JP2001520941A - ロボットマニピュレータ - Google Patents

ロボットマニピュレータ

Info

Publication number
JP2001520941A
JP2001520941A JP2000517326A JP2000517326A JP2001520941A JP 2001520941 A JP2001520941 A JP 2001520941A JP 2000517326 A JP2000517326 A JP 2000517326A JP 2000517326 A JP2000517326 A JP 2000517326A JP 2001520941 A JP2001520941 A JP 2001520941A
Authority
JP
Japan
Prior art keywords
pivot
holder
link axis
support
links
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.)
Pending
Application number
JP2000517326A
Other languages
English (en)
Japanese (ja)
Other versions
JP2001520941A5 (enExample
Inventor
マーク イー． ロシェイム，
Original Assignee
ロス−ハイム デザインズ， インコーポレイテッド
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 ロス−ハイム デザインズ， インコーポレイテッド filed Critical ロス−ハイム デザインズ， インコーポレイテッド
Publication of JP2001520941A publication Critical patent/JP2001520941A/ja
Publication of JP2001520941A5 publication Critical patent/JP2001520941A5/ja
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
    • 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
    • Y10T74/20317—Robotic arm including electric motor
    • 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
    • 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
    • Y10T74/20335—Wrist

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)
JP2000517326A 1997-10-16 1998-07-28 ロボットマニピュレータ Pending JP2001520941A (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US08/951,555 US5979264A (en) 1997-03-13 1997-10-16 Robotic manipulator
US08/951,555 1997-10-16
PCT/US1998/015605 WO1999021070A1 (en) 1997-10-16 1998-07-28 Robotic manipulator

Publications (2)

Publication Number Publication Date
JP2001520941A true JP2001520941A (ja) 2001-11-06
JP2001520941A5 JP2001520941A5 (enExample) 2006-01-05

Family

ID=25491824

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2000517326A Pending JP2001520941A (ja) 1997-10-16 1998-07-28 ロボットマニピュレータ

Country Status (8)

Country Link
US (2) US5979264A (enExample)
EP (1) EP1023653B1 (enExample)
JP (1) JP2001520941A (enExample)
AT (1) ATE461477T1 (enExample)
AU (1) AU8514498A (enExample)
CA (1) CA2305320C (enExample)
DE (1) DE69841561D1 (enExample)
WO (1) WO1999021070A1 (enExample)

Cited By (18)

* Cited by examiner, † Cited by third party
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JP2008264904A (ja) * 2007-04-17 2008-11-06 Fanuc Ltd パラレルリンク型作業装置
JP2009248288A (ja) * 2008-04-10 2009-10-29 Murata Mach Ltd パラレルメカニズム
JP2010520066A (ja) * 2007-02-28 2010-06-10 シェーヌ，ジャン−マリー コンパクトマニピュレーションロボット
JP2011000643A (ja) * 2009-06-16 2011-01-06 Seiwa Kogyo:Kk 真空吸着パッドセッティング装置における定置板の傾斜角度設定装置
WO2011155070A1 (ja) * 2010-06-11 2011-12-15 国立大学法人福島大学 パラレルマニピュレータ
JP2012240173A (ja) * 2011-05-23 2012-12-10 Kawasaki Heavy Ind Ltd ロボット
WO2015182557A1 (ja) * 2014-05-30 2015-12-03 Ntn株式会社 パラレルリンク機構およびリンク作動装置
WO2015182556A1 (ja) * 2014-05-30 2015-12-03 Ntn株式会社 パラレルリンク機構およびリンク作動装置
JP2015229198A (ja) * 2014-06-03 2015-12-21 川崎重工業株式会社 ロボットアーム
JP2016147351A (ja) * 2015-02-13 2016-08-18 Ntn株式会社 リンク作動装置を用いた多関節ロボット
WO2017213034A1 (ja) * 2016-06-08 2017-12-14 Ntn株式会社 リンク作動装置
JP2017219122A (ja) * 2016-06-08 2017-12-14 Ntn株式会社 リンク作動装置
CN108656079A (zh) * 2018-04-13 2018-10-16 上海大学 一种三平一转四自由度的并联机构
WO2018212058A1 (ja) * 2017-05-18 2018-11-22 Ntn株式会社 外観検査装置
WO2019065650A1 (ja) * 2017-09-26 2019-04-04 Ntn株式会社 リンク作動装置
WO2019138966A1 (ja) * 2018-01-09 2019-07-18 Ntn株式会社 パラレルリンク機構およびリンク作動装置
WO2019150810A1 (ja) * 2018-01-30 2019-08-08 ソニー株式会社 マスタ－スレーブシステム、操作装置、並びにロボット装置
JP2021008926A (ja) * 2019-07-02 2021-01-28 国立大学法人九州工業大学 パラレルリンク機構およびリンク作動装置

