FR2513926B1 - Mecanisme de commande du bras de prehension d'un manipulateur robot - Google Patents

Mecanisme de commande du bras de prehension d'un manipulateur robot

Info

Publication number
FR2513926B1
FR2513926B1 FR8214951A FR8214951A FR2513926B1 FR 2513926 B1 FR2513926 B1 FR 2513926B1 FR 8214951 A FR8214951 A FR 8214951A FR 8214951 A FR8214951 A FR 8214951A FR 2513926 B1 FR2513926 B1 FR 2513926B1
Authority
FR
France
Prior art keywords
control arm
arm mechanism
robot manipulator
manipulator
robot
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
FR8214951A
Other languages
English (en)
Other versions
FR2513926A1 (fr
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of FR2513926A1 publication Critical patent/FR2513926A1/fr
Application granted granted Critical
Publication of FR2513926B1 publication Critical patent/FR2513926B1/fr
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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • 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
    • B25J9/046—Revolute coordinate type
    • 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
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • 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
FR8214951A 1981-10-05 1982-09-01 Mecanisme de commande du bras de prehension d'un manipulateur robot Expired FR2513926B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NO813365A NO148986C (no) 1981-10-05 1981-10-05 Anordning ved robotmanipulator

Publications (2)

Publication Number Publication Date
FR2513926A1 FR2513926A1 (fr) 1983-04-08
FR2513926B1 true FR2513926B1 (fr) 1986-04-18

Family

ID=19886257

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8214951A Expired FR2513926B1 (fr) 1981-10-05 1982-09-01 Mecanisme de commande du bras de prehension d'un manipulateur robot

Country Status (17)

Country Link
US (1) US4531885A (fr)
JP (1) JPS5859778A (fr)
AU (1) AU564096B2 (fr)
BR (1) BR8207889A (fr)
CA (1) CA1207356A (fr)
CH (1) CH660997A5 (fr)
DE (1) DE3227508A1 (fr)
DK (1) DK153128C (fr)
FI (1) FI73616C (fr)
FR (1) FR2513926B1 (fr)
GB (1) GB2107279B (fr)
IT (1) IT1152692B (fr)
MX (1) MX156892A (fr)
NO (1) NO148986C (fr)
SE (1) SE8205499L (fr)
SU (1) SU1304741A3 (fr)
WO (1) WO1983001222A1 (fr)

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DE3434205A1 (de) * 1984-09-18 1986-03-27 Wabco Westinghouse Fahrzeugbremsen GmbH, 3000 Hannover Geber fuer ein schaltgetriebe eines kraftfahrzeugs
SE454250B (sv) * 1984-09-24 1988-04-18 Asea Ab Industrirobot med linjera drivanordningar
US4693663A (en) * 1984-10-05 1987-09-15 Donaldson Company, Inc. Robot with articulated arm
US4702668A (en) * 1985-01-24 1987-10-27 Adept Technology, Inc. Direct drive robotic system
JPS61249286A (ja) * 1985-04-27 1986-11-06 フアナツク株式会社 産業用ロボツト
US4644897A (en) * 1985-10-01 1987-02-24 Graco Robotics, Inc. Modular robotic finishing work center
SE460529B (sv) * 1986-02-18 1989-10-23 Asea Ab Industrirobot
US4784010A (en) * 1987-04-27 1988-11-15 Graco Robotics Inc. Electric robotic work unit
US4897015A (en) * 1987-05-15 1990-01-30 Ade Corporation Rotary to linear motion robot arm
US5064340A (en) * 1989-01-20 1991-11-12 Genmark Automation Precision arm mechanism
US4899602A (en) * 1989-03-24 1990-02-13 Graco Robotics, Inc. Indicator for monitoring linear activator position
JPH0832402B2 (ja) * 1989-12-28 1996-03-29 川崎重工業株式会社 産業用ロボツト
JPH03239483A (ja) * 1990-02-15 1991-10-25 Fanuc Ltd 産業用ロボットの駆動機構
US5220849A (en) * 1990-06-04 1993-06-22 Akr S.A., A Corp. Of Republic Of France Gravitational torque compensation system for robot arms
FR2734556A1 (fr) * 1995-05-24 1996-11-29 Const Mecaniques Et Automatisa Bras de manoeuvre et vehicule equipe dudit bras
BR112013002061A2 (pt) 2010-07-28 2016-05-24 Medrobotics Corp sistema de suporte e posicionamento cirúrgico
JP5711380B2 (ja) 2010-10-22 2015-04-30 メドロボティクス コーポレイション 多関節のロボティックプローブ
EP2637551B1 (fr) 2010-11-11 2019-10-02 Medrobotics Corporation Dispositifs d'introduction de sondes robotiques très articulées
WO2013039999A2 (fr) 2011-09-13 2013-03-21 Medrobotics Corporation Sondes très articulées pourvues d'un dispositif d'articula`tion anti-torsion, ses procédés de fabrication, et procédés de réalisation d'interventions médicales
KR20140104502A (ko) 2011-12-21 2014-08-28 메드로보틱스 코포레이션 링크를 구비한 고도의 관절 프로브용 안정화 장치, 그 제조 방법 및 그 사용 방법
CN102689308B (zh) * 2012-01-04 2014-06-11 河南科技大学 一种机械手爬杆器
AU2013299440A1 (en) 2012-08-09 2015-03-05 Medrobotics Corporation Surgical tool positioning systems
AT512778B1 (de) * 2012-09-10 2013-11-15 Rosendahl Masch Gmbh Vorrichtung zum Handhaben von plattenförmigen Gegenständen
EP2996619A4 (fr) 2013-05-02 2017-01-18 Medrobotics Corporation Système robotique comprenant un ensemble interface à câbles
KR101510020B1 (ko) * 2013-12-18 2015-04-07 현대자동차주식회사 로봇팔
US10004568B2 (en) 2013-12-30 2018-06-26 Medrobotics Corporation Articulating robotic probes
CN104002304B (zh) * 2014-05-08 2015-11-25 昆明理工大学 一种新型气动机械手
CN104260091A (zh) * 2014-08-11 2015-01-07 刘胜喜 工业机器人
CN104912309B (zh) * 2015-06-02 2017-08-11 山东漆品汇电子商务有限公司 一种钢结构建筑物高空作业喷涂机器人
RU2719226C1 (ru) * 2016-12-06 2020-04-17 Тмт Тэппинг-Межеринг-Текнолоджи Сарль Манипулятор для поворачивания манипулируемого объекта
CN109264635B (zh) * 2017-07-18 2023-09-29 山东宏大安装股份有限公司 一种叉车机器人用大空间动臂升降机构
USD874655S1 (en) 2018-01-05 2020-02-04 Medrobotics Corporation Positioning arm for articulating robotic surgical system
CN109664277B (zh) * 2019-01-27 2024-01-09 浙江大学 一种全直动液压缸驱动机械臂
CN110394813B (zh) * 2019-08-15 2024-04-09 桂林电子科技大学 一种可多方位抓取物体的物料搬运机器人
US11644375B2 (en) * 2020-09-03 2023-05-09 GM Global Technology Operations LLC Insertion force measurement system
CN112775954A (zh) * 2020-12-28 2021-05-11 航天科工智能机器人有限责任公司 一种新型的轻型机械臂
CN114346741A (zh) * 2021-12-13 2022-04-15 江苏迈斯特重工机械有限公司 用于上下料的机械手
CN114873250B (zh) * 2022-05-27 2023-08-11 赛那德数字技术(上海)有限公司 卸货机械手及其控制方法

