KR102809067B1 - 운동학적 잉여 작동을 갖는 병렬 메커니즘 - Google Patents

운동학적 잉여 작동을 갖는 병렬 메커니즘 Download PDF

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Publication number
KR102809067B1
KR102809067B1 KR1020217031748A KR20217031748A KR102809067B1 KR 102809067 B1 KR102809067 B1 KR 102809067B1 KR 1020217031748 A KR1020217031748 A KR 1020217031748A KR 20217031748 A KR20217031748 A KR 20217031748A KR 102809067 B1 KR102809067 B1 KR 102809067B1
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South Korea
Prior art keywords
joint
distal
parallel mechanism
legs
platform
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Korean (ko)
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KR20210134955A (ko
Inventor
클레망 고세린
케페이 웬
데이빗 하튼
티에리 라리베트
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유니버시티 라발
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Classifications

    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
KR1020217031748A 2019-03-06 2020-02-28 운동학적 잉여 작동을 갖는 병렬 메커니즘 Active KR102809067B1 (ko)

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 (2)

Publication Number Publication Date
KR20210134955A KR20210134955A (ko) 2021-11-11
KR102809067B1 true KR102809067B1 (ko) 2025-05-15

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KR1020217031748A Active KR102809067B1 (ko) 2019-03-06 2020-02-28 운동학적 잉여 작동을 갖는 병렬 메커니즘

Country Status (7)

Country Link
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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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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Also Published As

Publication number Publication date
US20220143816A1 (en) 2022-05-12
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
JP7527020B2 (ja) 2024-08-02
KR20210134955A (ko) 2021-11-11
CN113543942B (zh) 2024-05-07
DE112020001111T5 (de) 2021-12-09
US11945111B2 (en) 2024-04-02

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