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JP3806273B2 (ja) * 1999-09-17 2006-08-09 株式会社ジェイテクト 四自由度パラレルロボット
US6418811B1 (en) * 2000-05-26 2002-07-16 Ross-Hime Designs, Inc. Robotic manipulator
EP1296805A1 (en) * 2000-06-20 2003-04-02 Meganic APS Parallel manipulator provided with a truss structure
GB0026234D0 (en) * 2000-10-26 2000-12-13 Shin Nippon Koki Company Ltd A spindle head
US6729202B2 (en) * 2001-05-31 2004-05-04 UNIVERSITé LAVAL Cartesian parallel manipulators
US7077619B2 (en) * 2001-07-13 2006-07-18 3M Innovative Properties Company Continuous motion robotic manipulator
AU2002353941A1 (en) * 2001-10-31 2003-05-12 Ross-Hime Designs, Incoporated Robotic manipulator
JP3749946B2 (ja) * 2002-02-07 2006-03-01 国立大学法人 東京大学 関節機構、それを用いた双腕ロボットおよび二足歩行ロボット
US6898484B2 (en) 2002-05-01 2005-05-24 Dorothy Lemelson Robotic manufacturing and assembly with relative radio positioning using radio based location determination
CN1233511C (zh) * 2002-05-23 2005-12-28 河北工业大学 可重组模块化3～6自由度结构解耦并联微动机器人
US6865011B2 (en) * 2002-07-30 2005-03-08 The University Of British Columbia Self-stabilized electrophoretically frustrated total internal reflection display
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
US7162309B2 (en) * 2003-04-07 2007-01-09 Medtronic, Inc. Epicardial lead delivery system and method
JP2005144627A (ja) * 2003-11-18 2005-06-09 Ntn Corp リンク作動装置
EP1690650A4 (en) * 2003-12-03 2008-01-09 Ntn Toyo Bearing Co Ltd DEVICE FOR CONTROLLING CONNECTIONS
US8197469B2 (en) * 2004-01-20 2012-06-12 Ross-Hime Designs, Inc. Inserter joint and inserter
US7971505B2 (en) * 2004-03-11 2011-07-05 Ntn Corporation Link actuating device
US20050252329A1 (en) * 2004-05-13 2005-11-17 Jean-Guy Demers Haptic mechanism
FR2873317B1 (fr) * 2004-07-22 2008-09-26 Inst Nat Sciences Appliq Robot parallele comprenant des moyens de mise en mouvement decomposees en deux sous-ensemble
US8371187B2 (en) 2004-12-20 2013-02-12 Simon Fraser University Spherical linkage and force feedback controls
JP2008531931A (ja) * 2005-02-11 2008-08-14 フォース ディメンション エス．エイ．アール．エル． 運動伝達装置およびその構成部品
EP1690652A1 (en) * 2005-02-11 2006-08-16 Force Dimension S.à.r.l Device for transmitting movements comprising a parallel kinematic structure and components thereof
WO2006102393A2 (en) * 2005-03-22 2006-09-28 Ross-Hime Designs, Incorporated Robotic manipulator