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US1979782A (en) * 1931-12-16 1934-11-06 Curtis Wiley Marine Salvors Mechanical arm and hand
FR1255924A (fr) * 1957-12-26 1961-03-17 Fresard Pannetton Ets Procédé d'aménagement de bras préhenseur à positions multiples et bras préhenseur ainsi obtenu
GB874104A (en) * 1958-11-12 1961-08-02 Vyzk A Zkusebni Letecky Ustav A remotely-controlled manipulator
SU146165A1 (ru) * 1959-08-24 1961-11-30 А.Ф. Егоров Исполнительный механизм манипул тора дл работы с радиоактивными веществами
FR1371685A (fr) * 1963-10-15 1964-09-04 Lemer & Cie Manipulateur à distance commandé par vérins
FR92845E (fr) * 1966-07-13 1969-01-03 Siersatom S A Bras a orientations multiples.
US3630389A (en) * 1970-09-30 1971-12-28 Gen Electric Material-handling apparatus
GB1374997A (en) * 1971-10-11 1974-11-20 Int Research & Dev Co Ltd Hydraulically-operated manipulators or actuators
JPS5439875B2 (fr) * 1972-05-09 1979-11-30
FR2183584B1 (fr) * 1972-05-10 1974-09-27 Commissariat Energie Atomique
NO131906C (fr) * 1973-02-13 1975-08-20 Trallfa Nils Underhaug As
JPS5648494B2 (fr) * 1974-07-02 1981-11-16
FR2278457A1 (fr) * 1974-07-18 1976-02-13 Commissariat Energie Atomique Manipulateur motorise a cables
JPS5439875U (fr) * 1977-08-24 1979-03-16
FR2434685A1 (fr) * 1978-09-04 1980-03-28 Commissariat Energie Atomique Manipulateur motorise
FR2462607A2 (fr) * 1978-09-20 1981-02-13 Ass Ouvriers Instr Precision Articulation pour bras de manipulateur
US4378959A (en) * 1979-06-13 1983-04-05 Thermwood Corporation Apparatus for performing work functions
JPS5648494U (fr) * 1979-09-20 1981-04-30
US4259876A (en) * 1979-10-02 1981-04-07 Belyanin Petr N Mechanical arm
JPS5656395A (en) * 1979-10-12 1981-05-18 Hitachi Ltd Industrial multiple joint type robot
US4353677A (en) * 1980-03-05 1982-10-12 Thermwood Corporation Wrist construction for industrial robots

Also Published As

Publication number Publication date
BR8207889A (pt) 1983-08-30
FI73616C (fi) 1987-11-09
WO1983001222A1 (fr) 1983-04-14
FI823074A0 (fi) 1982-09-06
DE3227508A1 (de) 1983-04-28
DK153128B (da) 1988-06-20
NO148986C (no) 1984-01-25
SE8205499L (sv) 1983-04-06
FI823074L (fi) 1983-04-06
NO813365L (no) 1983-04-06
FI73616B (fi) 1987-07-31
DE3227508C2 (fr) 1987-12-17
IT1152692B (it) 1987-01-07
SU1304741A3 (ru) 1987-04-15
GB2107279B (en) 1985-07-31
CH660997A5 (de) 1987-06-30
GB2107279A (en) 1983-04-27
AU564096B2 (en) 1987-07-30
CA1207356A (fr) 1986-07-08
MX156892A (es) 1988-10-10
NO148986B (no) 1983-10-17
IT8223617A0 (it) 1982-10-05
JPS6146275B2 (fr) 1986-10-13
DK153128C (da) 1988-11-07
JPS5859778A (ja) 1983-04-08
SE8205499D0 (sv) 1982-09-27
AU9058682A (en) 1983-04-27
DK336382A (da) 1983-04-06
FR2513926A1 (fr) 1983-04-08
US4531885A (en) 1985-07-30

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Legal Events

Date Code Title Description
ST Notification of lapse