FR2835579B1 - Dispositif de deplacement spherique d'element - Google Patents

Dispositif de deplacement spherique d'element

Info

Publication number
FR2835579B1
FR2835579B1 FR0201273A FR0201273A FR2835579B1 FR 2835579 B1 FR2835579 B1 FR 2835579B1 FR 0201273 A FR0201273 A FR 0201273A FR 0201273 A FR0201273 A FR 0201273A FR 2835579 B1 FR2835579 B1 FR 2835579B1
Authority
FR
France
Prior art keywords
displaced
linking elements
freedom
degrees
arm
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 - Fee Related
Application number
FR0201273A
Other languages
English (en)
Other versions
FR2835579A1 (fr
Inventor
Jean Pierre Friconneau
Mourad Karouia
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
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 Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR0201273A priority Critical patent/FR2835579B1/fr
Priority to EP03709912A priority patent/EP1476282A1/fr
Priority to PCT/FR2003/000298 priority patent/WO2003066288A1/fr
Publication of FR2835579A1 publication Critical patent/FR2835579A1/fr
Application granted granted Critical
Publication of FR2835579B1 publication Critical patent/FR2835579B1/fr
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Manipulator (AREA)
FR0201273A 2002-02-04 2002-02-04 Dispositif de deplacement spherique d'element Expired - Fee Related FR2835579B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR0201273A FR2835579B1 (fr) 2002-02-04 2002-02-04 Dispositif de deplacement spherique d'element
EP03709912A EP1476282A1 (fr) 2002-02-04 2003-01-31 Dispositif de deplacement spherique d un element
PCT/FR2003/000298 WO2003066288A1 (fr) 2002-02-04 2003-01-31 Dispositif de deplacement spherique d'un element

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0201273A FR2835579B1 (fr) 2002-02-04 2002-02-04 Dispositif de deplacement spherique d'element

Publications (2)

Publication Number Publication Date
FR2835579A1 FR2835579A1 (fr) 2003-08-08
FR2835579B1 true FR2835579B1 (fr) 2004-05-21

Family

ID=27619856

Family Applications (1)

Application Number Title Priority Date Filing Date
FR0201273A Expired - Fee Related FR2835579B1 (fr) 2002-02-04 2002-02-04 Dispositif de deplacement spherique d'element

Country Status (3)

Country Link
EP (1) EP1476282A1 (fr)
FR (1) FR2835579B1 (fr)
WO (1) WO2003066288A1 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10212547A1 (de) * 2002-03-21 2003-10-02 Zeiss Carl Smt Ag Vorrichtung zur Manipulation der Winkellage eines Gegenstands gegenüber einer festen Struktur
ITGE20030040A1 (it) * 2003-05-30 2004-11-30 Rezia Molfino Meccanismo armillare per il supporto alla visione stereoscopica in ambienti sottomarini e ad alta resistenza idrodinamica
DE102010018802A1 (de) * 2010-04-29 2011-11-03 Franz Ehrenleitner Manipulator
EP2645943A1 (fr) 2010-12-02 2013-10-09 Agile Endosurgery, Inc. Instrument chirurgical
DE102012002400B4 (de) * 2011-03-17 2020-06-18 Eb-Invent Gmbh Manipulator
CN102275162A (zh) * 2011-07-08 2011-12-14 常州大学 一种三转动球面并联操作装置
CN104325456B (zh) * 2014-10-24 2016-01-20 天津大学 一种新型两转动并联机构
CN105598954B (zh) * 2016-03-24 2017-09-22 褚宏鹏 大工作空间两转动并联机构
CN109015597B (zh) * 2018-07-15 2021-05-28 燕山大学 一种新型三平移分支不完全对称的并联机构

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1080074A (en) * 1963-04-11 1967-08-23 Elliott Brothers London Ltd Improvements in mechanical positioning systems
NL7901956A (nl) * 1979-03-12 1980-09-16 Leuven Res & Dev Vzw Verplaatsingsbesturingsinrichting.
DE19611130A1 (de) * 1996-03-21 1997-09-25 Vdw Verein Deutscher Werkzeugm Vorrichtung zur Erzeugung einer definierten Positionierung und Orientierung mindestens einer Plattform
US6024576A (en) * 1996-09-06 2000-02-15 Immersion Corporation Hemispherical, high bandwidth mechanical interface for computer systems

Also Published As

Publication number Publication date
WO2003066288A1 (fr) 2003-08-14
EP1476282A1 (fr) 2004-11-17
FR2835579A1 (fr) 2003-08-08

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Legal Events

Date Code Title Description
ST Notification of lapse

Effective date: 20061031