JPH0581395B2 - - Google Patents
Info
- Publication number
- JPH0581395B2 JPH0581395B2 JP59243760A JP24376084A JPH0581395B2 JP H0581395 B2 JPH0581395 B2 JP H0581395B2 JP 59243760 A JP59243760 A JP 59243760A JP 24376084 A JP24376084 A JP 24376084A JP H0581395 B2 JPH0581395 B2 JP H0581395B2
- Authority
- JP
- Japan
- Prior art keywords
- arm
- prime mover
- axial direction
- support
- support column
- 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.)
- Expired - Lifetime
Links
- 230000005484 gravity Effects 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—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
- B25J9/02—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
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
-
- 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
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- 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
- B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs 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
- B25J9/10—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
-
- 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
- Y10S414/00—Material or article handling
- Y10S414/13—Handlers utilizing parallel links
-
- 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
- Y10S700/00—Data processing: generic control systems or specific applications
- Y10S700/90—Special robot structural element
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59243760A JPS61121880A (ja) | 1984-11-19 | 1984-11-19 | 直接駆動方式ロボツト |
KR1019850008004A KR890000737B1 (ko) | 1984-11-19 | 1985-10-29 | 직접구동방식 로보트 |
US06/799,165 US4648785A (en) | 1984-11-19 | 1985-11-18 | Industrial robot employing direct drive operation |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59243760A JPS61121880A (ja) | 1984-11-19 | 1984-11-19 | 直接駆動方式ロボツト |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS61121880A JPS61121880A (ja) | 1986-06-09 |
JPH0581395B2 true JPH0581395B2 (US06486227-20021126-C00005.png) | 1993-11-12 |
Family
ID=17108575
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP59243760A Granted JPS61121880A (ja) | 1984-11-19 | 1984-11-19 | 直接駆動方式ロボツト |
Country Status (3)
Country | Link |
---|---|
US (1) | US4648785A (US06486227-20021126-C00005.png) |
JP (1) | JPS61121880A (US06486227-20021126-C00005.png) |
KR (1) | KR890000737B1 (US06486227-20021126-C00005.png) |
Families Citing this family (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NL8600143A (nl) * | 1986-01-23 | 1987-08-17 | Philips Nv | Manipulator met stangenmechanisme. |
US4705951A (en) * | 1986-04-17 | 1987-11-10 | Varian Associates, Inc. | Wafer processing system |
US4946337A (en) * | 1987-07-09 | 1990-08-07 | Kabushiki Kaisha Yaskawa Denki Seisakusho | Parallel link robot arm |
US4775289A (en) * | 1987-09-25 | 1988-10-04 | Regents Of The University Of Minnesota | Statically-balanced direct-drive robot arm |
US4929146A (en) * | 1987-11-13 | 1990-05-29 | U.S. Philips Corporation | Manipulator |
US5447409A (en) * | 1989-10-20 | 1995-09-05 | Applied Materials, Inc. | Robot assembly |
ES2130295T3 (es) * | 1989-10-20 | 1999-07-01 | Applied Materials Inc | Aparato de tipo robot. |
JPH03245978A (ja) * | 1990-02-20 | 1991-11-01 | Matsushita Electric Ind Co Ltd | ロボット |
US5180955A (en) * | 1990-10-11 | 1993-01-19 | International Business Machines Corporation | Positioning apparatus |
US5214749A (en) * | 1991-06-12 | 1993-05-25 | Massachusetts Institute Of Technology | Dynamic control of a robot with its center of mass decoupled from an end effector by a redundant linkage |
CH684686A5 (de) * | 1991-10-24 | 1994-11-30 | Rico Ursin Ruffner | Roboter mit direktem Antriebssystem. |
JP2722295B2 (ja) * | 1992-05-22 | 1998-03-04 | ファナック株式会社 | 小軌跡加工装置 |
US5376862A (en) * | 1993-01-28 | 1994-12-27 | Applied Materials, Inc. | Dual coaxial magnetic couplers for vacuum chamber robot assembly |
CN1046654C (zh) * | 1993-04-16 | 1999-11-24 | 布鲁克斯自动化公司 | 传送装置 |
JPH07223180A (ja) * | 1994-02-10 | 1995-08-22 | Tescon:Kk | 水平多関節ロボット |
US6543306B1 (en) | 1998-12-04 | 2003-04-08 | Daihen Corporation | Conveying device |
JP2000167792A (ja) * | 1998-12-04 | 2000-06-20 | Daihen Corp | 搬送装置 |
US8944802B2 (en) | 2013-01-25 | 2015-02-03 | Radiant Fabrication, Inc. | Fixed printhead fused filament fabrication printer and method |
US8827684B1 (en) | 2013-12-23 | 2014-09-09 | Radiant Fabrication | 3D printer and printhead unit with multiple filaments |
CN105858201A (zh) * | 2016-06-28 | 2016-08-17 | 相城区黄桥荣翔金属制品厂 | 一种升降取料组件 |
CN106078798A (zh) * | 2016-06-28 | 2016-11-09 | 相城区黄桥荣翔金属制品厂 | 一种圆周运动机械手 |
CN105947657B (zh) * | 2016-06-28 | 2018-08-24 | 相城区黄桥荣翔金属制品厂 | 一种升降避让抓取机构 |
CN105883405B (zh) * | 2016-06-28 | 2018-08-24 | 相城区黄桥荣翔金属制品厂 | 一种铰接避让卡爪 |
CN106040896B (zh) * | 2016-07-22 | 2017-08-25 | 燕山大学 | 一种串并混联冲压上下料机械手 |
EP3708307A1 (fr) * | 2019-03-13 | 2020-09-16 | Mikron SA Boudry | Dispositif de déplacement de pièces |
KR102218798B1 (ko) * | 2019-04-23 | 2021-02-24 | 한국과학기술원 | 암 레스트 장치 |
CN110154006A (zh) * | 2019-06-14 | 2019-08-23 | 苏州大学 | 基于遗传算法的scara机器人的臂长优化方法 |
US11820010B1 (en) | 2022-11-24 | 2023-11-21 | Texas A&M University Corpus Christi | Geared parallel manipulator of the SCARA type |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5656396A (en) * | 1979-10-12 | 1981-05-18 | Hiroshi Makino | Robot for assembly |
US4507043A (en) * | 1982-09-14 | 1985-03-26 | Textron, Inc. | Counterbalance robot arm |
-
1984
- 1984-11-19 JP JP59243760A patent/JPS61121880A/ja active Granted
-
1985
- 1985-10-29 KR KR1019850008004A patent/KR890000737B1/ko not_active IP Right Cessation
- 1985-11-18 US US06/799,165 patent/US4648785A/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
KR890000737B1 (ko) | 1989-04-03 |
JPS61121880A (ja) | 1986-06-09 |
KR860003884A (ko) | 1986-06-13 |
US4648785A (en) | 1987-03-10 |