IT1251017B - Meccanismo per compiere traiettorie prefissate assimilabili ad ellittiche - Google Patents

Meccanismo per compiere traiettorie prefissate assimilabili ad ellittiche

Info

Publication number
IT1251017B
IT1251017B ITMI911392A ITMI911392A IT1251017B IT 1251017 B IT1251017 B IT 1251017B IT MI911392 A ITMI911392 A IT MI911392A IT MI911392 A ITMI911392 A IT MI911392A IT 1251017 B IT1251017 B IT 1251017B
Authority
IT
Italy
Prior art keywords
arms
trajectories
prefixed
elliptical
carry out
Prior art date
Application number
ITMI911392A
Other languages
English (en)
Inventor
Ugo Crippa
Original Assignee
Ugo Crippa
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 Ugo Crippa filed Critical Ugo Crippa
Priority to ITMI911392A priority Critical patent/IT1251017B/it
Publication of ITMI911392A0 publication Critical patent/ITMI911392A0/it
Priority to EP92902260A priority patent/EP0586377B1/en
Priority to US08/140,071 priority patent/US5534761A/en
Priority to DE69128970T priority patent/DE69128970T2/de
Priority to ES92902260T priority patent/ES2114556T3/es
Priority to PCT/IT1991/000111 priority patent/WO1992020495A1/en
Priority to CA002102498A priority patent/CA2102498A1/en
Publication of ITMI911392A1 publication Critical patent/ITMI911392A1/it
Application granted granted Critical
Publication of IT1251017B publication Critical patent/IT1251017B/it

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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm

Abstract

Meccanismo per compiere traiettorie prefissate, sostanzialmente ellittiche, comprendente una base di supporto provvista di un unico organo motore o di propulsione ed almeno due bracci articolati fra loro ad una estremità, con l'estremità libera del braccio più esterno che porta un organo di presa per oggetti da trasportare, costituendo per esempio un manipolatore. Le rotazioni dei bracci che sono preferibilmente in numero di tre, avvengono attorno ad assi paralleli, attraverso organi di trasmissione all'interno dei bracci stessi, e le traiettorie di spostamento dei bracci successivi al primo vengono definite dai rapporti di trasmissione all'interno del braccio precedente. Il rapporto tra gli organi di trasmissione nel braccio più esterno determina la sola traslazione o l'eventuale contemporanea rotazione dell'organo di presa.
ITMI911392A 1991-05-21 1991-05-21 Meccanismo per compiere traiettorie prefissate assimilabili ad ellittiche IT1251017B (it)

Priority Applications (7)

Application Number Priority Date Filing Date Title
ITMI911392A IT1251017B (it) 1991-05-21 1991-05-21 Meccanismo per compiere traiettorie prefissate assimilabili ad ellittiche
EP92902260A EP0586377B1 (en) 1991-05-21 1991-12-17 Mechanism for movements of prefixed path, referable as of elliptical shape
US08/140,071 US5534761A (en) 1991-05-21 1991-12-17 Mechanism for movements of prefixed path, referable as of elliptical shape
DE69128970T DE69128970T2 (de) 1991-05-21 1991-12-17 Bewegungsmechanismus mit vorbestimmter bahn, unter anderem ellipsförmig
ES92902260T ES2114556T3 (es) 1991-05-21 1991-12-17 Mecanismo para realizar movimientos de trayectoria predeterminada, referible como de forma eliptica.
PCT/IT1991/000111 WO1992020495A1 (en) 1991-05-21 1991-12-17 Mechanism for movements of prefixed path, referable as of elliptical shape
CA002102498A CA2102498A1 (en) 1991-05-21 1991-12-17 Mechanism for movements of prefixed path, referable as of elliptical shape

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITMI911392A IT1251017B (it) 1991-05-21 1991-05-21 Meccanismo per compiere traiettorie prefissate assimilabili ad ellittiche

Publications (3)

Publication Number Publication Date
ITMI911392A0 ITMI911392A0 (it) 1991-05-21
ITMI911392A1 ITMI911392A1 (it) 1992-11-21
IT1251017B true IT1251017B (it) 1995-04-28

Family

ID=11359947

Family Applications (1)

Application Number Title Priority Date Filing Date
ITMI911392A IT1251017B (it) 1991-05-21 1991-05-21 Meccanismo per compiere traiettorie prefissate assimilabili ad ellittiche

Country Status (7)

Country Link
US (1) US5534761A (it)
EP (1) EP0586377B1 (it)
CA (1) CA2102498A1 (it)
DE (1) DE69128970T2 (it)
ES (1) ES2114556T3 (it)
IT (1) IT1251017B (it)
WO (1) WO1992020495A1 (it)

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US8160747B1 (en) 2008-10-24 2012-04-17 Anybots, Inc. Remotely controlled self-balancing robot including kinematic image stabilization
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CN103640028B (zh) * 2013-11-28 2016-01-06 华南理工大学 一种平面关节型机器人结构
US20160120720A1 (en) * 2014-10-31 2016-05-05 Children's Hospital Medical Center Patient support coupled medical accessory support
CN104708624A (zh) * 2015-04-02 2015-06-17 中山展域智能科技有限公司 同轴式间接驱动多关节机器人手臂的传动机构
JP6686644B2 (ja) * 2016-04-06 2020-04-22 セイコーエプソン株式会社 ロボットおよびロボットシステム
CN106113083A (zh) * 2016-08-11 2016-11-16 宁波振锐智能机器科技有限公司 具有新型夹手的机械手
IT201700034987A1 (it) * 2017-03-30 2018-09-30 Ing Polin & C S P A Macchina arrotondatrice per porzioni di impasto
JP7011426B2 (ja) * 2017-09-06 2022-01-26 川崎重工業株式会社 マニピュレータシステム
WO2019121378A1 (en) * 2017-12-21 2019-06-27 Koninklijke Philips N.V. Compliant end-effector for image guided surgical procedures
JP2020163548A (ja) * 2019-03-29 2020-10-08 セイコーエプソン株式会社 水平多関節ロボットおよびロボットシステム
JP7207094B2 (ja) * 2019-03-29 2023-01-18 セイコーエプソン株式会社 水平多関節ロボット
CN110668170A (zh) * 2019-12-05 2020-01-10 龙口市全工工程机械制造厂 一种分体式折叠机械抓手
CN112426226A (zh) * 2020-11-18 2021-03-02 相丰朋 一种随臂移动的神经外科手术臂

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Also Published As

Publication number Publication date
EP0586377A1 (en) 1994-03-16
ITMI911392A1 (it) 1992-11-21
ES2114556T3 (es) 1998-06-01
DE69128970T2 (de) 1998-07-09
DE69128970D1 (de) 1998-04-02
CA2102498A1 (en) 1992-11-22
EP0586377B1 (en) 1998-02-25
WO1992020495A1 (en) 1992-11-26
US5534761A (en) 1996-07-09
ITMI911392A0 (it) 1991-05-21

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Legal Events

Date Code Title Description
0001 Granted
TA Fee payment date (situation as of event date), data collected since 19931001

Effective date: 19970528