FR2603512A1 - Generalised pantograph - Google Patents
Generalised pantographInfo
- Publication number
- FR2603512A1 FR2603512A1 FR8612631A FR8612631A FR2603512A1 FR 2603512 A1 FR2603512 A1 FR 2603512A1 FR 8612631 A FR8612631 A FR 8612631A FR 8612631 A FR8612631 A FR 8612631A FR 2603512 A1 FR2603512 A1 FR 2603512A1
- Authority
- FR
- France
- Prior art keywords
- pantograph
- exhibited
- bars
- generalised
- 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.)
- Withdrawn
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/04—Guiding mechanisms, e.g. for straight-line guidance
-
- 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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a mechanical structure with pivoting links, which can possibly be used on a robot and which makes it possible to uncouple the positioning and orienting functions of the end member completely. It generalises the principle of the pantograph. A three-bar system is firstly exhibited. Then, when the outer structure of the robot replaces one of them, a mechanism with just two bars is exhibited. An original guiding system is envisaged for these bars within the arm, and it is shown that no guiding system is required in the forearm. The problems posed by particular configurations lead to partial modifications of the structure.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8612631A FR2603512A1 (en) | 1986-09-05 | 1986-09-05 | Generalised pantograph |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8612631A FR2603512A1 (en) | 1986-09-05 | 1986-09-05 | Generalised pantograph |
Publications (1)
Publication Number | Publication Date |
---|---|
FR2603512A1 true FR2603512A1 (en) | 1988-03-11 |
Family
ID=9338811
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR8612631A Withdrawn FR2603512A1 (en) | 1986-09-05 | 1986-09-05 | Generalised pantograph |
Country Status (1)
Country | Link |
---|---|
FR (1) | FR2603512A1 (en) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE220075C (en) * | ||||
FR1240873A (en) * | 1958-11-12 | 1960-09-09 | Vyzk A Zkusebni Letecky Ustav | Remote motion transmission device for remote control |
GB2061872A (en) * | 1979-10-12 | 1981-05-20 | Hitachi Ltd | Industrial robots |
EP0076432A1 (en) * | 1981-09-25 | 1983-04-13 | Matsushita Electric Industrial Co., Ltd. | Handling apparatus |
-
1986
- 1986-09-05 FR FR8612631A patent/FR2603512A1/en not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE220075C (en) * | ||||
FR1240873A (en) * | 1958-11-12 | 1960-09-09 | Vyzk A Zkusebni Letecky Ustav | Remote motion transmission device for remote control |
GB2061872A (en) * | 1979-10-12 | 1981-05-20 | Hitachi Ltd | Industrial robots |
EP0076432A1 (en) * | 1981-09-25 | 1983-04-13 | Matsushita Electric Industrial Co., Ltd. | Handling apparatus |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
RE | Withdrawal of published application |