SE0402993L - Parallel kinematic machine with active measurement system - Google Patents

Parallel kinematic machine with active measurement system

Info

Publication number
SE0402993L
SE0402993L SE0402993A SE0402993A SE0402993L SE 0402993 L SE0402993 L SE 0402993L SE 0402993 A SE0402993 A SE 0402993A SE 0402993 A SE0402993 A SE 0402993A SE 0402993 L SE0402993 L SE 0402993L
Authority
SE
Sweden
Prior art keywords
beam rotation
rotation bearing
angle
positioning head
angle indicators
Prior art date
Application number
SE0402993A
Other languages
Swedish (sv)
Other versions
SE0402993D0 (en
SE527992C2 (en
Inventor
Karl-Erik Neumann
Original Assignee
Exechon Ab
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 Exechon Ab filed Critical Exechon Ab
Priority to SE0402993A priority Critical patent/SE527992C2/en
Publication of SE0402993D0 publication Critical patent/SE0402993D0/en
Priority to TW094141395A priority patent/TW200624233A/en
Priority to MYPI20055604A priority patent/MY137228A/en
Priority to PCT/SE2005/001836 priority patent/WO2006062466A1/en
Publication of SE0402993L publication Critical patent/SE0402993L/en
Publication of SE527992C2 publication Critical patent/SE527992C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • 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
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Control Of Position Or Direction (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Manipulator (AREA)

Abstract

A parallel-kinematical machine (1) which has at least three setting device (4.1, 4.2, 4.3) which can be lengthened and shortened individually in their longitudinal direction, wherein each setting device (4.1, 4.2, 4.3) is connected to a positioning head (11) via a first joint, wherein each setting device (4.1, 4.2, 4.3) is connected to a machine base (2) via a universal joint (3.1, 3.2, 3.3), and wherein the positioning head (11) is movable within a working area in response to manoeuvring of the setting devices (4.1, 4.2, 4.3), wherein at least two reinforcing beams (5.1, 5.2, 5.2.1, 5.2.2) are each connected to the positioning head (11) viaa respective beam rotation bearing (10.1, 10.2), wherein each of said beam rotation bearings (10.1, 10.2) has only one degree of freedom, and wherein each of said beam rotation bearings is provided with two angle indicators (5.1a, 5.1b, 5.2a, 5.2b) which are each connected to the beam rotation bearing (10.1, 10.2) so that the measuring points of two angle indicators (5.1a, 5.1b) will each be situated on a respective side of the first beam rotation bearing (10.1) and so that the measuring points of two angle indicators (5.2a, 5.2b) will each be situated on a respective side of the second beam rotation bearing (10.2) so that the angle indicators will firstly register an angle 1, 2, 3, 4 between the positioning head (11) and respective reinforcing beams (5.1, 5.2) and secondly register a first angular difference 1, where 1= 2- 1, between the measuring points of the two angle indicators (5.1a, 5.1b) of the first beam rotation bearing (10.1) and also a second angular difference 2, where 2= 4- 3, between the measuring points of two angle indicators (5.2a, 5.2b) of the second beam rotation bearing (10.2) such as to form an active measuring system (AMS), wherein in the case of a loaded machine each deviation in the value of the angles 1, 2, 3, 4, from a nominal angle value in the case ofa non-loaded machine is adapted to be corrected by manoeuvring the setting devices (4.1, 4.2, 4.3) to a changed working positioning of the positioning head (11).
SE0402993A 2004-12-09 2004-12-09 Parallel kinematic machine with active measurement system SE527992C2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
SE0402993A SE527992C2 (en) 2004-12-09 2004-12-09 Parallel kinematic machine with active measurement system
TW094141395A TW200624233A (en) 2004-12-09 2005-11-25 Parallel-kinematical machines with an active measuring system
MYPI20055604A MY137228A (en) 2004-12-09 2005-11-30 Parallel-kinematical machine with an active measuring system
PCT/SE2005/001836 WO2006062466A1 (en) 2004-12-09 2005-12-05 Parallel-kinematical machine with an active measuring system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0402993A SE527992C2 (en) 2004-12-09 2004-12-09 Parallel kinematic machine with active measurement system

Publications (3)

Publication Number Publication Date
SE0402993D0 SE0402993D0 (en) 2004-12-09
SE0402993L true SE0402993L (en) 2006-06-10
SE527992C2 SE527992C2 (en) 2006-08-01

Family

ID=33550617

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0402993A SE527992C2 (en) 2004-12-09 2004-12-09 Parallel kinematic machine with active measurement system

Country Status (4)

