GB2144711B - Active compliant articulated device - Google Patents

Active compliant articulated device

Info

Publication number
GB2144711B
GB2144711B GB8418922A GB8418922A GB2144711B GB 2144711 B GB2144711 B GB 2144711B GB 8418922 A GB8418922 A GB 8418922A GB 8418922 A GB8418922 A GB 8418922A GB 2144711 B GB2144711 B GB 2144711B
Authority
GB
Grant status
Grant
Patent type
Prior art keywords
articulated device
active compliant
compliant articulated
active
device
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
GB8418922A
Other versions
GB8418922D0 (en )
GB2144711A (en )
Inventor
Alain Gaillet
Claude Reboulet
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.)
Office National d'Etudes et de Recherches Aerospatiales
Original Assignee
Office National d'Etudes et de Recherches Aerospatiales
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
Grant date

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25Movable or adjustable work or tool supports
    • B23Q1/44Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54Movable 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
    • B23Q1/545Movable 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
    • B23Q1/5462Movable 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0208Compliance devices
    • B25J17/0216Compliance devices comprising a stewart mechanism
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints
    • B25J17/0275Universal joints, e.g. Hooke, Cardan, ball joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1615Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/41Servomotor, servo controller till figures
    • G05B2219/41304Pneumatic
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/42Servomotor, servo controller kind till VSS
    • G05B2219/42205With potentiometer
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/50Machine tool, machine tool null till machine tool work handling
    • G05B2219/50162Stewart platform, hexapod construction
GB8418922A 1983-07-25 1984-07-25 Active compliant articulated device Expired GB2144711B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR8312263A FR2549916B1 (en) 1983-07-25 1983-07-25 An active joint has compliance

Publications (3)

Publication Number Publication Date
GB8418922D0 GB8418922D0 (en) 1984-08-30
GB2144711A true GB2144711A (en) 1985-03-13
GB2144711B true GB2144711B (en) 1986-06-11

Family

ID=9291086

Family Applications (1)

Application Number Title Priority Date Filing Date
GB8418922A Expired GB2144711B (en) 1983-07-25 1984-07-25 Active compliant articulated device

Country Status (3)

Country Link
JP (1) JPS6056893A (en)
FR (1) FR2549916B1 (en)
GB (1) GB2144711B (en)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8511729U1 (en) * 1985-04-19 1985-11-28 Krueger-Beuster, Helmut, 2420 Eutin, De
FR2580978B1 (en) * 1985-04-30 1990-12-14 Franche Comte Alsace Etu Tech A multidirectional safety for manipulators and robots
GB2191467B (en) * 1986-06-09 1989-12-20 Teradyne Inc Compliant link
US4790584A (en) * 1986-06-09 1988-12-13 Teradyne, Inc. Compliant link
EP0267345B1 (en) * 1986-10-13 1990-07-25 ETUDES TECHNIQUES-FRANCHE COMTE-ALSACE ETFA Sàrl Lockable multidirectional joint for a manipulator
FR2610236B1 (en) * 1987-02-04 1991-07-12 Logabex redundant robot modular
FR2628670B1 (en) * 1988-03-21 1990-08-17 Inst Nat Rech Inf Automat The device revolves, including use in the field of robotics
FR2653761B1 (en) * 1989-10-27 1992-01-10 Potain Sa Large robot manipulator and high capacity for use in an open environment.
KR930003083B1 (en) * 1990-08-30 1993-04-17 박원희 Combustion chamber in engine
GB9215265D0 (en) * 1992-07-17 1992-09-02 Ariel Ind Plc Improved mechanism for positioning portable fastener applicators
JPH07102510B2 (en) * 1993-05-21 1995-11-08 工業技術院長 Micromanipulator
DE19606521C1 (en) * 1996-02-22 1997-10-16 Doerfel Daniel Prieto Three-dimensional, adjustable universal joint, for robotics, manipulators etc.
US5987726A (en) * 1996-03-11 1999-11-23 Fanuc Robotics North America, Inc. Programmable positioner for the stress-free assembly of components
FR2754205A1 (en) * 1996-10-07 1998-04-10 Gec Alsthom Syst Et Serv Robot parallel structure
JPH10118966A (en) * 1996-10-21 1998-05-12 Toyoda Mach Works Ltd Parallel Robot
FI103761B1 (en) * 1997-12-12 1999-09-30 Planmeca Oy medical imaging
FR2779086B1 (en) * 1998-04-27 2000-06-30 Const Mecaniques Des Vosges Ma compensator system for hexapod
WO2001098023A1 (en) * 2000-06-23 2001-12-27 Constructions Mecaniques Des Vosges-Marioni Method for determining the relative position of two platforms of a six-legged machine
WO2005074368A3 (en) * 2004-02-04 2006-04-13 Mazor Surgical Tech Ltd Verification system for robot pose
CN1320290C (en) * 2004-10-11 2007-06-06 北京航空航天大学 Six freedom super magnetostrictive active vibration control platform
FR2997888B1 (en) 2012-11-14 2015-08-21 Commissariat Energie Atomique Articulated arm
CN104784831B (en) * 2015-04-21 2018-09-07 苏州爱因智能设备有限公司 Species can achieve full track radiotherapy equipment

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1511683A (en) * 1964-12-07 1968-02-02 Franklin Institute Linear motion simulator control devices
FR1465709A (en) * 1965-12-03 1967-01-13 Commissariat Energie Atomique Precision regulating device of the position of an organ
FR1577424A (en) * 1968-04-25 1969-08-08
US3577659A (en) * 1969-08-06 1971-05-04 Singer General Precision Motion simulator actuator joint
US4283153A (en) * 1978-12-21 1981-08-11 Cincinnati Milacron Inc. Compliant apparatus with remote smeared centers
GB2086980B (en) * 1980-11-12 1984-07-18 Marconi Co Ltd Universal joints

Also Published As

Publication number Publication date Type
GB8418922D0 (en) 1984-08-30 grant
FR2549916B1 (en) 1988-05-20 grant
FR2549916A1 (en) 1985-02-01 application
GB2144711A (en) 1985-03-13 application
JPS6056893A (en) 1985-04-02 application

Similar Documents

Publication Publication Date Title
JPS59129050A (en) Endoscope
JPS60156475A (en) Device for iontopholesis
JPS59139235A (en) Endoscope
JPS59164043A (en) Forcept device
JPS59125540A (en) Endoscope
JPS6114886A (en) Joint device
JPS607593A (en) Invasion monitor
JPS59129049A (en) Endoscope
JPS5990544A (en) Endoscope
JPS59148289A (en) Connector
JPS6029288A (en) Robot device
JPS59220897A (en) Monitor
JPS59171527A (en) Endoscope
JPS59172250A (en) Universal array
JPS606373A (en) Manipulator
JPS59184474A (en) Terminal connecting device
JPS6061400A (en) Structure coupling device
JPS6052276A (en) Robot device
JPS59230271A (en) Connector
JPS607378A (en) Operating device
JPS60107452A (en) Positioning device
JPS60104678A (en) Holding following device
JPS59182093A (en) Manipulator
JPS59164227A (en) Coupling device

Legal Events

Date Code Title Description
PE20 Patent expired after termination of 20 years

Effective date: 20040724