SE508890C2 - Manipulator - Google Patents

Manipulator

Info

Publication number
SE508890C2
SE508890C2 SE9600999A SE9600999A SE508890C2 SE 508890 C2 SE508890 C2 SE 508890C2 SE 9600999 A SE9600999 A SE 9600999A SE 9600999 A SE9600999 A SE 9600999A SE 508890 C2 SE508890 C2 SE 508890C2
Authority
SE
Sweden
Prior art keywords
link
links
relative
force
elements
Prior art date
Application number
SE9600999A
Other languages
English (en)
Swedish (sv)
Other versions
SE9600999L (sv
SE9600999D0 (sv
Inventor
Torgny Brogaardh
Original Assignee
Asea Brown Boveri
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 Asea Brown Boveri filed Critical Asea Brown Boveri
Priority to SE9600999A priority Critical patent/SE508890C2/sv
Publication of SE9600999D0 publication Critical patent/SE9600999D0/xx
Priority to SE9700091A priority patent/SE9700091L/xx
Priority to SE9700090A priority patent/SE521584C2/sv
Priority to DE69714715T priority patent/DE69714715T2/de
Priority to AU21850/97A priority patent/AU2185097A/en
Priority to ES97914704T priority patent/ES2184074T3/es
Priority to JP9532524A priority patent/JP2000506451A/ja
Priority to EP97914704A priority patent/EP0894038B1/de
Priority to US09/142,581 priority patent/US6301988B1/en
Priority to PCT/SE1997/000434 priority patent/WO1997033726A1/en
Priority to AT97914704T priority patent/ATE222161T1/de
Priority to CA002248627A priority patent/CA2248627A1/en
Priority to KR10-1998-0707285A priority patent/KR100484985B1/ko
Priority to TW086109516A priority patent/TW412467B/zh
Priority to TW086109467A priority patent/TW374055B/zh
Publication of SE9600999L publication Critical patent/SE9600999L/xx
Priority to KR1019997006374A priority patent/KR20000070148A/ko
Publication of SE508890C2 publication Critical patent/SE508890C2/sv
Priority to JP2008124489A priority patent/JP2008200846A/ja

Links

Classifications

    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)
  • Vehicle Body Suspensions (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
SE9600999A 1996-03-14 1996-03-14 Manipulator SE508890C2 (sv)

Priority Applications (17)

Application Number Priority Date Filing Date Title
SE9600999A SE508890C2 (sv) 1996-03-14 1996-03-14 Manipulator
SE9700091A SE9700091L (sv) 1996-03-14 1997-01-14 Anordning fjör relativ förflyttning av två element
SE9700090A SE521584C2 (sv) 1996-03-14 1997-01-14 Anordning för relativ förflyttning av två element
KR10-1998-0707285A KR100484985B1 (ko) 1996-03-14 1997-03-14 두부재의상대운동용장치
US09/142,581 US6301988B1 (en) 1996-03-14 1997-03-14 Device for relative movement of two elements
AT97914704T ATE222161T1 (de) 1996-03-14 1997-03-14 Einrichtung zur relativbewegung von zwei elementen
ES97914704T ES2184074T3 (es) 1996-03-14 1997-03-14 Dispositivo para el movimiento relativo de dos elementos.
JP9532524A JP2000506451A (ja) 1996-03-14 1997-03-14 ２つの要素を相対的に移動させる装置
EP97914704A EP0894038B1 (de) 1996-03-14 1997-03-14 Einrichtung zur relativbewegung von zwei elementen
DE69714715T DE69714715T2 (de) 1996-03-14 1997-03-14 Einrichtung zur relativbewegung von zwei elementen
PCT/SE1997/000434 WO1997033726A1 (en) 1996-03-14 1997-03-14 A device for relative movement of two elements
AU21850/97A AU2185097A (en) 1996-03-14 1997-03-14 A device for relative movement of two elements
CA002248627A CA2248627A1 (en) 1996-03-14 1997-03-14 A device for relative movement of two elements
TW086109467A TW374055B (en) 1996-03-14 1997-07-03 A device for relative movement of two elements
TW086109516A TW412467B (en) 1996-03-14 1997-07-03 A device for relative movement of two elements
KR1019997006374A KR20000070148A (ko) 1996-03-14 1998-01-14 두 요소의 상대변위를 위한 기구
JP2008124489A JP2008200846A (ja) 1996-03-14 2008-05-12 ２つの要素を相対的に移動させる装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9600999A SE508890C2 (sv) 1996-03-14 1996-03-14 Manipulator

