JP7527020B2 - 運動学的に冗長な作動を伴うパラレルメカニズム - Google Patents

運動学的に冗長な作動を伴うパラレルメカニズム Download PDF

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JP7527020B2
JP7527020B2 JP2021552857A JP2021552857A JP7527020B2 JP 7527020 B2 JP7527020 B2 JP 7527020B2 JP 2021552857 A JP2021552857 A JP 2021552857A JP 2021552857 A JP2021552857 A JP 2021552857A JP 7527020 B2 JP7527020 B2 JP 7527020B2
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joint
distal
link
platform
leg
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JP2022525020A (ja
JPWO2020176973A5 (enExample
Inventor
クレマン ゴセリン
ケフェイ ウェン
デヴィッド ハートン
ティエリー ラリベルテ
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Universite Laval
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Universite Laval
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by 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
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • 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
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • 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
    • 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
    • F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
    • 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

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
JP2021552857A 2019-03-06 2020-02-28 運動学的に冗長な作動を伴うパラレルメカニズム Active JP7527020B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962814526P 2019-03-06 2019-03-06
US62/814,526 2019-03-06
PCT/CA2020/050264 WO2020176973A1 (en) 2019-03-06 2020-02-28 Parallel mechanism with kinematically redundant actuation

Publications (3)

Publication Number Publication Date
JP2022525020A JP2022525020A (ja) 2022-05-11
JPWO2020176973A5 JPWO2020176973A5 (enExample) 2023-03-08
JP7527020B2 true JP7527020B2 (ja) 2024-08-02

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JP2021552857A Active JP7527020B2 (ja) 2019-03-06 2020-02-28 運動学的に冗長な作動を伴うパラレルメカニズム

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US (2) US11945111B2 (enExample)
JP (1) JP7527020B2 (enExample)
KR (1) KR102809067B1 (enExample)
CN (1) CN113543942B (enExample)
CA (1) CA3132588A1 (enExample)
DE (1) DE112020001111T5 (enExample)
WO (1) WO2020176973A1 (enExample)

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* Cited by examiner, † Cited by third party
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TWI757959B (zh) * 2020-03-27 2022-03-11 國立成功大學 並聯式三軸線性機器人
CN112428255B (zh) * 2020-11-13 2022-12-27 重庆邮电大学 一种具有双驱动约束支链的五自由度并联加工机器人
KR20220126328A (ko) * 2021-03-08 2022-09-16 삼성전자주식회사 다자유도 구동기 및 이를 채용한 디스플레이 장치
CN113231227A (zh) * 2021-05-06 2021-08-10 清华大学 喷涂机器人
CN114888779A (zh) * 2022-04-29 2022-08-12 浙江理工大学 一种支链内含闭环子链的运动冗余并联机构
CN115592653B (zh) * 2022-12-16 2023-04-07 太原理工大学 一种平面三自由度冗余驱动并联机构
CN119572910A (zh) * 2023-09-06 2025-03-07 中兴通讯股份有限公司 通讯设备的安装装置
CN119820543B (zh) * 2025-02-17 2025-09-05 西安工程大学 各向同性完全解耦的重载三移动并联机器人及方法
CN119772906B (zh) * 2025-03-12 2025-07-29 北华航天工业学院 一种一般冗余并联机器人正解方法

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JP2009540315A (ja) 2006-06-16 2009-11-19 レニショウ パブリック リミテッド カンパニー 計測装置
WO2011093703A1 (en) 2010-01-28 2011-08-04 Technische Universiteit Delft Parallel kinematics robot with five legs
CN102626919A (zh) 2012-03-22 2012-08-08 燕山大学 无汇交轴线的对称两转动一移动并联机构

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FR2672836B1 (fr) 1991-02-15 1995-06-02 Onera (Off Nat Aerospatiale) Dispositif d'articulation a structure parallele et appareils de transmission de mouvement a distance en faisant application.
JP2569278B2 (ja) * 1994-06-29 1997-01-08 川崎重工業株式会社 空間３および４自由度の駆動装置
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JP2009540315A (ja) 2006-06-16 2009-11-19 レニショウ パブリック リミテッド カンパニー 計測装置
WO2011093703A1 (en) 2010-01-28 2011-08-04 Technische Universiteit Delft Parallel kinematics robot with five legs
CN102626919A (zh) 2012-03-22 2012-08-08 燕山大学 无汇交轴线的对称两转动一移动并联机构

Also Published As

Publication number Publication date
US20220143816A1 (en) 2022-05-12
KR102809067B1 (ko) 2025-05-15
US12496705B2 (en) 2025-12-16
WO2020176973A1 (en) 2020-09-10
CN113543942A (zh) 2021-10-22
US20240238964A1 (en) 2024-07-18
JP2022525020A (ja) 2022-05-11
CA3132588A1 (en) 2020-09-10
KR20210134955A (ko) 2021-11-11
CN113543942B (zh) 2024-05-07
DE112020001111T5 (de) 2021-12-09
US11945111B2 (en) 2024-04-02

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