US7259535B1 (en) * 2006-05-08 2007-08-21 Boeing Company Apparatus and method for situating a tool with respect to a work site on a workpiece
US20090084219A1 (en) * 2007-09-10 2009-04-02 Ross-Hime Designs, Inc. Robotic manipulator
US8245595B2 (en) * 2009-04-30 2012-08-21 Wisconsin Alumni Research Foundation Two-axis non-singular robotic wrist
US20120067354A1 (en) 2009-06-03 2012-03-22 Moog B.V. Skewed-axis three degree-of-freedom remote-center gimbal
JP5397856B2 (ja) * 2009-08-28 2014-01-22 国立大学法人東京工業大学 ６自由度パラレル機構
TWI401144B (zh) * 2010-10-01 2013-07-11 Ind Tech Res Inst 高反應力關節裝置的控制方法
JP5951224B2 (ja) * 2011-11-02 2016-07-13 Ntn株式会社 リンク作動装置の原点位置初期設定方法およびリンク作動装置
JP5785055B2 (ja) * 2011-11-07 2015-09-24 Ntn株式会社 リンク作動装置
US20140187857A1 (en) * 2012-02-06 2014-07-03 Vantage Surgical Systems Inc. Apparatus and Methods for Enhanced Visualization and Control in Minimally Invasive Surgery
US20140066700A1 (en) * 2012-02-06 2014-03-06 Vantage Surgical Systems Inc. Stereoscopic System for Minimally Invasive Surgery Visualization
US20140066701A1 (en) * 2012-02-06 2014-03-06 Vantage Surgical Systems Inc. Method for minimally invasive surgery steroscopic visualization
EP2935972B1 (en) * 2012-12-21 2017-09-06 Materialise N.V. Apparatus and methods of positioning an object using an adjustment block
CN103433916B (zh) * 2013-08-06 2016-01-20 北京航空航天大学 二自由度等径球面纯滚并联转动机构
US9579786B2 (en) * 2013-09-26 2017-02-28 Wen-Der TRUI Spherical coordinates manipulating mechanism
JP6289973B2 (ja) * 2014-03-31 2018-03-07 Ntn株式会社 パラレルリンク機構およびリンク作動装置
EP2990005B1 (en) * 2014-08-31 2017-06-21 Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi A manipulator of a medical device
EP3123040B1 (en) 2014-10-09 2018-08-01 Harris Dynamics Articulating torsional coupling
CN105752288A (zh) * 2016-03-24 2016-07-13 褚宏鹏 新型两自由度并联舰载雷达天线稳定平台
US9889874B1 (en) * 2016-08-15 2018-02-13 Clause Technology Three-axis motion joystick
US9823686B1 (en) * 2016-08-15 2017-11-21 Clause Technology Three-axis motion joystick
AT520763B1 (de) * 2017-12-21 2022-09-15 Hans Kuenz Gmbh Kransteuerung
KR20220126328A (ko) * 2021-03-08 2022-09-16 삼성전자주식회사 다자유도 구동기 및 이를 채용한 디스플레이 장치
US20220316180A1 (en) * 2021-04-05 2022-10-06 Kobelco Construction Machinery Co., Ltd. Remote driving device and operation mechanism for work machine
GB2632832A (en) * 2023-08-22 2025-02-26 Univ Nottingham Trent Improvements in movable joints

