FR3096667B1 - plateforme hexapode avec debattement augmenté - Google Patents
plateforme hexapode avec debattement augmenté Download PDFInfo
- Publication number
- FR3096667B1 FR3096667B1 FR1905679A FR1905679A FR3096667B1 FR 3096667 B1 FR3096667 B1 FR 3096667B1 FR 1905679 A FR1905679 A FR 1905679A FR 1905679 A FR1905679 A FR 1905679A FR 3096667 B1 FR3096667 B1 FR 3096667B1
- Authority
- FR
- France
- Prior art keywords
- pair
- cylinders
- plate
- articulation
- slider
- 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
Links
- 241000238631 Hexapoda Species 0.000 title abstract 4
- 238000006073 displacement reaction Methods 0.000 abstract 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/50—Handling or transporting aircraft components
-
- 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
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/26—Attaching the wing or tail units or stabilising surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
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- 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)
- Transportation (AREA)
- Manufacturing & Machinery (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
- Harvester Elements (AREA)
Abstract
PLATEFORME HEXAPODE AVEC DEBATTEMENT AUGMENTE L’invention concerne une plateforme hexapode (100) comportant une base (102) ; un plateau (104) ; un ensemble de six vérins (106a-b) associés par paires, et où chaque vérin (106a-b) est monté articulé avec le plateau (104) ; pour chaque paire, un coulisseau (108) mobile en translation sur la base (102), où pour une première paire, les deux vérins (106a-b) de ladite première paire sont montés articulés sur le coulisseau (108), où l’articulation avec le plateau (104) d’un des deux vérins (106a) de ladite première paire est voisine de l’articulation avec le plateau (104) d’un des deux vérins d’une deuxième paire et où l’articulation avec le plateau (104) de l’autre des deux vérins (106b) de ladite première paire est voisine de l’articulation avec le plateau (104) d’un des deux vérins d’une troisième paire ; pour chaque coulisseau (108), un système de mise en mouvement qui déplace le coulisseau (108) ; et une unité de contrôle qui commande chaque vérin (106a-b) et le système de mise en mouvement. Une telle plateforme hexapode permet une plus grande amplitude des débattements du plateau par déplacement des systèmes de mise en mouvement. Fig. 1
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1905679A FR3096667B1 (fr) | 2019-05-28 | 2019-05-28 | plateforme hexapode avec debattement augmenté |
US16/883,247 US11319091B2 (en) | 2019-05-28 | 2020-05-26 | Transport carriage with two hexapod platforms with increased range of movement |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1905679A FR3096667B1 (fr) | 2019-05-28 | 2019-05-28 | plateforme hexapode avec debattement augmenté |
FR1905679 | 2019-05-28 |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3096667A1 FR3096667A1 (fr) | 2020-12-04 |
FR3096667B1 true FR3096667B1 (fr) | 2021-12-24 |
Family
ID=68138359
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1905679A Active FR3096667B1 (fr) | 2019-05-28 | 2019-05-28 | plateforme hexapode avec debattement augmenté |
Country Status (2)
Country | Link |
---|---|
US (1) | US11319091B2 (fr) |
FR (1) | FR3096667B1 (fr) |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
IT1142775B (it) * | 1981-05-22 | 1986-10-15 | Alitalia Spa | Posizionatore idro-pneumatico per il cambio di motori alari di velivoli a simili |
US7175168B2 (en) * | 2005-05-26 | 2007-02-13 | Hardaker John C | Wing positioner for installing and removing an aircraft wing |
US7756321B2 (en) * | 2007-02-28 | 2010-07-13 | The Boeing Company | Method for fitting part assemblies |
BRPI0722268A2 (pt) * | 2007-11-29 | 2014-04-22 | Airbus Operations Gmbh | Posicionamento de asa e sistema de montagem |
US8312906B2 (en) * | 2008-08-13 | 2012-11-20 | Airbus Operations Gmbh | Method and device for positioning stringers on an aircraft skin, in particular on a wing skin |
KR20100124619A (ko) * | 2009-05-19 | 2010-11-29 | 한국과학기술원 | 스튜어트 플랫폼을 이용한 무대 장치 |
US8539658B2 (en) * | 2009-08-31 | 2013-09-24 | The Boeing Company | Autonomous carrier for continuously moving wing assembly line |
DE102009042014A1 (de) * | 2009-09-21 | 2011-03-24 | Dürr Systems GmbH | Handhabungsvorrichtung |
US8602713B1 (en) * | 2010-05-28 | 2013-12-10 | International Automated Systems, Inc. | Universal aircraft mule |
US20120110816A1 (en) * | 2010-11-08 | 2012-05-10 | The Boeing Company | Engine Loading System |
US9108730B2 (en) * | 2011-10-11 | 2015-08-18 | Victor A. Grossman | Rapid store load system for aircraft and method of operation thereof |
CN105459078B (zh) * | 2015-12-16 | 2017-08-08 | 上海大学 | 一种结构尺寸参数可调的麦克纳姆轮式移动机器人 |
-
2019
- 2019-05-28 FR FR1905679A patent/FR3096667B1/fr active Active
-
2020
- 2020-05-26 US US16/883,247 patent/US11319091B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US11319091B2 (en) | 2022-05-03 |
US20210016901A1 (en) | 2021-01-21 |
FR3096667A1 (fr) | 2020-12-04 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PLFP | Fee payment |
Year of fee payment: 2 |
|
PLSC | Publication of the preliminary search report |
Effective date: 20201204 |
|
PLFP | Fee payment |
Year of fee payment: 3 |
|
PLFP | Fee payment |
Year of fee payment: 4 |
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PLFP | Fee payment |
Year of fee payment: 5 |
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PLFP | Fee payment |
Year of fee payment: 6 |