Country Link
MY (1) MY137228A (en)
SE (1) SE527992C2 (en)
TW (1) TW200624233A (en)
WO (1) WO2006062466A1 (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE0950953A1 (en) * 2009-12-11 2011-06-12 Tetrafix Ab A header
SE535182C2 (en) * 2010-06-17 2012-05-08 Exechon Ab A parallel kinematic machine with card holder
CN201907121U (en) * 2010-12-29 2011-07-27 天津大学 Three-dimensional translational and one-dimensional rotational parallel mechanism
CN102672714B (en) * 2012-03-21 2014-05-21 天津大学 High-rigidity high-precision five-coordinate parallel power head
CN102922512A (en) * 2012-11-02 2013-02-13 清华大学 Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation
CN104889978A (en) * 2015-07-01 2015-09-09 北京工业大学 Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism
CN107351063B (en) * 2017-07-25 2020-02-18 天津大学 Parameter integration design method of five-degree-of-freedom hybrid robot
CN109128872B (en) * 2018-09-26 2019-09-17 燕山大学 A kind of symmetrical parallel three NC axes main tapping can be realized multi-direction Fixed-point Motion of A
CN112313595B (en) * 2019-10-31 2024-06-18 深圳市大疆创新科技有限公司 Operation planning method, system and control terminal of movable platform
CN111604884B (en) * 2020-04-30 2022-07-26 江苏小野智能装备有限公司 Five-freedom-degree series-parallel robot with two flat parts and three rotating parts

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH637869A5 (en) * 1979-06-19 1983-08-31 Microbo Ag HANDLING DEVICE, IN PARTICULAR FOR INDUSTRIAL ROBOTS.
US4790718A (en) * 1985-03-27 1988-12-13 The English Electric Company Plc Manipulators
FR2674017B1 (en) * 1991-03-12 1995-01-13 Romer Srl DEVICE FOR MEASURING THE SHAPE OR POSITION OF AN OBJECT.
US5616917A (en) * 1995-05-16 1997-04-01 Brown & Sharpe Manufacturing Company Device for measuring an angle between pivotally-connected members
US6587802B1 (en) * 1998-09-17 2003-07-01 Dr. Johannes Heidenhain Gmbh Calibration device for a parallel kinematic manipulator
SE518982C2 (en) * 2000-09-04 2002-12-17 Johansson Ab C E Adjustment of an angular position to a robotic arm

Also Published As

Publication number Publication date
TW200624233A (en) 2006-07-16
SE0402993D0 (en) 2004-12-09
MY137228A (en) 2009-01-30
SE527992C2 (en) 2006-08-01
WO2006062466A1 (en) 2006-06-15

Similar Documents

Publication Publication Date Title
MY137228A (en) Parallel-kinematical machine with an active measuring system
DK1838501T3 (en) Parallel-kinematic machine
ES2515094T3 (en) Procedure for the calibration of a working point of tools for industrial robots
ATE555971T1 (en) CRAWLING ROBOT WITH A WORKING UNIT AND CONTROL DEVICES FOR SUCH CRAWING ROBOTS
ES2357655T3 (en) PARALLEL KINEMATIC ROBOT AND CONTROL PROCEDURE OF THIS ROBOT.
CN104390612B (en) Six-degree-of-freedom parallel robot benchmark pose scaling method for Stewart platform configuration
ES2754039T3 (en) Procedure for calibrating a tool center point for an industrial robot system
FR2892333B1 (en) POSITIONAL POSITIONING SYSTEM OF A THREE-DIMENSIONAL MEASURING OR MACHINING MACHINE IN A FIXED REFERENTIAL
EP0317967A3 (en) Rotation-deflection arrangement for the feeler heads of coordinate-measuring devices
TW200716068A (en) Technical orthopaedic auxiliary agent, in particular prosthesis for an extremity
BR9906559A (en) System and method for controlling a robot
ES2197698T3 (en) TRIPODE ASSEMBLY DEVICE AND TORSION COMPENSATION METHOD.
PT1075348E (en) COMPENSATOR SYSTEM FOR A HEXAPODE
GB2452866A (en) Precision spacecraft payload platforms
ES2881608T3 (en) Articulated Arm Robot and Method for Chipping a Workpiece Using the Articulating Arm Robot
JP4506512B2 (en) Offset adjustment system and offset adjustment method for walking robot with supporting legs
ES2205970B1 (en) CINEMATIC SYSTEM FOR MACHINE HEAD.
ES2315130A1 (en) Device for the estimation of forces and contact couplings in industrial handling robots and their implementation procedure (Machine-translation by Google Translate, not legally binding)
JP2015001385A (en) Construction machine
CN206058907U (en) One kind receives mini positioning platform
ES2265801B2 (en) LIFTING PLATFORM FOR DOUBLE PERFECTED SCISSORS.
WO2005091090A3 (en) Industrial robot system, method and computer program
SE0103406D0 (en) An offshore load handling system
JP2576362Y2 (en) Segment assembly equipment
PT109859A (en) MOBILE VEHICLE SYSTEM IN BIDIMENSIONAL AND THREE-DIMENSIONAL STRUCTURES

Legal Events

Date Code Title Description
NUG Patent has lapsed