JP2018528085A - ロボットアームおよびロボットリスト - Google Patents

ロボットアームおよびロボットリスト Download PDF

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Publication number
JP2018528085A
JP2018528085A JP2018509598A JP2018509598A JP2018528085A JP 2018528085 A JP2018528085 A JP 2018528085A JP 2018509598 A JP2018509598 A JP 2018509598A JP 2018509598 A JP2018509598 A JP 2018509598A JP 2018528085 A JP2018528085 A JP 2018528085A
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JP
Japan
Prior art keywords
hgv
robot
wrist
robot arm
rotation axis
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
JP2018509598A
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English (en)
Japanese (ja)
Other versions
JP2018528085A5 (enExample
Inventor
ハダディン，ザミ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Franka Emika GmbH
Original Assignee
Franka Emika GmbH
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 Franka Emika GmbH filed Critical Franka Emika GmbH
Publication of JP2018528085A publication Critical patent/JP2018528085A/ja
Publication of JP2018528085A5 publication Critical patent/JP2018528085A5/ja
Pending legal-status Critical Current

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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
    • B25J17/0283—Three-dimensional joints
    • B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
    • 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
    • B25J17/0283—Three-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • 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
    • B25J9/046—Revolute coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2018509598A 2015-08-14 2016-08-10 ロボットアームおよびロボットリスト Pending JP2018528085A (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102015113467.5A DE102015113467A1 (de) 2015-08-14 2015-08-14 Roboterarm und Roboterhandgelenk
DE102015113467.5 2015-08-14
PCT/EP2016/069060 WO2017029170A1 (de) 2015-08-14 2016-08-10 Roboterarm und roboterhandgelenk

Publications (2)

Publication Number Publication Date
JP2018528085A true JP2018528085A (ja) 2018-09-27
JP2018528085A5 JP2018528085A5 (enExample) 2020-07-02

Family

ID=56801509

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018509598A Pending JP2018528085A (ja) 2015-08-14 2016-08-10 ロボットアームおよびロボットリスト

Country Status (9)

Country Link
US (1) US10836051B2 (enExample)
EP (1) EP3334574B1 (enExample)
JP (1) JP2018528085A (enExample)
KR (1) KR102026785B1 (enExample)
CN (1) CN108136593B (enExample)
DE (1) DE102015113467A1 (enExample)
DK (1) DK3334574T3 (enExample)
SG (1) SG11201801260YA (enExample)
WO (1) WO2017029170A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11358276B2 (en) 2018-08-31 2022-06-14 Fanuc Corporation Robot and robot system

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6443875B2 (ja) * 2014-10-24 2018-12-26 ライフロボティクス株式会社 ロボットアーム機構
JP7087575B2 (ja) * 2018-03-30 2022-06-21 日本電産株式会社 ６軸ロボットの姿勢調整方法
DE102019128082B4 (de) * 2019-10-17 2022-03-10 Franka Emika Gmbh Drehmomentbegrenztes Bremsen eines Robotermanipulators
GB2592411B (en) * 2020-02-27 2022-08-17 Dyson Technology Ltd Force sensing device
US12179344B2 (en) * 2020-04-09 2024-12-31 Agile Robots Se Robot arm having an articulated joint
US11752518B2 (en) * 2021-06-03 2023-09-12 Sst Systems, Inc. Robot-centered coating system with multiple curing workstations

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0639751A (ja) * 1991-12-07 1994-02-15 Pohang Iron & Steel Co Ltd オフセットを有するロボットの手首の機構変数決定法
JP2004347548A (ja) * 2003-05-26 2004-12-09 Ts Corporation 荷重検出システム
JP2005199375A (ja) * 2004-01-14 2005-07-28 Kawasaki Heavy Ind Ltd 産業用ロボット
JP2006000955A (ja) * 2004-06-16 2006-01-05 National Institute Of Advanced Industrial & Technology ロボットアームと、その回転関節装置及び手首装置
JP2008073775A (ja) * 2006-09-19 2008-04-03 Yaskawa Electric Corp 産業用ロボット
JP2008272883A (ja) * 2007-04-27 2008-11-13 Yaskawa Electric Corp 双腕型ロボットマニピュレータ
JP2011101918A (ja) * 2009-11-10 2011-05-26 Yaskawa Electric Corp ロボット及びロボットシステム
US20120011956A1 (en) * 2009-04-15 2012-01-19 Ivan Lundberg Apparatus for a robot arm
JP2012232361A (ja) * 2011-04-28 2012-11-29 Seiko Epson Corp ロボット

