JP7340196B2 - リンク作動装置 - Google Patents

リンク作動装置 Download PDF

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Publication number
JP7340196B2
JP7340196B2 JP2019105693A JP2019105693A JP7340196B2 JP 7340196 B2 JP7340196 B2 JP 7340196B2 JP 2019105693 A JP2019105693 A JP 2019105693A JP 2019105693 A JP2019105693 A JP 2019105693A JP 7340196 B2 JP7340196 B2 JP 7340196B2
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JP
Japan
Prior art keywords
link
hub
link member
angle
central
Prior art date
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Active
Application number
JP2019105693A
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English (en)
Japanese (ja)
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JP2020200839A5 (enExample
JP2020200839A (ja
Inventor
朗弘 林
浩史 福丸
俊樹 高木
賢蔵 野瀬
英樹 松澤
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.)
NTN Corp
Kyushu Institute of Technology NUC
Original Assignee
NTN Corp
Kyushu Institute of Technology NUC
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 NTN Corp, Kyushu Institute of Technology NUC filed Critical NTN Corp
Priority to JP2019105693A priority Critical patent/JP7340196B2/ja
Priority to EP20818101.6A priority patent/EP3981553B1/en
Priority to PCT/JP2020/021339 priority patent/WO2020246384A1/ja
Priority to US17/616,607 priority patent/US11691276B2/en
Priority to CN202080043073.2A priority patent/CN113950395B/zh
Publication of JP2020200839A publication Critical patent/JP2020200839A/ja
Publication of JP2020200839A5 publication Critical patent/JP2020200839A5/ja
Application granted granted Critical
Publication of JP7340196B2 publication Critical patent/JP7340196B2/ja
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Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • 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
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • 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
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)
JP2019105693A 2019-06-05 2019-06-05 リンク作動装置 Active JP7340196B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2019105693A JP7340196B2 (ja) 2019-06-05 2019-06-05 リンク作動装置
EP20818101.6A EP3981553B1 (en) 2019-06-05 2020-05-29 Link actuation apparatus
PCT/JP2020/021339 WO2020246384A1 (ja) 2019-06-05 2020-05-29 リンク作動装置
US17/616,607 US11691276B2 (en) 2019-06-05 2020-05-29 Link actuation apparatus
CN202080043073.2A CN113950395B (zh) 2019-06-05 2020-05-29 连杆致动装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2019105693A JP7340196B2 (ja) 2019-06-05 2019-06-05 リンク作動装置

Publications (3)

Publication Number Publication Date
JP2020200839A JP2020200839A (ja) 2020-12-17
JP2020200839A5 JP2020200839A5 (enExample) 2022-06-03
JP7340196B2 true JP7340196B2 (ja) 2023-09-11

Family

ID=73653173

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019105693A Active JP7340196B2 (ja) 2019-06-05 2019-06-05 リンク作動装置

Country Status (5)

Country Link
US (1) US11691276B2 (enExample)
EP (1) EP3981553B1 (enExample)
JP (1) JP7340196B2 (enExample)
CN (1) CN113950395B (enExample)
WO (1) WO2020246384A1 (enExample)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11668375B2 (en) * 2018-10-10 2023-06-06 Kyushu Institute Of Technology Parallel link mechanism and link actuation device
CN111085986B (zh) * 2020-01-16 2021-02-09 燕山大学 一类运动学相同的过约束两转并联机构

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015155124A (ja) 2014-02-20 2015-08-27 Ntn株式会社 リンク作動装置の制御装置および制御方法
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

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4035963A (en) 1976-07-02 1977-07-19 Wilks Scientific Corporation Method of forming dual mirrors
JPS6165790A (ja) * 1984-09-05 1986-04-04 新明和工業株式会社 ３次元手首装置
JP2005098497A (ja) * 2003-08-06 2005-04-14 Ntn Corp リンク作動装置
CN100363151C (zh) * 2005-01-04 2008-01-23 浙江理工大学 带环形导轨的球面三自由度并联姿态控制机构
US8336421B2 (en) * 2005-07-29 2012-12-25 Brigham Young University Spherical three degrees of freedom platform
CN201864779U (zh) * 2010-08-22 2011-06-15 佛山市奥通工业设备有限公司 三工位双内胆自动滚搪机
EP2775169B1 (en) * 2011-11-04 2017-10-04 NTN Corporation Parallel link mechanism, constant velocity universal joint, and link actuator
JP6133162B2 (ja) * 2013-07-29 2017-05-24 Ntn株式会社 リンク作動装置
EP3498432A1 (en) * 2013-03-26 2019-06-19 NTN Corporation Linking apparatus control device
CN108136587B (zh) * 2015-09-25 2021-12-14 Ntn株式会社 连杆操作装置的诊断装置
FR3047615B1 (fr) * 2016-02-10 2018-03-02 Centre National D'etudes Spatiales C N E S Dispositif et procede de commande d'un mecanisme a architecture parallele
JP6275196B2 (ja) * 2016-06-05 2018-02-07 Ntn株式会社 リンク作動装置の操作装置およびリンク作動システム
CN109108978B (zh) * 2018-09-11 2020-09-29 武汉科技大学 基于学习泛化机制的三自由度空间机械臂运动规划方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015155124A (ja) 2014-02-20 2015-08-27 Ntn株式会社 リンク作動装置の制御装置および制御方法
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

Also Published As

Publication number Publication date
EP3981553A4 (en) 2023-07-12
WO2020246384A1 (ja) 2020-12-10
EP3981553A1 (en) 2022-04-13
CN113950395A (zh) 2022-01-18
US20220234199A1 (en) 2022-07-28
CN113950395B (zh) 2024-04-12
JP2020200839A (ja) 2020-12-17
US11691276B2 (en) 2023-07-04
EP3981553B1 (en) 2024-08-07

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