IT1394602B1 - Meccanismi rotazionali in catena chiusa con attuazione disaccoppiata ed omocinetica. - Google Patents

Meccanismi rotazionali in catena chiusa con attuazione disaccoppiata ed omocinetica.

Info

Publication number
IT1394602B1
IT1394602B1 ITRM2009A000250A ITRM20090250A IT1394602B1 IT 1394602 B1 IT1394602 B1 IT 1394602B1 IT RM2009A000250 A ITRM2009A000250 A IT RM2009A000250A IT RM20090250 A ITRM20090250 A IT RM20090250A IT 1394602 B1 IT1394602 B1 IT 1394602B1
Authority
IT
Italy
Prior art keywords
homocinetic
uncoupled
implementation
closed chain
rotational mechanisms
Prior art date
Application number
ITRM2009A000250A
Other languages
English (en)
Inventor
Marco Carricato
Michele Conconi
Original Assignee
Univ Bologna Alma Mater
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 Univ Bologna Alma Mater filed Critical Univ Bologna Alma Mater
Priority to ITRM2009A000250A priority Critical patent/IT1394602B1/it
Priority to PCT/IT2010/000224 priority patent/WO2010134119A1/en
Priority to EP10736820.1A priority patent/EP2432626B1/en
Priority to US13/321,466 priority patent/US20120137816A1/en
Publication of ITRM20090250A1 publication Critical patent/ITRM20090250A1/it
Application granted granted Critical
Publication of IT1394602B1 publication Critical patent/IT1394602B1/it

Links

Classifications

    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Medicines Containing Material From Animals Or Micro-Organisms (AREA)
  • Detergent Compositions (AREA)
  • Manipulator (AREA)
ITRM2009A000250A 2009-05-19 2009-05-19 Meccanismi rotazionali in catena chiusa con attuazione disaccoppiata ed omocinetica. IT1394602B1 (it)

Priority Applications (4)

Application Number Priority Date Filing Date Title
ITRM2009A000250A IT1394602B1 (it) 2009-05-19 2009-05-19 Meccanismi rotazionali in catena chiusa con attuazione disaccoppiata ed omocinetica.
PCT/IT2010/000224 WO2010134119A1 (en) 2009-05-19 2010-05-19 Closed-chain rotational mechanism having decoupled and homokinetic actuation
EP10736820.1A EP2432626B1 (en) 2009-05-19 2010-05-19 Closed-chain rotational mechanism having decoupled and homokinetic actuation
US13/321,466 US20120137816A1 (en) 2009-05-19 2010-05-21 Closed-chain rotational mechanism having decoupled and homokinetic actuation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITRM2009A000250A IT1394602B1 (it) 2009-05-19 2009-05-19 Meccanismi rotazionali in catena chiusa con attuazione disaccoppiata ed omocinetica.

Publications (2)

Publication Number Publication Date
ITRM20090250A1 ITRM20090250A1 (it) 2010-11-20
IT1394602B1 true IT1394602B1 (it) 2012-07-05

Family

ID=41566131

Family Applications (1)

Application Number Title Priority Date Filing Date
ITRM2009A000250A IT1394602B1 (it) 2009-05-19 2009-05-19 Meccanismi rotazionali in catena chiusa con attuazione disaccoppiata ed omocinetica.

Country Status (4)

Country Link
US (1) US20120137816A1 (it)
EP (1) EP2432626B1 (it)
IT (1) IT1394602B1 (it)
WO (1) WO2010134119A1 (it)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013070938A1 (en) * 2011-11-08 2013-05-16 Ross-Hime Designs, Incorporated Robotic manipulator with spherical joints
US9283671B2 (en) * 2013-04-23 2016-03-15 Northwestern University Translational parallel manipulators and methods of operating the same
US11458579B2 (en) 2013-12-06 2022-10-04 Huber Diffraktionstechnik Gmbh & Co. Kg Redundant parallel positioning table device
US10955084B2 (en) 2013-12-06 2021-03-23 Huber Diffraktionstechnik Gmbh & Co. Kg Redundant parallel positioning table device
GB2520983A (en) * 2013-12-06 2015-06-10 Huber Diffraktionstechnik Gmbh & Co Kg Redundant parallel positioning table
CN108260350B (zh) 2015-07-22 2021-10-26 Cmr外科有限公司 用于机器人手臂的齿轮封装
GB2541369B (en) 2015-07-22 2021-03-31 Cmr Surgical Ltd Drive mechanisms for robot arms
GB2540756B (en) 2015-07-22 2021-03-31 Cmr Surgical Ltd Gear packaging for robot arms
CN106826776B (zh) * 2017-04-07 2024-03-26 河南科技大学 一种各向同性空间二自由度转动并联机构
CN107139164B (zh) * 2017-06-21 2023-03-10 东莞爱创机器人科技有限公司 一种球面并联机构
CN109747727A (zh) * 2017-11-07 2019-05-14 山东交通学院 一种电动缸驱动的模块化机器人运输平台
CN109108948B (zh) * 2018-10-23 2021-07-27 西安工程大学 具有3r、2r1t和1r2t三种运动模式的并联机构
CN110450137B (zh) * 2019-08-02 2024-02-02 天津大学 一种部分解耦的二自由度转动并联机构
CN110682323B (zh) * 2019-09-03 2022-10-14 上海工程技术大学 一种具有可控刚度的机械臂关节
CN110434839B (zh) * 2019-09-16 2024-01-12 河北工业大学 一种含子闭环的四自由度广义球面并联机构
CN110801238B (zh) * 2019-11-20 2022-07-01 上海交通大学 一种下肢多关节等速训练测试装置
CN112701477B (zh) * 2020-12-14 2023-04-07 兰州空间技术物理研究所 一种高精度、大负载、低功耗的稳定指向机构

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US96395A (en) 1869-11-02 Improvement in affakatdb for transmitting rotary motiow
US3477249A (en) 1968-07-08 1969-11-11 Southwestern Ind Inc Constant velocity universal joint
DE2802572C2 (de) 1978-01-21 1982-07-22 Jean Walterscheid Gmbh, 5204 Lohmar Homokinetisches Doppelgelenk für große Beugewinkel
US4907937A (en) 1985-07-08 1990-03-13 Ford Motor Company Non-singular industrial robot wrist
US4951521A (en) * 1989-06-30 1990-08-28 Honeywell Inc. Gimbal module
EP1876504B1 (en) * 2006-07-03 2011-09-21 Force Dimension Technologies Sàrl Active gripper for haptic devices
WO2008108289A1 (ja) * 2007-03-01 2008-09-12 Tokyo Institute Of Technology 力覚提示機能を有する操縦システム
US8245595B2 (en) * 2009-04-30 2012-08-21 Wisconsin Alumni Research Foundation Two-axis non-singular robotic wrist

Also Published As

Publication number Publication date
EP2432626A1 (en) 2012-03-28
EP2432626B1 (en) 2013-12-04
ITRM20090250A1 (it) 2010-11-20
WO2010134119A1 (en) 2010-11-25
US20120137816A1 (en) 2012-06-07

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