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JPH0261588U (enExample) * 1988-10-24 1990-05-08
US5293107A (en) * 1993-02-24 1994-03-08 Fanuc Robotics North America, Inc. Motorized rotary joint and method of constructing a modular robot utilizing same
JP3207728B2 (ja) * 1995-10-11 2001-09-10 三菱重工業株式会社 冗長マニピュレータの制御方法
JP2000141270A (ja) 1998-11-06 2000-05-23 Matsushita Electric Ind Co Ltd 多関節型ロボット
DE10010615A1 (de) * 2000-03-03 2001-09-06 Duerr Systems Gmbh Roboter zum Beschichten oder Behandeln von Werkstücken
EP3045273B1 (en) * 2006-03-03 2018-12-12 Universal Robots A/S Joint for a robot
DE202007019624U1 (de) * 2007-04-16 2014-07-29 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Antriebseinheit und ein die Antriebseinheit umfassender Gelenkarm
JP5135069B2 (ja) * 2008-06-12 2013-01-30 三鷹光器株式会社 医療用器具保持アーム装置
DE202010005313U1 (de) * 2010-04-27 2011-10-27 Kuka Laboratories Gmbh Bearbeitungseinrichtung
WO2012073789A1 (ja) * 2010-11-30 2012-06-07 オリンパス株式会社 マスタ操作入力装置及びマスタスレーブマニピュレータ
US8442686B2 (en) * 2011-01-31 2013-05-14 Toyota Jidosha Kabushiki Kaisha Articulated arm robot, control method and control program
JP5545263B2 (ja) * 2011-04-27 2014-07-09 株式会社安川電機 ロボットシステム及び被作業物の製造方法
JP5582313B2 (ja) * 2011-06-28 2014-09-03 株式会社安川電機 ロボットシステム
DE102012102749A1 (de) * 2012-03-29 2013-10-02 Reis Group Holding Gmbh & Co. Kg Vorrichtung und Verfahren zur Bedienung eines Industrieroboters
WO2013190639A1 (ja) * 2012-06-19 2013-12-27 株式会社安川電機 ロボットシステムおよび加工品の製造方法
JP5713047B2 (ja) * 2013-04-18 2015-05-07 株式会社安川電機 移動ロボット、移動ロボットの位置決めシステム、及び、移動ロボットの位置決め方法
DE102013222456A1 (de) * 2013-11-05 2015-05-07 Kuka Laboratories Gmbh Verfahren zum Programmieren von Bewegungsabläufen eines redundanten Industrieroboters und zugehöriger Industrieroboter
JP2015142454A (ja) * 2014-01-29 2015-08-03 キヤノン株式会社 アクチュエータ及び多関節ロボットアーム
CN203752148U (zh) * 2014-02-18 2014-08-06 中国人民解放军军事医学科学院卫生装备研究所 具有关节轴线正交关系的可折叠六自由度轻型操作臂
US9981389B2 (en) * 2014-03-03 2018-05-29 California Institute Of Technology Robotics platforms incorporating manipulators having common joint designs
EP3357447B1 (en) * 2015-10-01 2025-11-26 Sony Group Corporation Medical support arm device and medical system
US10919149B2 (en) * 2017-11-24 2021-02-16 Denso Wave Incorporated Controller for robot and inverse transforming method for robot
JP7087575B2 (ja) * 2018-03-30 2022-06-21 日本電産株式会社 ６軸ロボットの姿勢調整方法
JP2019177436A (ja) * 2018-03-30 2019-10-17 日本電産株式会社 ロボット制御装置、ロボットの関節の角度を求める方法、プログラム
KR102284509B1 (ko) * 2019-07-25 2021-08-03 엘지전자 주식회사 충전 로봇 및 그 제어방법

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0639751A (ja) * 1991-12-07 1994-02-15 Pohang Iron & Steel Co Ltd オフセットを有するロボットの手首の機構変数決定法
JP2004347548A (ja) * 2003-05-26 2004-12-09 Ts Corporation 荷重検出システム
JP2005199375A (ja) * 2004-01-14 2005-07-28 Kawasaki Heavy Ind Ltd 産業用ロボット
JP2006000955A (ja) * 2004-06-16 2006-01-05 National Institute Of Advanced Industrial & Technology ロボットアームと、その回転関節装置及び手首装置
JP2008073775A (ja) * 2006-09-19 2008-04-03 Yaskawa Electric Corp 産業用ロボット
JP2008272883A (ja) * 2007-04-27 2008-11-13 Yaskawa Electric Corp 双腕型ロボットマニピュレータ
US20120011956A1 (en) * 2009-04-15 2012-01-19 Ivan Lundberg Apparatus for a robot arm
JP2011101918A (ja) * 2009-11-10 2011-05-26 Yaskawa Electric Corp ロボット及びロボットシステム
JP2012232361A (ja) * 2011-04-28 2012-11-29 Seiko Epson Corp ロボット

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11358276B2 (en) 2018-08-31 2022-06-14 Fanuc Corporation Robot and robot system

Also Published As

Publication number Publication date
WO2017029170A1 (de) 2017-02-23
EP3334574B1 (de) 2021-03-10
EP3334574A1 (de) 2018-06-20
KR102026785B1 (ko) 2019-09-30
KR20180099623A (ko) 2018-09-05
CN108136593A (zh) 2018-06-08
DE102015113467A1 (de) 2017-02-16
US10836051B2 (en) 2020-11-17
DK3334574T3 (da) 2021-06-14
CN108136593B (zh) 2021-10-15
SG11201801260YA (en) 2018-03-28
US20180243928A1 (en) 2018-08-30

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