FR2460762A1 - Dispositif pour la commande de l'orientation d'un outil ou d'un element analogue par rapport a une piece - Google Patents

Dispositif pour la commande de l'orientation d'un outil ou d'un element analogue par rapport a une piece Download PDF

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Publication number
FR2460762A1
FR2460762A1 FR7918098A FR7918098A FR2460762A1 FR 2460762 A1 FR2460762 A1 FR 2460762A1 FR 7918098 A FR7918098 A FR 7918098A FR 7918098 A FR7918098 A FR 7918098A FR 2460762 A1 FR2460762 A1 FR 2460762A1
Authority
FR
France
Prior art keywords
tool
support
parallelogram
axis
rotation
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
Application number
FR7918098A
Other languages
English (en)
French (fr)
Other versions
FR2460762B1 (enExample
Inventor
Jean-Paul Frachet
Andre Clement
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.)
Technigaz
Original Assignee
Technigaz
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 Technigaz filed Critical Technigaz
Priority to FR7918098A priority Critical patent/FR2460762A1/fr
Publication of FR2460762A1 publication Critical patent/FR2460762A1/fr
Application granted granted Critical
Publication of FR2460762B1 publication Critical patent/FR2460762B1/fr
Granted 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
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
FR7918098A 1979-07-12 1979-07-12 Dispositif pour la commande de l'orientation d'un outil ou d'un element analogue par rapport a une piece Granted FR2460762A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR7918098A FR2460762A1 (fr) 1979-07-12 1979-07-12 Dispositif pour la commande de l'orientation d'un outil ou d'un element analogue par rapport a une piece

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR7918098A FR2460762A1 (fr) 1979-07-12 1979-07-12 Dispositif pour la commande de l'orientation d'un outil ou d'un element analogue par rapport a une piece

Publications (2)

Publication Number Publication Date
FR2460762A1 true FR2460762A1 (fr) 1981-01-30
FR2460762B1 FR2460762B1 (enExample) 1984-04-20

Family

ID=9227803

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7918098A Granted FR2460762A1 (fr) 1979-07-12 1979-07-12 Dispositif pour la commande de l'orientation d'un outil ou d'un element analogue par rapport a une piece

Country Status (1)

Country Link
FR (1) FR2460762A1 (enExample)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2524363A1 (fr) * 1982-03-30 1983-10-07 Binder Karl Franz Robot pour operations de fabrication et/ou de montage
WO1985000549A1 (en) * 1983-07-20 1985-02-14 Robotics, Incorporated Low cost articulating/articulating and rotating wrist mechanism for automatic machine tool and automatic machine tool employing the same
FR2593106A1 (fr) * 1986-01-22 1987-07-24 Royer Jacques Dispositif de deplacement d'un outil ou analogue en porte-a-faux, notamment autour d'un objet.
WO1988007438A1 (en) * 1987-03-30 1988-10-06 Regents Of The University Of Minnesota Direct-drive active compliant end-effector
EP0699053A4 (en) * 1993-05-14 1996-07-24 Stanford Res Inst Int ACTUATOR WITH REMOTE CONTROLLED CENTERING
US5808665A (en) * 1992-01-21 1998-09-15 Sri International Endoscopic surgical instrument and method for use
US5810880A (en) * 1995-06-07 1998-09-22 Sri International System and method for releasably holding a surgical instrument
US6406472B1 (en) 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
US6772053B2 (en) 1998-12-08 2004-08-03 Visx, Incorporated Aspects of a control system of a minimally invasive surgical apparatus
US7107124B2 (en) 1992-01-21 2006-09-12 Sri International Roll-pitch-roll wrist methods for minimally invasive robotic surgery
WO2007025495A3 (de) * 2005-09-01 2007-08-09 Esab Cutting Systems Gmbh Vorrichtung zum schwenken von objekten
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US9068628B2 (en) 2004-09-30 2015-06-30 Intuitive Surgical Operations, Inc. Robotic arms with strap drive trains
US9585641B2 (en) 2002-12-06 2017-03-07 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US9717486B2 (en) 2001-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Apparatus for pitch and yaw rotation
US9730572B2 (en) 2001-06-29 2017-08-15 Intuitive Surgical Operations, Inc. Articulate and swappable endoscope for a surgical robot
US10595948B2 (en) 2004-09-30 2020-03-24 Intuitive Surgical Operations, Inc. Methods and apparatus for stacked electro-mechancial straps in robotic arms

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6788999B2 (en) 1992-01-21 2004-09-07 Sri International, Inc. Surgical system
US5814038A (en) 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2900829A (en) * 1956-10-08 1959-08-25 Smith Corp A O Welding head positioner
AU4056568A (en) * 1968-07-12 1970-01-15 Uralsky Zavod Tyazhelogo Mashinostroenia Apparatus for flame cutting of metal
DE2222356B1 (de) * 1972-05-06 1973-10-04 Rudolf Kallenbach Schneidbrennerfuehrung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2900829A (en) * 1956-10-08 1959-08-25 Smith Corp A O Welding head positioner
AU4056568A (en) * 1968-07-12 1970-01-15 Uralsky Zavod Tyazhelogo Mashinostroenia Apparatus for flame cutting of metal
DE2222356B1 (de) * 1972-05-06 1973-10-04 Rudolf Kallenbach Schneidbrennerfuehrung

