FR2690372B1 - Robot parallèle à bras articulés. - Google Patents

Robot parallèle à bras articulés.

Info

Publication number
FR2690372B1
FR2690372B1 FR9304817A FR9304817A FR2690372B1 FR 2690372 B1 FR2690372 B1 FR 2690372B1 FR 9304817 A FR9304817 A FR 9304817A FR 9304817 A FR9304817 A FR 9304817A FR 2690372 B1 FR2690372 B1 FR 2690372B1
Authority
FR
France
Prior art keywords
arm
arm portion
parallel robot
base
articulated arms
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 - Lifetime
Application number
FR9304817A
Other languages
English (en)
Other versions
FR2690372A1 (fr
Inventor
Osamu Toyama
Masaru Uchiyama
Francois Pierrot
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.)
Toyoda Koki KK
Original Assignee
Toyoda Koki KK
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
Priority claimed from JP4106568A external-priority patent/JP3050992B2/ja
Priority claimed from JP2735292U external-priority patent/JP2564416Y2/ja
Application filed by Toyoda Koki KK filed Critical Toyoda Koki KK
Publication of FR2690372A1 publication Critical patent/FR2690372A1/fr
Application granted granted Critical
Publication of FR2690372B1 publication Critical patent/FR2690372B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B25J9/106—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
    • B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
    • 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights
    • 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
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B25J9/0039—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-spherical-spherical
    • 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
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor
    • 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
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist
FR9304817A 1992-04-24 1993-04-23 Robot parallèle à bras articulés. Expired - Lifetime FR2690372B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP4106568A JP3050992B2 (ja) 1992-04-24 1992-04-24 パラレルロボット
JP2735292U JP2564416Y2 (ja) 1992-04-24 1992-04-24 パラレルロボットのアーム構造

Publications (2)

Publication Number Publication Date
FR2690372A1 FR2690372A1 (fr) 1993-10-29
FR2690372B1 true FR2690372B1 (fr) 1995-01-20

Family

ID=26365267

Family Applications (1)

Application Number Title Priority Date Filing Date
FR9304817A Expired - Lifetime FR2690372B1 (fr) 1992-04-24 1993-04-23 Robot parallèle à bras articulés.

Country Status (2)

Country Link
US (1) US5333514A (fr)
FR (1) FR2690372B1 (fr)

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EP1878544A1 (fr) * 2006-07-11 2008-01-16 CSEM Centre Suisse d'Electronique et de Microtechnique SA Méchanisme parallèle de positionnement avec bras supérieur articulé
CN101541483B (zh) * 2006-11-15 2013-09-11 村田机械株式会社 并联机构
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JP4420959B2 (ja) * 2008-04-10 2010-02-24 村田機械株式会社 パラレルメカニズム
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KR101343892B1 (ko) * 2008-06-10 2013-12-20 무라다기카이가부시끼가이샤 패러렐 메카니즘
US8215199B2 (en) * 2008-11-17 2012-07-10 Marcroft Sacha L Parallel kinematic positioning system
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DE102008062958A1 (de) 2008-12-23 2010-07-01 Multivac Sepp Haggenmüller Gmbh & Co. Kg Roboter, insbesondere einer Verpackungsmaschine zugeordneter Roboter
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CN101708611B (zh) * 2009-11-09 2011-07-27 天津大学 一种具有三维平动一维转动的并联机构
CN102059696B (zh) * 2009-11-18 2013-11-20 鸿富锦精密工业（深圳）有限公司 并联机构
TWI458611B (zh) * 2009-12-28 2014-11-01 Hon Hai Prec Ind Co Ltd 並聯機器人
CN102107431A (zh) * 2009-12-29 2011-06-29 鸿富锦精密工业（深圳）有限公司 并联机器人
WO2011114723A1 (fr) * 2010-03-17 2011-09-22 パナソニック株式会社 Robot à biellettes parallèles et procédé d'instruction d'un robot à biellettes parallèles
JP6092097B2 (ja) * 2010-05-25 2017-03-08 システマンティクス インディア プライベート リミテッド ハイブリッドなシリアル・パラレルリンク機構（ｌｉｎｋａｇｅ：リンケージ）ベースの６自由度ロボットマニピュレーター
DE202010011962U1 (de) 2010-08-30 2010-11-11 Grenzebach Maschinenbau Gmbh Vorrichtung zum Betrieb eines Flugsimulators mit besonderer Realitäts-Anmutung
DE102010035814B3 (de) 2010-08-30 2011-12-29 Grenzebach Maschinenbau Gmbh Vorrichtung und Verfahren zum Betrieb eines Flugsimulators mit besonderer Realitäts-Anmutung
DE202010016315U1 (de) 2010-12-08 2011-03-03 Grenzebach Maschinenbau Gmbh Autonomes Sicherheitssystem für die Benutzer von Fahrzeugsimulatoren
DE102010053686B3 (de) 2010-12-08 2012-01-26 Grenzebach Maschinenbau Gmbh Autonomes Sicherheitssystem für die Benutzer von Fahrzeugsimulatoren oder Flugsimulatoren, Verfahren zur gefahrlosen Benutzung solcher Simulatoren, ein Computerprogramm zur Durchführung des Verfahrens und einen maschinenlesbaren Träger mit dem Programmcode.
JP5299711B2 (ja) 2010-12-21 2013-09-25 アイシン精機株式会社 操作ロッド連結構造及び接続部材
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JP5454524B2 (ja) * 2011-07-15 2014-03-26 株式会社安川電機 パラレルリンクロボットおよびピッキングシステム
JP5516615B2 (ja) * 2012-02-03 2014-06-11 株式会社安川電機 パラレルリンクロボット
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CN104029218A (zh) * 2013-03-05 2014-09-10 深圳富泰宏精密工业有限公司 机械手臂
CN103231362A (zh) * 2013-04-23 2013-08-07 广州中国科学院先进技术研究所 一种并联机器人
JP5832486B2 (ja) * 2013-07-18 2015-12-16 財団法人精密機械研究発展中心Ｐｒｅｃｉｓｉｏｎ ＭａｃｈｉｎｅｒｙＲｅｓｅａｒｃｈ ＆ Ｄｅｖｅｌｏｐｍｅｎｔ Ｃｅｎｔｅｒ パラレルロボット用の関節装置
CN103386681B (zh) * 2013-07-25 2015-06-03 天津大学 可实现三维平动三维转动的并联机构
DE102014223416A1 (de) * 2014-11-17 2016-05-19 Krones Aktiengesellschaft Vorrichtung zur Handhabung und/oder zum Manipulieren von Artikeln wie Gebinden oder Stückgütern
CN105834619B (zh) * 2016-05-23 2018-07-13 吕衍荣 一种基于delta 并联机构的焊接机器人焊接机械手
CN105945470B (zh) * 2016-05-23 2017-11-24 林国章 一种基于Stewart 并联机构的焊接机器人焊接机械手
CN107458875A (zh) * 2017-08-09 2017-12-12 爱维迅自动化科技（昆山）有限公司 一种视觉定位上料机及其操作方法
JP6698719B2 (ja) 2018-02-14 2020-05-27 ファナック株式会社 パラレルリンクロボット
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Also Published As

Publication number Publication date
US5333514A (en) 1994-08-02
FR2690372A1 (fr) 1993-10-29

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