JP6494967B2 - 球面座標操縦装置 - Google Patents

球面座標操縦装置 Download PDF

Info

Publication number
JP6494967B2
JP6494967B2 JP2014196071A JP2014196071A JP6494967B2 JP 6494967 B2 JP6494967 B2 JP 6494967B2 JP 2014196071 A JP2014196071 A JP 2014196071A JP 2014196071 A JP2014196071 A JP 2014196071A JP 6494967 B2 JP6494967 B2 JP 6494967B2
Authority
JP
Japan
Prior art keywords
arc
outer frame
frame structure
inner frame
shaped
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.)
Active
Application number
JP2014196071A
Other languages
English (en)
Japanese (ja)
Other versions
JP2015068502A (ja
JP2015068502A5 (https=
Inventor
崔文▲徳▼
林淑青
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.)
Individual
Original Assignee
Individual
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
Priority claimed from TW102134887A external-priority patent/TWI568942B/zh
Priority claimed from TW103117062A external-priority patent/TWI574722B/zh
Application filed by Individual filed Critical Individual
Publication of JP2015068502A publication Critical patent/JP2015068502A/ja
Publication of JP2015068502A5 publication Critical patent/JP2015068502A5/ja
Application granted granted Critical
Publication of JP6494967B2 publication Critical patent/JP6494967B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0045—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0048—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
    • 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
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • 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
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/15—Jointed 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/18—Spherical
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Surgical Instruments (AREA)
JP2014196071A 2013-09-26 2014-09-26 球面座標操縦装置 Active JP6494967B2 (ja)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
TW102134887 2013-09-26
TW102134887A TWI568942B (zh) 2013-09-26 2013-09-26 球座標轉向平行機構
TW103117062A TWI574722B (zh) 2014-05-15 2014-05-15 球座標轉向機構
TW103117062 2014-05-15

Publications (3)

Publication Number Publication Date
JP2015068502A JP2015068502A (ja) 2015-04-13
JP2015068502A5 JP2015068502A5 (https=) 2015-07-23
JP6494967B2 true JP6494967B2 (ja) 2019-04-03

Family

ID=51625834

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2014196071A Active JP6494967B2 (ja) 2013-09-26 2014-09-26 球面座標操縦装置

Country Status (4)

Country Link
US (2) US9579786B2 (https=)
EP (1) EP2863102B1 (https=)
JP (1) JP6494967B2 (https=)
CN (1) CN104511904B (https=)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012002400B4 (de) * 2011-03-17 2020-06-18 Eb-Invent Gmbh Manipulator
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
GB2531994B (en) * 2014-10-15 2020-06-24 Cmr Surgical Ltd Surgical articulation
CN107030682B (zh) * 2016-01-15 2020-07-14 崔文德 十二轴球坐标运动机构
TWI623345B (zh) 2016-01-15 2018-05-11 崔文德 弧桿組合機構
CN205552509U (zh) * 2016-02-03 2016-09-07 中北大学 一种可重构球面并联机器人
CN105598954B (zh) * 2016-03-24 2017-09-22 褚宏鹏 大工作空间两转动并联机构
CN106128512B (zh) * 2016-07-04 2020-06-09 北京航空航天大学 球面三自由度转动柔性机构
CN106426094B (zh) * 2016-10-17 2019-08-27 广东工业大学 一种四自由度并联机构
CN106346450B (zh) 2016-10-17 2018-11-09 中国科学院深圳先进技术研究院 三支链三自由度并联机构
CN106541292A (zh) * 2016-11-25 2017-03-29 广西大学 球坐标钻孔机
CN107050763B (zh) * 2017-06-14 2022-12-06 韶关星火创客科技有限公司 一种新型踝关节康复机器人其控制方法
CN107097217B (zh) * 2017-06-21 2023-03-10 东莞爱创机器人科技有限公司 一种动平台具有重构能力的球面并联机构
CN107932480A (zh) * 2017-11-29 2018-04-20 中国科学院沈阳自动化研究所 通过同轴旋转驱动的二自由度定心并联机构
CN108000495B (zh) * 2017-12-13 2023-12-01 浙江理工大学 一种具有大摆角的两转动一移动冗余驱动并联机构
CN108000508B (zh) * 2018-01-25 2024-01-26 西南石油大学 一种运动调节装置
CN108356802A (zh) * 2018-05-16 2018-08-03 湖北理工学院 一种部分解耦的二自由度并联机构
US11668375B2 (en) * 2018-10-10 2023-06-06 Kyushu Institute Of Technology Parallel link mechanism and link actuation device
CN110539293B (zh) * 2019-10-15 2020-10-30 湖北理工学院 一种四自由度并联机构
CN111137464A (zh) * 2019-12-16 2020-05-12 北京大学 一种环保机器人
US11812126B2 (en) * 2020-01-27 2023-11-07 Sanctuary Cognitive Systems Corporation Eye cartridge
TW202219420A (zh) * 2020-11-03 2022-05-16 崔文德 球座標轉向機構
TW202336376A (zh) 2022-03-01 2023-09-16 崔文德 球座標機構
CN121693632A (zh) * 2023-08-09 2026-03-17 上海灵转动力科技有限公司 转动范围可控的运动系统
CN119260693B (zh) * 2024-10-11 2025-09-16 中山大学 一种用于磁控机器人的高刚度大角度范围运动的装置

