | 2020-03-20 | 2021-09-17 | 上海大学 | 一种机械腕的配平结构及配平方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2083314A1 (fr) * | 1970-03-16 | 1971-12-17 | Westinghouse Electric Corp | |
US3765631A (en) * | 1971-08-06 | 1973-10-16 | Lord Corp | Resilient gimbal mounting |
FR2186331A1 (fr) * | 1972-05-31 | 1974-01-11 | Keller & Knappich Augsburg |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2899677A (en) * | 1953-07-27 | 1959-08-11 | rockall | |
US3164340A (en) * | 1957-03-04 | 1965-01-05 | North American Aviation Inc | Inertial guidance system using vehicle fixed inertial elements |
US3229941A (en) * | 1962-06-04 | 1966-01-18 | Suliteanu Menahem | Antenna support |
US3166949A (en) * | 1964-04-09 | 1965-01-26 | Roger H Lapp | Harmonic drive adjusting means |
US3541561A (en) * | 1968-04-17 | 1970-11-17 | Dynell Elec | High-speed scanner in which a feed arm is pivotally mounted with and angularly movable from a complementary counter-balance arm |
US3626769A (en) * | 1970-04-06 | 1971-12-14 | Ibm | Apparatus for positioning workpieces in selected translational and rotational orientations |
US3691864A (en) * | 1970-11-19 | 1972-09-19 | Ibm | X-y rotational positioning system |
US4006645A (en) * | 1974-09-26 | 1977-02-08 | The Perkin-Elmer Corporation | X, Y, θ alignment mechanism |
-
1976
- 1976-10-13 CA CA263,271A patent/CA1034393A/fr not_active Expired
- 1976-10-15 US US05/732,733 patent/US4073201A/en not_active Expired - Lifetime
-
1977
- 1977-10-03 GB GB40948/77A patent/GB1560181A/en not_active Expired
- 1977-10-06 DE DE19772744903 patent/DE2744903A1/de not_active Withdrawn
- 1977-10-12 JP JP12229277A patent/JPS5347700A/ja active Pending
- 1977-10-12 SE SE7711485A patent/SE421897B/xx unknown
- 1977-10-13 FR FR7730812A patent/FR2367578A1/fr active Granted
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2083314A1 (fr) * | 1970-03-16 | 1971-12-17 | Westinghouse Electric Corp | |
US3765631A (en) * | 1971-08-06 | 1973-10-16 | Lord Corp | Resilient gimbal mounting |
FR2186331A1 (fr) * | 1972-05-31 | 1974-01-11 | Keller & Knappich Augsburg |
Non-Patent Citations (1)
Title |
---|
EXBK/75 * |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2566313A1 (fr) * | 1984-06-26 | 1985-12-27 | Deutsche Forsch Luft Raumfahrt | Dispositif pour le positionnement d'une sonde |
DE3423432A1 (de) * | 1984-06-26 | 1986-01-02 | Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln | Vorrichtung zur positionierung einer probe |
FR2635077A1 (fr) * | 1988-08-08 | 1990-02-09 | Aerospatiale | Articulation auto-motorisee, sans frottement, et ensemble articule tel qu'un panneau solaire de satellite equipe de telles articulations |
EP0354837A1 (fr) * | 1988-08-08 | 1990-02-14 | AEROSPATIALE Société Nationale Industrielle | Articulation auto-motorisée, sans frottement, et ensemble articulé tel qu'un panneau solaire de satellite équipé de telles articulations |
US5086541A (en) * | 1988-08-08 | 1992-02-11 | Aerospatiale Societe Nationale Industrielle | Self-motorized antifriction joint and an articulated assembly, such as a satellite solar panel, equipped with such joints |
WO2021122137A1 (fr) * | 2019-12-18 | 2021-06-24 | Airbus Defence And Space Sas | Dispositif d'orientation d'une charge selon deux axes de rotation orthogonaux |
FR3105180A1 (fr) * | 2019-12-18 | 2021-06-25 | Airbus Defence And Space Sas | Dispositif d’orientation d’une charge selon deux axes de rotation orthogonaux |
Also Published As
Publication number | Publication date |
---|---|
SE7711485L (sv) | 1978-04-14 |
JPS5347700A (en) | 1978-04-28 |
SE421897B (sv) | 1982-02-08 |
CA1034393A (fr) | 1978-07-11 |
GB1560181A (en) | 1980-01-30 |
FR2367578B1 (fr) | 1983-06-03 |
US4073201A (en) | 1978-02-14 |
DE2744903A1 (de) | 1978-04-20 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
ST | Notification of lapse |