JP2001511870A - 物体に少なくとも3つの自由度の動きを与える駆動方法 - Google Patents
物体に少なくとも3つの自由度の動きを与える駆動方法Info
- Publication number
- JP2001511870A JP2001511870A JP52968798A JP52968798A JP2001511870A JP 2001511870 A JP2001511870 A JP 2001511870A JP 52968798 A JP52968798 A JP 52968798A JP 52968798 A JP52968798 A JP 52968798A JP 2001511870 A JP2001511870 A JP 2001511870A
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- Prior art keywords
- support base
- joint
- platform
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- Prior art date
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Links
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- 230000007246 mechanism Effects 0.000 claims description 15
- 230000005484 gravity Effects 0.000 claims description 6
- 239000012190 activator Substances 0.000 claims description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 11
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- 238000005859 coupling reaction Methods 0.000 description 7
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- 238000004088 simulation Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/12—Motion systems for aircraft simulators
- G09B9/14—Motion systems for aircraft simulators controlled by fluid actuated piston or cylinder ram
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/125—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for tilting and rolling
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
- F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2085—Undercarriages with or without wheels comprising means allowing sideward adjustment, i.e. left-right translation of the head relatively to the undercarriage
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2092—Undercarriages with or without wheels comprising means allowing depth adjustment, i.e. forward-backward translation of the head relatively to the undercarriage
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/041—Balancing means for balancing rotational movement of the head
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Aviation & Aerospace Engineering (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Transmission Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Manipulator (AREA)
- Component Parts Of Construction Machinery (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.物体に少なくとも3自由度の動きを与える装置であって、支持基盤(2)に、 ほぼ正多角形のの頂点位置に取り付けられた少なくとも3つのアクチュエータ( 3、4、5または5')を具備し、アクチュエータはいずれも荷重が搭載されたプラ ットホームの対応するコーナー部にヒンジを有する継手機構(13、14、15、26)を 介して接続されたクランク(6、7、6'、6'A、6V-7V)を回転方向に駆動し、プラッ トホームへの固定点はアクチュエータの取りつけ点が形成する多角形と相似な多 角形状であり、 それぞれのヒンジを有する継手機構は一端がボールソケットタイプのジョイン ト(10、11、12)でプラットホームに接続された少なくとも1つの接続エレメント (13、14、15または27)を有し、他端には少なくとも1つの回動可能なジョイント (18、19、38、39)を有し、接続エレメントのヒンジ点(12−18−19、12−38−39) は同一平面にあり、その平面はプラットホームを連結するジョイント(12)の軸を 通る水平軸の回りに回動することができることを特徴とする装置。 2.それぞれのアクチュエータはクランク(6、8)が設置された2つの同軸駆動シ ャフトを有し、アクチュエータの2つのクランクが駆動シャフトの共通平面に対 して角度が同じになるように固定され、接続エレメント(13、14、15)はそれぞれ 三角形であり、頂部(16、17)がロータリージョイント(18、19)を介してクランク に接続され、他の角がボールソケットタイプのジョイント(12)を介してプラット ホームのコーナー部に接続されたことを特徴とする、請求項1に記載の装置。 3.ヒンジを有する継手機構はいずれも、クランク(6’)にヒンジ(44、45)で接 続された水平アーム(30)の回りに互いにヒンジ接続された2つの台形(27、28)で 構成されたパンタグラフ(26)を有し、2つの台形の内の一方(27)は接続エレメン トであり、他の台形(28)は支持基盤に固定されたベアリング(42、43)に搭載され たことを特徴とする、前記請求項1に記載の装置。 4.正方形の形状(8)に配置された同一の2つのアクチュエータを有することを 徳著とする、前記請求項1ないし3のいずれかに記載された装置。 5.荷重補償装置は、調整可能なばね機能を有する単一の長いエレメント(21)を 有し、当該長居エレメント(21)の一端は支持基盤(2)の中央部にジョイント(23) によって接続され、他端はプラットホーム(9)の重心に他のジョイントによって 接続されたことを特徴とする、前記請求項1または2のいずれかに記載の装置。 6.荷重補償装置は、プラットホームのコーナー部と対応する支持基盤のコーナ 一部とに回動自在に接続されたばね機能を有する3つの長い部材を有することを 特徴とする、前記請求項1または2のいずれかに記載の装置。 7.荷重補償装置は、各グループが2本の長い部材を有するグループを3つ有し 、該長い部材は調整可能なばね(24)機能を有し、一旦はアームの一端に、他端は アクチュエータの駆動シャフト(5A)に接続されていることを特徴とする、前記 請求項1または2のいずれかに記載の装置。 8.荷重補償装置が、アクチュエータそれぞれに対して、支持基盤(2)とアクチ ュエータ(5A)の駆動シャフトの中間にばね機能を有するエレメント(21A)を少な くとも1つ有することを特徴とする、前記請求項1または2のいずれかに記載の 装置。 9.荷重補償装置は、それぞれのヒンジを有する継手機構(26)に対して、パンタ グラフの2つのアーム(27、28)の間にばね機能を有する長い部材を設けたことを 特徴とする、前記請求項3に記載の装置。 10.第1の支持基盤(2)の下に第2の支持基盤(48)を有し、第2の支持基盤の中 央部を貫通するシャフト(50)を有し、2つの支持基盤を繋ぐジャッキ(53)の作用 によって第2の支持基盤は回転することができる請求項1に記載の装置。 11.第2の支持基盤は第3の支持基盤(49)の上に固定された第1のレール(55)の 上を移動する車輪(54)が設けられていることを特徴とする請求項10に記載の装置 。 12.第3の支持基盤は第1のレールとは直行する向きでペデスタル(59)に固定さ れた第2のレール(58)の上を移動する車輪を有することを特徴とする請求項11に 記載の装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9616112A FR2757925B1 (fr) | 1996-12-27 | 1996-12-27 | Dispositif modulaire de mise en mouvement de charge selon au moins trois degres de liberte |
