KR890000737B1 - 직접구동방식 로보트 - Google Patents

직접구동방식 로보트 Download PDF

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Publication number
KR890000737B1
KR890000737B1 KR1019850008004A KR850008004A KR890000737B1 KR 890000737 B1 KR890000737 B1 KR 890000737B1 KR 1019850008004 A KR1019850008004 A KR 1019850008004A KR 850008004 A KR850008004 A KR 850008004A KR 890000737 B1 KR890000737 B1 KR 890000737B1
Authority
KR
South Korea
Prior art keywords
arm
prime mover
arms
fixed
axes
Prior art date
Application number
KR1019850008004A
Other languages
English (en)
Korean (ko)
Other versions
KR860003884A (ko
Inventor
도오루 나까가와
야스오 사꾸라이
요시아끼 마끼자와
Original Assignee
마쯔시다덴기산교 가부시기가이샤
야마시다 도시히꼬
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 마쯔시다덴기산교 가부시기가이샤, 야마시다 도시히꼬 filed Critical 마쯔시다덴기산교 가부시기가이샤
Publication of KR860003884A publication Critical patent/KR860003884A/ko
Application granted granted Critical
Publication of KR890000737B1 publication Critical patent/KR890000737B1/ko

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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)
KR1019850008004A 1984-11-19 1985-10-29 직접구동방식 로보트 KR890000737B1 (ko)

Applications Claiming Priority (2)

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
JP59-243760 1984-11-19

Publications (2)

Publication Number Publication Date
KR860003884A KR860003884A (ko) 1986-06-13
KR890000737B1 true KR890000737B1 (ko) 1989-04-03

Family

ID=17108575

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019850008004A KR890000737B1 (ko) 1984-11-19 1985-10-29 직접구동방식 로보트

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)

* Cited by examiner, † Cited by third party
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
EP0858867A3 (en) * 1989-10-20 1999-03-17 Applied Materials, Inc. Robot apparatus
US5447409A (en) * 1989-10-20 1995-09-05 Applied Materials, Inc. Robot assembly
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
KR100303018B1 (ko) * 1993-04-16 2001-11-22 스탠리 디. 피에코스 관절형아암이송장치
JPH07223180A (ja) * 1994-02-10 1995-08-22 Tescon:Kk 水平多関節ロボット
JP2000167792A (ja) * 1998-12-04 2000-06-20 Daihen Corp 搬送装置
US6543306B1 (en) 1998-12-04 2003-04-08 Daihen Corporation Conveying device
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
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
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
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
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)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
JPH0581395B2 (US06486227-20021126-C00005.png) 1993-11-12
US4648785A (en) 1987-03-10
KR860003884A (ko) 1986-06-13
JPS61121880A (ja) 1986-06-09

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