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5556242A (en) * 1994-06-17 1996-09-17 Giddings & Lewis, Inc. Space frame for a machine tool
US5656905A (en) * 1995-04-03 1997-08-12 Tsai; Lung-Wen Multi-degree-of-freedom mechanisms for machine tools and the like
JP2000503118A (ja) * 1996-01-03 2000-03-14 ウーヴェ ハイゼル 少なくとも一つの運動ユニットを備えた、数値制御式製造装置、操作装置または測定装置のための装置
DE29617332U1 (de) * 1996-10-05 1997-01-23 Nikowitz, Axel, 47269 Duisburg Vorrichtung zum Bewegen von Körpern
US5979264A (en) * 1997-03-13 1999-11-09 Ross-Hime Designs, Incorporated Robotic manipulator
US5966991A (en) 1997-04-23 1999-10-19 Universite Laval Two degree-of-freedom spherical orienting device
CA2235759C (en) * 1997-04-23 2005-09-27 Francois Caron Two degree-of-freedom spherical orienting device
US6026703A (en) * 1997-08-14 2000-02-22 Stanisic; Michael M. Dexterous split equator joint
CN2564840Y (zh) * 2002-03-28 2003-08-06 天津大学 一种三自由度球面并联机构控制工作台
CN100404212C (zh) * 2006-03-15 2008-07-23 北京邮电大学 带有可伸缩手臂的球形行走机器人
JP5211287B2 (ja) * 2008-05-19 2013-06-12 国立大学法人 名古屋工業大学 一点の回転中心を有する力覚提示マニピュレータ
GB2464147B (en) * 2008-05-29 2013-01-09 Kevin Knowles Three degree-of-freedom parallel spherical mechanism for payload orienting applications
WO2010043187A1 (en) * 2008-10-14 2010-04-22 Francisco Pacheco Teaching apparatus
EP2256397B1 (en) * 2009-05-26 2012-07-11 Robert Bosch GmbH Spherical Orienting Device and Method for manufacturing the same
DE102010035814B3 (de) * 2010-08-30 2011-12-29 Grenzebach Maschinenbau Gmbh Vorrichtung und Verfahren zum Betrieb eines Flugsimulators mit besonderer Realitäts-Anmutung
TWI440499B (zh) 2010-10-04 2014-06-11 雙四面體轉向機構
DE102012002400B4 (de) * 2011-03-17 2020-06-18 Eb-Invent Gmbh Manipulator
CN104813154B (zh) * 2012-12-04 2017-09-15 株式会社鹭宫制作所 试验装置
GB201300552D0 (en) * 2013-01-14 2013-02-27 Moog Bv Motion simulator
US9348197B2 (en) * 2013-12-24 2016-05-24 Pv Labs Inc. Platform stabilization system

Also Published As

Publication number Publication date
CN104511904A (zh) 2015-04-15
CN104511904B (zh) 2017-12-08
US20170165831A1 (en) 2017-06-15
US9579786B2 (en) 2017-02-28
US20150082934A1 (en) 2015-03-26
EP2863102B1 (en) 2018-05-02
JP2015068502A (ja) 2015-04-13
EP2863102A1 (en) 2015-04-22

Similar Documents

Publication Publication Date Title
JP6494967B2 (ja) 球面座標操縦装置
JP2015068502A5 (https=)
KR102450266B1 (ko) 다방향 고정점 회전이 가능한 대칭형 3축 병렬 스핀들 헤드
CN102962848A (zh) 一种用于机器人腕部、肩部的三自由度并联机构
CN113967906B (zh) 基于附加编码器的并联六轴机器人位姿正解方法
KR101579550B1 (ko) 트러스 구조 기반의 병렬 메커니즘
CN102962837A (zh) 易于控制的对称两转一移并联机构
CN102632394B (zh) 具有两条垂直相交转轴的三自由度并联机构
CN102380771A (zh) 高刚度冗余驱动三自由度并联机构
CN106426088A (zh) 一种大行程高精度的空间两转动一移动柔顺并联机构
CN102126216A (zh) 具有两转一移三自由度的对称结构并联机构
CN206528631U (zh) 一种多旋翼无人机
CN202317698U (zh) 高刚度冗余驱动三自由度并联机构
CN109514597B (zh) 一种三自由度并联关节机构
CN103495970B (zh) 一种三自由度并联机构
CN106965161B (zh) 一种具有弧形移动副的三自由度并联机构
WO2020173096A1 (zh) 一种平面复合结构空间大行程的柔顺铰链
CN105508829B (zh) 一种两轴四框架光电平台内框架机构
CN1986148B (zh) 一种并联式三轴主轴头结构
CN107378917A (zh) 一种不含球副的加工中心并联主轴头
CN110524516B (zh) 一种既含冗余支链又含闭环单元冗余驱动并联机构
TWI568942B (zh) 球座標轉向平行機構
CN209755206U (zh) 一种平面复合结构空间大行程的柔顺铰链
CN107697176A (zh) 十二自由度六面体机器人
CN108274114B (zh) 激光烧蚀远心稳定机构

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20150605

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20170802

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20180525

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180619

RD02 Notification of acceptance of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7422

Effective date: 20180706

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A821

Effective date: 20180706

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180829

RD01 Notification of change of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7421

Effective date: 20181102

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20181108

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A821

Effective date: 20181102

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190118

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20190212

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20190306

R150 Certificate of patent or registration of utility model

Ref document number: 6494967

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250