Cited By (43)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2524363A1 (fr) * 1982-03-30 1983-10-07 Binder Karl Franz Robot pour operations de fabrication et/ou de montage
US4543033A (en) * 1982-03-30 1985-09-24 Karl-Franz Binder Industrial robot
WO1985000549A1 (en) * 1983-07-20 1985-02-14 Robotics, Incorporated Low cost articulating/articulating and rotating wrist mechanism for automatic machine tool and automatic machine tool employing the same
US4551058A (en) * 1983-07-20 1985-11-05 Robotics, Inc. Low cost articulating/articulating and rotating wrist mechanism for automatic machine tool and automatic machine tool employing the same
FR2593106A1 (fr) * 1986-01-22 1987-07-24 Royer Jacques Dispositif de deplacement d'un outil ou analogue en porte-a-faux, notamment autour d'un objet.
WO1988007438A1 (en) * 1987-03-30 1988-10-06 Regents Of The University Of Minnesota Direct-drive active compliant end-effector
US4884941A (en) * 1987-03-30 1989-12-05 Regents Of The University Of Minnesota Active compliant end-effector with force, angular position, and angular velocity sensing
US6223100B1 (en) 1992-01-21 2001-04-24 Sri, International Apparatus and method for performing computer enhanced surgery with articulated instrument
US5808665A (en) * 1992-01-21 1998-09-15 Sri International Endoscopic surgical instrument and method for use
US7107124B2 (en) 1992-01-21 2006-09-12 Sri International Roll-pitch-roll wrist methods for minimally invasive robotic surgery
US5800423A (en) * 1993-05-14 1998-09-01 Sri International Remote center positioner with channel shaped linkage element
US5817084A (en) * 1993-05-14 1998-10-06 Sri International Remote center positioning device with flexible drive
US5931832A (en) * 1993-05-14 1999-08-03 Sri International Methods for positioning a surgical instrument about a remote spherical center of rotation
US6106511A (en) * 1993-05-14 2000-08-22 Sri International Methods and devices for positioning a surgical instrument at a surgical site
EP0699053A4 (en) * 1993-05-14 1996-07-24 Stanford Res Inst Int ACTUATOR WITH REMOTE CONTROLLED CENTERING
US6406472B1 (en) 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
US6758843B2 (en) 1993-05-14 2004-07-06 Sri International, Inc. Remote center positioner
US5810880A (en) * 1995-06-07 1998-09-22 Sri International System and method for releasably holding a surgical instrument
US6080181A (en) * 1995-06-07 2000-06-27 Sri International System and method for releasably holding a surgical instrument
US6772053B2 (en) 1998-12-08 2004-08-03 Visx, Incorporated Aspects of a control system of a minimally invasive surgical apparatus
US9717486B2 (en) 2001-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Apparatus for pitch and yaw rotation
US10506920B2 (en) 2001-06-29 2019-12-17 Intuitive Surgical Operations, Inc. Articulate and swappable endoscope for a surgical robot
US11051794B2 (en) 2001-06-29 2021-07-06 Intuitive Surgical Operations, Inc. Apparatus for pitch and yaw rotation
US10105128B2 (en) 2001-06-29 2018-10-23 Intuitive Surgical Operations, Inc. Apparatus for pitch and yaw rotation
US9730572B2 (en) 2001-06-29 2017-08-15 Intuitive Surgical Operations, Inc. Articulate and swappable endoscope for a surgical robot
US10524868B2 (en) 2002-12-06 2020-01-07 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US9585641B2 (en) 2002-12-06 2017-03-07 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US11633241B2 (en) 2002-12-06 2023-04-25 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US10595948B2 (en) 2004-09-30 2020-03-24 Intuitive Surgical Operations, Inc. Methods and apparatus for stacked electro-mechancial straps in robotic arms
US8062288B2 (en) 2004-09-30 2011-11-22 Intuitive Surgical Operations, Inc. Offset remote center manipulator for robotic surgery
US9068628B2 (en) 2004-09-30 2015-06-30 Intuitive Surgical Operations, Inc. Robotic arms with strap drive trains
US11160626B2 (en) 2004-09-30 2021-11-02 Intuitive Surgical Operations, Inc. Offset remote center manipulator for robotic surgery
US9797484B2 (en) 2004-09-30 2017-10-24 Intuitive Surgical Operations, Inc. Methods for robotic arms with strap drive trains
US8562594B2 (en) 2004-09-30 2013-10-22 Intuitive Surgical Operations, Inc. Offset remote center manipulator for robotic surgery
US10449011B2 (en) 2004-09-30 2019-10-22 Intuitive Surgical Operations, Inc. Offset remote center manipulator for robotic surgery
US9261172B2 (en) 2004-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Multi-ply strap drive trains for surgical robotic arms
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US8256319B2 (en) 2004-09-30 2012-09-04 Intuitive Surgical Operations, Inc. Offset remote center manipulator for robotic surgery
US9803727B2 (en) 2004-09-30 2017-10-31 Intuitive Surgical Operations, Inc. Strap guide system and methods thereof for robotic surgical arms
US10646292B2 (en) 2004-09-30 2020-05-12 Intuitive Surgical Operations, Inc. Electro-mechanical strap stack in robotic arms
KR100974580B1 (ko) 2005-09-01 2010-08-06 에사브 캇팅 시스템스 게엠베하 물체 회동 장치
US8079284B2 (en) 2005-09-01 2011-12-20 Esab Cutting Systems Gmbh Device for swiveling objects
WO2007025495A3 (de) * 2005-09-01 2007-08-09 Esab Cutting Systems Gmbh Vorrichtung zum schwenken von objekten

Also Published As

Publication number Publication date
FR2460762B1 (enExample) 1984-04-20

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