GB2083795B - Manipulator mechanisms - Google Patents

Manipulator mechanisms

Info

Publication number
GB2083795B
GB2083795B GB8126687A GB8126687A GB2083795B GB 2083795 B GB2083795 B GB 2083795B GB 8126687 A GB8126687 A GB 8126687A GB 8126687 A GB8126687 A GB 8126687A GB 2083795 B GB2083795 B GB 2083795B
Authority
GB
United Kingdom
Prior art keywords
bearings
rods
lengths
tool plate
universal joints
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
Application number
GB8126687A
Other versions
GB2083795A (en
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.)
BAE Systems Electronics Ltd
Original Assignee
Marconi Co Ltd
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 Marconi Co Ltd filed Critical Marconi Co Ltd
Priority to GB8126687A priority Critical patent/GB2083795B/en
Publication of GB2083795A publication Critical patent/GB2083795A/en
Application granted granted Critical
Publication of GB2083795B publication Critical patent/GB2083795B/en
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • 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
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal

Landscapes

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

Abstract

A manipulator mechanism comprises a support member shown as a tool plate (10) connected, by first universal joints (11) at at least three positions triangularly disposed thereon, to at least six rods (12) longitudinally moveably supported in bearings carried by second universal joints (13,32) hexagonally disposed in a mounting member (14), such that the position and attitude of the tool plate (10) in space relative to the bearings is fully defined by the lengths of the rods (12) between the respective joints (11) and bearings, and these lengths may be altered by driving the rods (12) up and down through the bearings by motors (44) and drive means (21,22,31,41,45) mounted thereon. <IMAGE>
GB8126687A 1980-09-13 1981-09-03 Manipulator mechanisms Expired GB2083795B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB8126687A GB2083795B (en) 1980-09-13 1981-09-03 Manipulator mechanisms

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB8029667 1980-09-13
GB8126687A GB2083795B (en) 1980-09-13 1981-09-03 Manipulator mechanisms

Publications (2)

Publication Number Publication Date
GB2083795A GB2083795A (en) 1982-03-31
GB2083795B true GB2083795B (en) 1984-01-25

Family

ID=26276881

Family Applications (1)

Application Number Title Priority Date Filing Date
GB8126687A Expired GB2083795B (en) 1980-09-13 1981-09-03 Manipulator mechanisms

Country Status (1)

Country Link
GB (1) GB2083795B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6226884B1 (en) 1994-01-28 2001-05-08 Renishaw Plc Method for performing measurements on positioning machines using triangularly arrayed support structures and pre-calibrated extendible measuring bars

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4407625A (en) * 1981-05-15 1983-10-04 Westinghouse Electric Corp. Multi-arm robot
US4435116A (en) * 1982-05-27 1984-03-06 Deberg Walter H Robotic manipulator
DE3481694D1 (en) * 1983-06-02 1990-04-26 Sumitomo Electric Industries POSITIONING MECHANISM.
GB2143498B (en) * 1983-07-21 1986-04-30 Emi Ltd Improvements in or relating to assembly robots
GB8508387D0 (en) * 1985-03-30 1985-05-09 English Electric Co Plc Manipulator
US4790718A (en) * 1985-03-27 1988-12-13 The English Electric Company Plc Manipulators
NO157568C (en) * 1985-11-26 1988-04-13 Multicraft As ARMA SCHEME.
US4776749A (en) * 1986-03-25 1988-10-11 Northrop Corporation Robotic device
US4765795A (en) * 1986-06-10 1988-08-23 Lord Corporation Object manipulator
US4819496A (en) * 1987-11-17 1989-04-11 The United States Of America As Represented By The Secretary Of The Air Force Six degrees of freedom micromanipulator
US4988244A (en) * 1989-09-01 1991-01-29 Kearney & Trecker Six-axis machine tool
US5028180A (en) * 1989-09-01 1991-07-02 Sheldon Paul C Six-axis machine tool
US5129279A (en) * 1991-02-28 1992-07-14 Rennex Brian G Flexible robotic limb
GB9107207D0 (en) * 1991-04-05 1991-05-22 Tycho Technology Ltd Mechanical manipulator
US5451134A (en) * 1991-10-22 1995-09-19 Bryfogle; Mark D. Material handling devices and controllers
US5538373A (en) * 1992-02-20 1996-07-23 Giddings & Lewis, Inc. Machine tool vibration isolation system
US5388935A (en) * 1993-08-03 1995-02-14 Giddings & Lewis, Inc. Six axis machine tool
DE69536045D1 (en) * 1994-03-02 2010-04-01 Renishaw Plc Coordinate positioning machine
US5813287A (en) 1994-03-02 1998-09-29 Renishaw Plc Coordinate positioning machine
US5940180A (en) * 1994-10-11 1999-08-17 Giddings & Lewis Laser interferometer measurement system for use with machine tools
US6059703A (en) * 1996-01-03 2000-05-09 Heisel; Uwe Device with at least one movement unit
DE19611130A1 (en) * 1996-03-21 1997-09-25 Vdw Verein Deutscher Werkzeugm Machine tool or toolholder platform orientation system
US5771747A (en) * 1996-09-03 1998-06-30 Sheldon/Van Someren, Inc. Machine having an adjustable framework and an internal multi-axis manipulator
US5738481A (en) * 1996-12-02 1998-04-14 Rogers; Vincent Universally actuable robot assembly
JP2000126954A (en) * 1998-10-27 2000-05-09 Fanuc Ltd Cabling and piping treating structure used in parallel link mechanism
CZ200928A3 (en) * 2009-01-23 2010-06-23 Ústav teorie informace a automatizace AV CR, v.v.i Robotic device
WO2015168799A1 (en) * 2014-05-08 2015-11-12 UNIVERSITé LAVAL Parallel mechanism with kinematically redundant actuation
CN108789358B (en) * 2018-06-05 2020-10-27 清华大学 Mobile series-parallel processing robot based on three-degree-of-freedom force control parallel module
CN109128872B (en) * 2018-09-26 2019-09-17 燕山大学 A kind of symmetrical parallel three NC axes main tapping can be realized multi-direction Fixed-point Motion of A

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6226884B1 (en) 1994-01-28 2001-05-08 Renishaw Plc Method for performing measurements on positioning machines using triangularly arrayed support structures and pre-calibrated extendible measuring bars
US6918188B2 (en) 1994-01-28 2005-07-19 Renishaw Plc Performing measurement or calibration on positioning machines
US7174652B2 (en) 1994-01-28 2007-02-13 Renishaw Plc Performing measurement or calibration on positioning machines

Also Published As

Publication number Publication date
GB2083795A (en) 1982-03-31

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Legal Events

Date Code Title Description
PCNP Patent ceased through non-payment of renewal fee