ITMI20010830A0 - Robot modulare e riconfigurabile a cinematica parallela - Google Patents

Robot modulare e riconfigurabile a cinematica parallela

Info

Publication number
ITMI20010830A0
ITMI20010830A0 IT2001MI000830A ITMI20010830A ITMI20010830A0 IT MI20010830 A0 ITMI20010830 A0 IT MI20010830A0 IT 2001MI000830 A IT2001MI000830 A IT 2001MI000830A IT MI20010830 A ITMI20010830 A IT MI20010830A IT MI20010830 A0 ITMI20010830 A0 IT MI20010830A0
Authority
IT
Italy
Prior art keywords
modular
parallel kinematics
reconfigurable robot
reconfigurable
robot
Prior art date
Application number
IT2001MI000830A
Other languages
English (en)
Inventor
Simone Pio Negri
Original Assignee
Consiglio Nazionale Ricerche
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 Consiglio Nazionale Ricerche filed Critical Consiglio Nazionale Ricerche
Priority to IT2001MI000830A priority Critical patent/ITMI20010830A1/it
Publication of ITMI20010830A0 publication Critical patent/ITMI20010830A0/it
Priority to JP2002583142A priority patent/JP2004520952A/ja
Priority to US10/474,205 priority patent/US20040123694A1/en
Priority to PCT/EP2002/004251 priority patent/WO2002085580A1/en
Priority to EP02732629A priority patent/EP1379365A1/en
Priority to CA002443424A priority patent/CA2443424A1/en
Publication of ITMI20010830A1 publication Critical patent/ITMI20010830A1/it

Links

Classifications

    • 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
    • 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
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/58—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism a single 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
    • 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
    • B25J9/0042—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-universal-universal
    • 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
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • 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
    • 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
    • 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)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
IT2001MI000830A 2001-04-19 2001-04-19 Robot modulare e riconfigurabile a cinematica parallela ITMI20010830A1 (it)

Priority Applications (6)

Application Number Priority Date Filing Date Title
IT2001MI000830A ITMI20010830A1 (it) 2001-04-19 2001-04-19 Robot modulare e riconfigurabile a cinematica parallela
JP2002583142A JP2004520952A (ja) 2001-04-19 2002-04-15 モジュール式再構成可能な平行運動ロボット
US10/474,205 US20040123694A1 (en) 2001-04-19 2002-04-15 Modular and reconfigurable parallel kinematic robot
PCT/EP2002/004251 WO2002085580A1 (en) 2001-04-19 2002-04-15 Modular and reconfigurable parallel kinematic robot
EP02732629A EP1379365A1 (en) 2001-04-19 2002-04-15 Modular and reconfigurable parallel kinematic robot
CA002443424A CA2443424A1 (en) 2001-04-19 2002-04-15 Modular and reconfigurable parallel kinematic robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT2001MI000830A ITMI20010830A1 (it) 2001-04-19 2001-04-19 Robot modulare e riconfigurabile a cinematica parallela

Publications (2)

Publication Number Publication Date
ITMI20010830A0 true ITMI20010830A0 (it) 2001-04-19
ITMI20010830A1 ITMI20010830A1 (it) 2002-10-19

Family

ID=11447519

Family Applications (1)

Application Number Title Priority Date Filing Date
IT2001MI000830A ITMI20010830A1 (it) 2001-04-19 2001-04-19 Robot modulare e riconfigurabile a cinematica parallela

Country Status (6)

Country Link
US (1) US20040123694A1 (it)
EP (1) EP1379365A1 (it)
JP (1) JP2004520952A (it)
CA (1) CA2443424A1 (it)
IT (1) ITMI20010830A1 (it)
WO (1) WO2002085580A1 (it)