FR96/16112 | 1996-12-27 | ||
PCT/FR1997/002408 WO1998029681A1 (fr) | 1996-12-27 | 1997-12-23 | Dispositif modulaire de mise en mouvement de charge selon au moins trois degres de liberte |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2001511870A true JP2001511870A (ja) | 2001-08-14 |
Family
ID=9499219
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP52968798A Ceased JP2001511870A (ja) | 1996-12-27 | 1997-12-23 | 物体に少なくとも3つの自由度の動きを与える駆動方法 |
Country Status (14)
Country | Link |
---|---|
US (1) | US6077078A (ja) |
EP (1) | EP0946843B1 (ja) |
JP (1) | JP2001511870A (ja) |
KR (1) | KR20000062338A (ja) |
CN (1) | CN1098994C (ja) |
AR (1) | AR011300A1 (ja) |
AU (1) | AU724722B2 (ja) |
BR (1) | BR9713789A (ja) |
CA (1) | CA2220877C (ja) |
DE (1) | DE69712363T2 (ja) |
FR (1) | FR2757925B1 (ja) |
HK (1) | HK1025620A1 (ja) |
TW (1) | TW368569B (ja) |
WO (1) | WO1998029681A1 (ja) |
Cited By (4)
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TWI477347B (zh) * | 2011-12-28 | 2015-03-21 | 中原大學 | 微型工具機及其控制系統 |
KR101996465B1 (ko) * | 2018-01-09 | 2019-07-04 | 국방과학연구소 | 3자유도 회전 운동 구현 장치 |
JP2020041669A (ja) * | 2018-09-13 | 2020-03-19 | キヤノン株式会社 | 支持装置 |
KR20230071886A (ko) * | 2021-11-16 | 2023-05-24 | 한국생산기술연구원 | 5-자유도 시뮬레이터 |
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US6445960B1 (en) * | 1998-05-29 | 2002-09-03 | Ronbotics Corporation | Electric motion platform and a control system for controlling the same |
US20030219701A1 (en) * | 2000-05-12 | 2003-11-27 | Zeier Bruce E. | Simulator for aircraft flight training |
US6371853B1 (en) | 2000-08-25 | 2002-04-16 | Ronbotics Corporation | Motion pinball game |
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DE10055294C2 (de) * | 2000-11-03 | 2002-10-31 | Storz Karl Gmbh & Co Kg | Simulatorvorrichtung mit zumindest zwei Bewegungsfreiheitsgraden für die Verwendung bei einem realen Instrument |
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- 1997-10-23 US US08/956,395 patent/US6077078A/en not_active Expired - Lifetime
- 1997-12-23 DE DE69712363T patent/DE69712363T2/de not_active Expired - Lifetime
- 1997-12-23 KR KR1019997005808A patent/KR20000062338A/ko not_active Application Discontinuation
- 1997-12-23 WO PCT/FR1997/002408 patent/WO1998029681A1/fr not_active Application Discontinuation
- 1997-12-23 BR BR9713789-8A patent/BR9713789A/pt not_active IP Right Cessation
- 1997-12-23 AU AU56695/98A patent/AU724722B2/en not_active Ceased
- 1997-12-23 JP JP52968798A patent/JP2001511870A/ja not_active Ceased
- 1997-12-23 EP EP97953001A patent/EP0946843B1/fr not_active Expired - Lifetime
- 1997-12-23 CN CN97181024A patent/CN1098994C/zh not_active Expired - Fee Related
- 1997-12-26 AR ARP970106185A patent/AR011300A1/es unknown
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1998
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2000
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TWI477347B (zh) * | 2011-12-28 | 2015-03-21 | 中原大學 | 微型工具機及其控制系統 |
KR101996465B1 (ko) * | 2018-01-09 | 2019-07-04 | 국방과학연구소 | 3자유도 회전 운동 구현 장치 |
JP2020041669A (ja) * | 2018-09-13 | 2020-03-19 | キヤノン株式会社 | 支持装置 |
JP7170474B2 (ja) | 2018-09-13 | 2022-11-14 | キヤノン株式会社 | 支持装置 |
KR20230071886A (ko) * | 2021-11-16 | 2023-05-24 | 한국생산기술연구원 | 5-자유도 시뮬레이터 |
KR102598608B1 (ko) * | 2021-11-16 | 2023-11-08 | 한국생산기술연구원 | 5-자유도 시뮬레이터 |
Also Published As
Publication number | Publication date |
---|---|
WO1998029681A1 (fr) | 1998-07-09 |
DE69712363T2 (de) | 2002-11-07 |
KR20000062338A (ko) | 2000-10-25 |
EP0946843A1 (fr) | 1999-10-06 |
CA2220877A1 (fr) | 1998-06-27 |
DE69712363D1 (de) | 2002-06-06 |
CN1098994C (zh) | 2003-01-15 |
US6077078A (en) | 2000-06-20 |
BR9713789A (pt) | 2000-02-08 |
FR2757925B1 (fr) | 1999-03-26 |
TW368569B (en) | 1999-09-01 |
EP0946843B1 (fr) | 2002-05-02 |
FR2757925A1 (fr) | 1998-07-03 |
AU5669598A (en) | 1998-07-31 |
AU724722B2 (en) | 2000-09-28 |
CA2220877C (fr) | 2005-12-20 |
CN1251646A (zh) | 2000-04-26 |
HK1025620A1 (en) | 2000-11-17 |
AR011300A1 (es) | 2000-08-16 |
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