FR2549916B1 - An active joint has compliance - Google Patents

An active joint has compliance

Info

Publication number
FR2549916B1
FR2549916B1 FR8312263A FR8312263A FR2549916B1 FR 2549916 B1 FR2549916 B1 FR 2549916B1 FR 8312263 A FR8312263 A FR 8312263A FR 8312263 A FR8312263 A FR 8312263A FR 2549916 B1 FR2549916 B1 FR 2549916B1
Authority
FR
France
Prior art keywords
compliance
active joint
joint
active
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
FR8312263A
Other languages
French (fr)
Other versions
FR2549916A1 (en
Inventor
Alain Gaillet
Claude Reboulet
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.)
Office National d'Etudes et de Recherches Aerospatiales
Original Assignee
Office National d'Etudes et de Recherches Aerospatiales
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 Office National d'Etudes et de Recherches Aerospatiales filed Critical Office National d'Etudes et de Recherches Aerospatiales
Priority to FR8312263A priority Critical patent/FR2549916B1/en
Publication of FR2549916A1 publication Critical patent/FR2549916A1/en
Application granted granted Critical
Publication of FR2549916B1 publication Critical patent/FR2549916B1/en
Application status is Expired legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25Movable or adjustable work or tool supports
    • B23Q1/44Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0208Compliance devices
    • B25J17/0216Compliance devices comprising a stewart mechanism
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints
    • B25J17/0275Universal joints, e.g. Hooke, Cardan, ball joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1615Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/41Servomotor, servo controller till figures
    • G05B2219/41304Pneumatic
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/42Servomotor, servo controller kind till VSS
    • G05B2219/42205With potentiometer
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/50Machine tool, machine tool null till machine tool work handling
    • G05B2219/50162Stewart platform, hexapod construction
FR8312263A 1983-07-25 1983-07-25 An active joint has compliance Expired FR2549916B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR8312263A FR2549916B1 (en) 1983-07-25 1983-07-25 An active joint has compliance

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR8312263A FR2549916B1 (en) 1983-07-25 1983-07-25 An active joint has compliance
JP15513284A JPS6056893A (en) 1983-07-25 1984-07-25 Active follow-up type joint device
GB08418922A GB2144711B (en) 1983-07-25 1984-07-25 Active compliant articulated device

Publications (2)

Publication Number Publication Date
FR2549916A1 FR2549916A1 (en) 1985-02-01
FR2549916B1 true FR2549916B1 (en) 1988-05-20

Family

ID=9291086

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8312263A Expired FR2549916B1 (en) 1983-07-25 1983-07-25 An active joint has compliance

Country Status (3)

Country Link
JP (1) JPS6056893A (en)
FR (1) FR2549916B1 (en)
GB (1) GB2144711B (en)

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8511729U1 (en) * 1985-04-19 1985-11-28 Krueger-Beuster, Helmut, 2420 Eutin, De
FR2580978B1 (en) * 1985-04-30 1990-12-14 Franche Comte Alsace Etu Tech A multidirectional safety for manipulators and robots
CH672089A5 (en) * 1985-12-16 1989-10-31 Sogeva Sa
GB2191467B (en) * 1986-06-09 1989-12-20 Teradyne Inc Compliant link
US4790584A (en) * 1986-06-09 1988-12-13 Teradyne, Inc. Compliant link
EP0267345B1 (en) * 1986-10-13 1990-07-25 ETUDES TECHNIQUES-FRANCHE COMTE-ALSACE ETFA Sàrl Lockable multidirectional joint for a manipulator
FR2610236B1 (en) * 1987-02-04 1991-07-12 Logabex redundant robot modular
FR2628670B1 (en) * 1988-03-21 1990-08-17 Inst Nat Rech Inf Automat The device revolves, including use in the field of robotics
FR2653761B1 (en) * 1989-10-27 1992-01-10 Potain Sa Large robot manipulator and high capacity for use in an open environment.
KR930003083B1 (en) * 1990-08-30 1993-04-17 박원희 Combustion chamber in engine
GB9215265D0 (en) * 1992-07-17 1992-09-02 Ariel Ind Plc Improved mechanism for positioning portable fastener applicators
JPH07102510B2 (en) * 1993-05-21 1995-11-08 工業技術院長 Micromanipulator
DE19606521C1 (en) * 1996-02-22 1997-10-16 Doerfel Daniel Prieto Three-dimensional, adjustable universal joint, for robotics, manipulators etc.
US5987726A (en) * 1996-03-11 1999-11-23 Fanuc Robotics North America, Inc. Programmable positioner for the stress-free assembly of components
FR2754205A1 (en) * 1996-10-07 1998-04-10 Gec Alsthom Syst Et Serv Robot parallel structure
JPH10118966A (en) * 1996-10-21 1998-05-12 Toyoda Mach Works Ltd Parallel Robot
FI103761B (en) * 1997-12-12 1999-09-30 Planmeca Oy medical imaging
FR2779086B1 (en) * 1998-04-27 2000-06-30 Const Mecaniques Des Vosges Ma compensator system for hexapod
WO2001098023A1 (en) * 2000-06-23 2001-12-27 Constructions Mecaniques Des Vosges-Marioni Method for determining the relative position of two platforms of a six-legged machine
WO2005074368A2 (en) * 2004-02-04 2005-08-18 Mazor Surgical Technologies Ltd. Verification system for robot pose
CN1320290C (en) * 2004-10-11 2007-06-06 北京航空航天大学 Six freedom super magnetostrictive active vibration control platform
CH704968A1 (en) * 2011-05-17 2012-11-30 Kistler Holding Ag 6-component dynamometer.
FR2997888B1 (en) 2012-11-14 2015-08-21 Commissariat Energie Atomique Articulated arm
CN104784831B (en) * 2015-04-21 2018-09-07 苏州爱因智能设备有限公司 Species can achieve full track radiotherapy equipment
CN106142128A (en) * 2016-07-28 2016-11-23 上海交通大学 Rotary swing type joint module of mechanical arm

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1511683A (en) * 1964-12-07 1968-02-02 Franklin Institute Linear motion simulator control devices
FR1465709A (en) * 1965-12-03 1967-01-13 Commissariat Energie Atomique Precision regulating device of the position of an organ
FR1577424A (en) * 1968-04-25 1969-08-08
US3577659A (en) * 1969-08-06 1971-05-04 Singer General Precision Motion simulator actuator joint
US4283153A (en) * 1978-12-21 1981-08-11 Cincinnati Milacron Inc. Compliant apparatus with remote smeared centers
GB2086980B (en) * 1980-11-12 1984-07-18 Marconi Co Ltd Universal joints

Also Published As

Publication number Publication date
GB8418922D0 (en) 1984-08-30
FR2549916A1 (en) 1985-02-01
GB2144711A (en) 1985-03-13
GB2144711B (en) 1986-06-11
JPS6056893A (en) 1985-04-02

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