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FR2850599B1 (fr) * 2003-02-05 2006-03-03 Centre Nat Rech Scient Dispositif de deplacement et d'orientation d'un objet dans l'espace et utilisation en usinage rapide
US7905765B2 (en) * 2005-11-24 2011-03-15 Jtekt Corporation Parallel mechanism, calibration method for use in the same, and machine tool including the same
US8104710B2 (en) * 2007-04-25 2012-01-31 Goodrich Actuation Systems Limited Actuator arrangement
US20090088912A1 (en) * 2007-09-28 2009-04-02 Anorad Corporation Linear driven x-z robot
ATE500929T1 (de) * 2007-10-09 2011-03-15 Abb Technology Ab Industrierobotervorrichtung, industrieroboter und verfahren zur handhabung von objekten
JP5352174B2 (ja) * 2008-10-08 2013-11-27 Ｊｕｋｉ株式会社 電子部品実装装置
DE102008058644A1 (de) * 2008-10-10 2010-04-15 Num Industry Alliance Ag Schneidvorrichtung
US8037920B2 (en) * 2009-04-01 2011-10-18 Alexander Svirsky Retractable rigid awning and operating mechanism therefor
US8973768B1 (en) * 2009-10-09 2015-03-10 Par Systems, Inc. Gantry robot system
CN102069499B (zh) * 2009-11-19 2013-08-28 鸿富锦精密工业（深圳）有限公司 并联机器人
JP5370120B2 (ja) * 2009-12-17 2013-12-18 村田機械株式会社 ワーク搬送装置
US8457830B2 (en) 2010-03-22 2013-06-04 John R. Goulding In-line legged robot vehicle and method for operating
DE102010025275B4 (de) * 2010-06-28 2012-03-29 Martin Schwab Hexapod
CN102275743B (zh) * 2011-07-01 2013-02-06 广西大学 一种变胞机构式码垛机器人机构
PL396589A1 (pl) * 2011-10-10 2013-04-15 Janusz Marcin Ejma Maszyna z manipulatorem narzedzia, zwlaszcza narzedzia precyzyjnego
CN102886777B (zh) * 2012-10-25 2015-05-06 浙江理工大学 一种具有大横向位移的二自由度并联机构
EP2740563B1 (de) * 2012-12-05 2018-04-04 TRUMPF Werkzeugmaschinen GmbH & Co. KG Bearbeitungseinrichtung, Bearbeitungsmaschine und Verfahren zum Bewegen eines Bearbeitungskopfs
GB2514775B (en) * 2013-06-03 2020-09-09 Tannlin Tech Limited Precision two-dimensional actuator
JP6480160B2 (ja) * 2014-11-21 2019-03-06 コマツＮｔｃ株式会社 搬送ローダおよび加工ライン
CN104493809A (zh) * 2014-12-10 2015-04-08 广西大学 一种变胞机构式轮式移动码垛机器人机构
WO2016113839A1 (ja) * 2015-01-13 2016-07-21 三菱電機株式会社 位置決め装置
WO2016113854A1 (ja) * 2015-01-14 2016-07-21 三菱電機株式会社 位置決め装置
JP5963968B1 (ja) * 2015-01-21 2016-08-03 三菱電機株式会社 位置決め装置
GB2552341A (en) * 2016-07-19 2018-01-24 The Norwegian Univ Of Life Sciences Single rail robot
DE102018006001A1 (de) * 2018-07-28 2020-01-30 Evgeniy Zharovsky Delta roboter mit aktiver neigungssteuerung des effektors
KR102149410B1 (ko) * 2018-08-17 2020-08-28 국민대학교산학협력단 미세 이송기구 및 이를 포함하는 초정밀 포지셔닝 장치
FR3088566B3 (fr) * 2018-11-16 2020-11-13 Michelin & Cie Systeme de coupe de bandelettes par couteaux helicoidaux et procede de coupe correspondant
CN111243374B (zh) * 2020-01-17 2021-12-17 杜建男 一种大平动行程和高响应速度的运动模拟器
CN112916434B (zh) * 2021-01-22 2022-09-09 江门职业技术学院 一种大范围多角度调整摆放方式的分拣并联机器人系统
DE102021115547A1 (de) 2021-06-16 2022-12-22 Deutsches Zentrum für Luft- und Raumfahrt e.V. Robotersystem
CN115741647B (zh) * 2022-12-19 2023-08-11 吉林化工学院 一种机械制造用机械臂
CN116872189B (zh) * 2023-09-07 2023-11-07 太原理工大学 一种带有闭环耦合链的五自由度并联驱动机器人

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Also Published As

Publication number Publication date
US20040123694A1 (en) 2004-07-01
JP2004520952A (ja) 2004-07-15
ITMI20010830A1 (it) 2002-10-19
WO2002085580A1 (en) 2002-10-31
CA2443424A1 (en) 2002-10-31
EP1379365A1 (en) 2004-01-14

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