FR3054157B1 - Chaine articulee comprenant un unique actionneur et ensemble de chaines articulees associees - Google Patents

Chaine articulee comprenant un unique actionneur et ensemble de chaines articulees associees Download PDF

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Publication number
FR3054157B1
FR3054157B1 FR1656914A FR1656914A FR3054157B1 FR 3054157 B1 FR3054157 B1 FR 3054157B1 FR 1656914 A FR1656914 A FR 1656914A FR 1656914 A FR1656914 A FR 1656914A FR 3054157 B1 FR3054157 B1 FR 3054157B1
Authority
FR
France
Prior art keywords
proximal
phalanx
articulated
medial
pulley
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.)
Active
Application number
FR1656914A
Other languages
English (en)
Other versions
FR3054157A1 (fr
Inventor
Astrid RUBIANO FONSECA
Jose Luis RAMIREZ ARIAS
Laurent Gallimard
Olivier Polit
Nicolas Jouandeau
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.)
De Paris Viii Paris Vincennes, University of
Universite Paris Ouest Nanterre La Defense Paris 10
Original Assignee
De Paris Viii Paris Vincennes, University of
Universite Paris Ouest Nanterre La Defense Paris 10
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 De Paris Viii Paris Vincennes, University of, Universite Paris Ouest Nanterre La Defense Paris 10 filed Critical De Paris Viii Paris Vincennes, University of
Priority to FR1656914A priority Critical patent/FR3054157B1/fr
Priority to PCT/EP2017/068274 priority patent/WO2018015456A1/fr
Publication of FR3054157A1 publication Critical patent/FR3054157A1/fr
Application granted granted Critical
Publication of FR3054157B1 publication Critical patent/FR3054157B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Pulleys (AREA)

Abstract

L'invention concerne une chaîne articulée (1) comprenant une phalange proximale (10), une phalange médiale (20) et un actionneur (3) configuré pour mettre en rotation la phalange proximale (10), la chaîne articulée (1) comprenant en outre : - une poulie proximale (12), montée sur une extrémité proximale (10a) de la phalange proximale (10), - une première poulie médiale (22), montée sur une extrémité proximale (20a) de la phalange médiale (20), et - au moins un premier câble d'actionnement proximal (14) fixé d'une part sur la poulie proximale (12) et d'autre part sur la première poulie médiale (22) afin d'actionner la phalange médiale (20), de sorte que l'actionnement de la poulie proximale (12) par l'actionneur (3) a pour effet de déplacer la phalange médiale (20) par rapport la phalange proximale (10).
FR1656914A 2016-07-20 2016-07-20 Chaine articulee comprenant un unique actionneur et ensemble de chaines articulees associees Active FR3054157B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1656914A FR3054157B1 (fr) 2016-07-20 2016-07-20 Chaine articulee comprenant un unique actionneur et ensemble de chaines articulees associees
PCT/EP2017/068274 WO2018015456A1 (fr) 2016-07-20 2017-07-19 Chaîne articulée comprenant un unique actionneur et ensemble de chaînes articulées associées

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1656914 2016-07-20
FR1656914A FR3054157B1 (fr) 2016-07-20 2016-07-20 Chaine articulee comprenant un unique actionneur et ensemble de chaines articulees associees

Publications (2)

Publication Number Publication Date
FR3054157A1 FR3054157A1 (fr) 2018-01-26
FR3054157B1 true FR3054157B1 (fr) 2020-01-24

Family

ID=57583181

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1656914A Active FR3054157B1 (fr) 2016-07-20 2016-07-20 Chaine articulee comprenant un unique actionneur et ensemble de chaines articulees associees

Country Status (2)

Country Link
FR (1) FR3054157B1 (fr)
WO (1) WO2018015456A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109648589B (zh) * 2019-01-22 2021-05-11 北京邮电大学 一种基于气缸驱动的机器人灵巧机械手指装置
CN109807920A (zh) * 2019-03-01 2019-05-28 上海傲鲨智能科技有限公司 一种基于钢丝驱动的机械爪结构
CN109877858B (zh) * 2019-03-11 2022-03-11 武汉理工大学 一种变刚度软体机械手
CN110682322B (zh) * 2019-09-23 2020-12-08 华中科技大学 一种面向机械手的双向柔性传动机构
CN112440272A (zh) * 2020-11-11 2021-03-05 浙江理工大学 一种可实现运动解耦的绳驱动机械臂

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3914045B2 (ja) * 2001-12-17 2007-05-16 本田技研工業株式会社 多指ハンド装置
JP2005046980A (ja) * 2003-07-31 2005-02-24 Sharp Corp 多関節マニピュレータ
KR101300079B1 (ko) * 2011-05-12 2013-08-23 주식회사 로보멕 로봇 핸드
CN202241304U (zh) * 2011-10-26 2012-05-30 宁波力匠机械制造有限公司 楔块式仿生手指装置

Also Published As

Publication number Publication date
WO2018015456A1 (fr) 2018-01-25
FR3054157A1 (fr) 2018-01-26

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