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Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010520066A (ja) * 2007-02-28 2010-06-10 シェーヌ，ジャン−マリー コンパクトマニピュレーションロボット
JP2008264904A (ja) * 2007-04-17 2008-11-06 Fanuc Ltd パラレルリンク型作業装置
JP2009248288A (ja) * 2008-04-10 2009-10-29 Murata Mach Ltd パラレルメカニズム
JP2011000643A (ja) * 2009-06-16 2011-01-06 Seiwa Kogyo:Kk 真空吸着パッドセッティング装置における定置板の傾斜角度設定装置
JPWO2011155070A1 (ja) * 2010-06-11 2013-08-01 国立大学法人福島大学 手術支援ロボット用のパラレルマニピュレータ
WO2011155070A1 (ja) * 2010-06-11 2011-12-15 国立大学法人福島大学 パラレルマニピュレータ
JP2012240173A (ja) * 2011-05-23 2012-12-10 Kawasaki Heavy Ind Ltd ロボット
WO2015182557A1 (ja) * 2014-05-30 2015-12-03 Ntn株式会社 パラレルリンク機構およびリンク作動装置
WO2015182556A1 (ja) * 2014-05-30 2015-12-03 Ntn株式会社 パラレルリンク機構およびリンク作動装置
JP2015224782A (ja) * 2014-05-30 2015-12-14 Ntn株式会社 パラレルリンク機構およびリンク作動装置
JP2015224786A (ja) * 2014-05-30 2015-12-14 Ntn株式会社 パラレルリンク機構およびリンク作動装置
JP2015229198A (ja) * 2014-06-03 2015-12-21 川崎重工業株式会社 ロボットアーム
JP2016147351A (ja) * 2015-02-13 2016-08-18 Ntn株式会社 リンク作動装置を用いた多関節ロボット
WO2016129624A1 (ja) * 2015-02-13 2016-08-18 Ntn株式会社 リンク作動装置を用いた多関節ロボット
WO2017213034A1 (ja) * 2016-06-08 2017-12-14 Ntn株式会社 リンク作動装置
US11000946B2 (en) 2016-06-08 2021-05-11 Ntn Corporation Link operating device
JP2017219122A (ja) * 2016-06-08 2017-12-14 Ntn株式会社 リンク作動装置
WO2018212058A1 (ja) * 2017-05-18 2018-11-22 Ntn株式会社 外観検査装置
JP2018194443A (ja) * 2017-05-18 2018-12-06 Ntn株式会社 外観検査装置
US11298814B2 (en) 2017-09-26 2022-04-12 Ntn Corporation Link actuating device having a proximal-end-side link hub, a distal-end-side link hub, and three or more link mechanisms
WO2019065650A1 (ja) * 2017-09-26 2019-04-04 Ntn株式会社 リンク作動装置
JP2019058969A (ja) * 2017-09-26 2019-04-18 Ntn株式会社 リンク作動装置
WO2019138966A1 (ja) * 2018-01-09 2019-07-18 Ntn株式会社 パラレルリンク機構およびリンク作動装置
JP2019120331A (ja) * 2018-01-09 2019-07-22 Ntn株式会社 パラレルリンク機構およびリンク作動装置
WO2019150810A1 (ja) * 2018-01-30 2019-08-08 ソニー株式会社 マスタ－スレーブシステム、操作装置、並びにロボット装置
CN108656079A (zh) * 2018-04-13 2018-10-16 上海大学 一种三平一转四自由度的并联机构
JP2021008926A (ja) * 2019-07-02 2021-01-28 国立大学法人九州工業大学 パラレルリンク機構およびリンク作動装置
JP7417917B2 (ja) 2019-07-02 2024-01-19 国立大学法人九州工業大学 パラレルリンク機構およびリンク作動装置

Also Published As

Publication number Publication date
CA2305320C (en) 2007-10-23
US6105455A (en) 2000-08-22
EP1023653A4 (en) 2001-01-03
EP1023653B1 (en) 2010-03-17
ATE461477T1 (de) 2010-04-15
WO1999021070A1 (en) 1999-04-29
AU8514498A (en) 1999-05-10
DE69841561D1 (de) 2010-04-29
CA2305320A1 (en) 1999-04-29
EP1023653A1 (en) 2000-08-02
US5979264A (en) 1999-11-09

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