FR2549916B1 - COMPLIANCE ACTIVE ARTICULATION DEVICE - Google Patents

COMPLIANCE ACTIVE ARTICULATION DEVICE

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
articulation device
active articulation
active
compliance 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 dEtudes et de Recherches Aerospatiales ONERA
Original Assignee
Office National dEtudes et de Recherches Aerospatiales ONERA
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 dEtudes et de Recherches Aerospatiales ONERA filed Critical Office National dEtudes et de Recherches Aerospatiales ONERA
Priority to FR8312263A priority Critical patent/FR2549916B1/en
Priority to GB08418922A priority patent/GB2144711B/en
Priority to JP15513284A priority patent/JPS6056893A/en
Publication of FR2549916A1 publication Critical patent/FR2549916A1/en
Application granted granted Critical
Publication of FR2549916B1 publication Critical patent/FR2549916B1/en
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable 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
    • B23Q1/545—Movable 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
    • B23Q1/5462—Movable 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
    • 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
    • B25J17/0208—Compliance devices
    • B25J17/0216—Compliance devices comprising a stewart mechanism
    • 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
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball 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
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41304—Pneumatic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42205—With potentiometer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50162—Stewart platform, hexapod construction

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
FR8312263A 1983-07-25 1983-07-25 COMPLIANCE ACTIVE ARTICULATION DEVICE Expired FR2549916B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR8312263A FR2549916B1 (en) 1983-07-25 1983-07-25 COMPLIANCE ACTIVE ARTICULATION DEVICE
GB08418922A GB2144711B (en) 1983-07-25 1984-07-25 Active compliant articulated device
JP15513284A JPS6056893A (en) 1983-07-25 1984-07-25 Active follow-up type joint device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8312263A FR2549916B1 (en) 1983-07-25 1983-07-25 COMPLIANCE ACTIVE ARTICULATION 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 COMPLIANCE ACTIVE ARTICULATION DEVICE

Country Status (3)

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

Families Citing this family (27)

* 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 Joint element for manipulators
FR2580978B1 (en) * 1985-04-30 1990-12-14 Franche Comte Alsace Etu Tech MULTIDIRECTIONAL SAFETY DEVICE FOR MANIPULATORS AND ROBOTS
CH672089A5 (en) * 1985-12-16 1989-10-31 Sogeva Sa
US4790584A (en) * 1986-06-09 1988-12-13 Teradyne, Inc. Compliant link
GB2191467B (en) * 1986-06-09 1989-12-20 Teradyne Inc Compliant link
ATE54865T1 (en) * 1986-10-13 1990-08-15 Etfa Sarl LOCKABLE, MULTI-AXIS JOINT FOR MANIPULATORS.
FR2610236B1 (en) * 1987-02-04 1991-07-12 Logabex MODULAR TYPE REDUNDANT ROBOT
FR2628670B1 (en) * 1988-03-21 1990-08-17 Inst Nat Rech Inf Automat ARTICULATED DEVICE, IN PARTICULAR FOR USE IN THE FIELD OF ROBOTICS
FR2653761B1 (en) * 1989-10-27 1992-01-10 Potain Sa LARGE AND HIGH CAPACITY MANIPULATOR ROBOT FOR USE IN OPEN ENVIRONMENTS.
KR930003083B1 (en) * 1990-08-30 1993-04-17 한국과학기술연구원 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 Micro manipulator
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 WITH 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 equipment
FR2779086B1 (en) * 1998-04-27 2000-06-30 Const Mecaniques Des Vosges Ma COMPENSATOR SYSTEM FOR HEXAPODE
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
US7235964B2 (en) * 2003-03-31 2007-06-26 Intest Corporation Test head positioning system and method
KR101151515B1 (en) * 2004-02-04 2012-07-06 메이저 서기컬 테크놀로지스 엘티디. 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 A kind of achievable full track mark radiotherapy equipment
CN106142128B (en) * 2016-07-28 2019-09-03 上海交通大学 Turn round rocking type mechanical arm joint module
CN109646028A (en) * 2018-12-29 2019-04-19 佛山瑞加图医疗科技有限公司 A kind of linear accelerator Isocenter irradiation system in confined space equipment

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 actuator motion simulator
FR1465709A (en) * 1965-12-03 1967-01-13 Commissariat Energie Atomique Device for precise adjustment 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
GB2144711B (en) 1986-06-11
GB2144711A (en) 1985-03-13
JPS6056893A (en) 1985-04-02
FR2549916A1 (en) 1985-02-01

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