Publications (3)

Publication Number Publication Date
SE9600999D0 SE9600999D0 (sv) 1996-03-14
SE9600999L SE9600999L (sv) 1997-09-15
SE508890C2 true SE508890C2 (sv) 1998-11-16

Family

ID=20401806

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9600999A SE508890C2 (sv) 1996-03-14 1996-03-14 Manipulator

Country Status (11)

Country Link
US (1) US6301988B1 (de)
EP (1) EP0894038B1 (de)
JP (2) JP2000506451A (de)
KR (1) KR100484985B1 (de)
AT (1) ATE222161T1 (de)
AU (1) AU2185097A (de)
CA (1) CA2248627A1 (de)
DE (1) DE69714715T2 (de)
ES (1) ES2184074T3 (de)
SE (1) SE508890C2 (de)
WO (1) WO1997033726A1 (de)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE508890C2 (sv) * 1996-03-14 1998-11-16 Asea Brown Boveri Manipulator
WO1998030366A1 (en) * 1997-01-14 1998-07-16 Asea Brown Boveri Ab A device for relative displacement of two elements
US6336374B1 (en) * 1997-01-14 2002-01-08 Asea Brown Boveri A.B. Device for relative displacement of two elements
SE513334C2 (sv) * 1997-09-12 2000-08-28 Abb Ab Anordning för relativ förflyttning av två element
JP3926501B2 (ja) * 1998-11-13 2007-06-06 ナブテスコ株式会社 ロボットアーム及びその駆動装置
JP2000150617A (ja) * 1998-11-17 2000-05-30 Tokyo Electron Ltd 搬送装置
DE19962247A1 (de) * 1999-12-22 2001-09-20 Agie Sa Bewegungsübertragungsvorrichtung
US6675479B1 (en) 2000-02-29 2004-01-13 The Gillette Company Shaving razor and blade unit with improved guard
SE517356C2 (sv) * 2000-09-11 2002-05-28 Abb Ab Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden
CN1155458C (zh) * 2001-12-31 2004-06-30 天津大学 仅含转动副的二自由度平动并联机器人机构
ATE424283T1 (de) * 2002-01-16 2009-03-15 Abb Ab Industrieroboter
SE524747C2 (sv) 2002-02-06 2004-09-28 Abb Ab Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden
CA2505108A1 (en) * 2002-11-06 2004-05-21 Mcgill University Four-degree-of-freedom parallel manipulator for producing schonflies motions
US20050220580A1 (en) * 2004-03-15 2005-10-06 Thomas Arnold Dual mode stacking system and method of use
EP1800645A1 (de) * 2005-12-21 2007-06-27 Körber AG Verpackung für medizinische Produkte und dergleichen
FR2901596B1 (fr) * 2006-05-24 2010-10-22 Agence Spatiale Europeenne Mecanisme spherique parallele a deux degres de liberte
DE102006039860B3 (de) * 2006-08-25 2008-03-27 Zf Friedrichshafen Ag Betätigungsvorrichtung für Kraftfahrzeuggetriebe
US20110048159A1 (en) * 2008-01-18 2011-03-03 Fundacion Fatronik Two degree-of-freedom parallel manipulator
IL196421A0 (en) * 2009-01-11 2009-09-22 Effrayim Drori Movable assembly and application to movable devices
RU2453747C2 (ru) * 2009-02-27 2012-06-20 Владимир Алексеевич Преображенский Механизм короткой передачи хода поршневого звена
NL2010312C2 (en) * 2013-02-15 2014-08-18 Oldin Beheer B V Load handling robot with three single degree of freedom actuators.
CN105563459B (zh) * 2014-10-15 2017-09-05 上海工程技术大学 用于微创手术的解耦两转动串联机构
CN111601685B (zh) * 2018-01-15 2021-08-06 康格尼博提克斯股份公司 工业机器人手臂

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH617559GA3 (de) * 1977-12-29 1980-06-13
CH637869A5 (de) * 1979-06-19 1983-08-31 Microbo Ag Handhabungseinrichtung, insbesondere fuer industrieroboter.
CH672089A5 (de) 1985-12-16 1989-10-31 Sogeva Sa
SU1549746A1 (ru) 1987-07-27 1990-03-15 Куйбышевский политехнический институт им.В.В.Куйбышева Промышленный робот
SU1505775A1 (ru) 1987-12-31 1989-09-07 Могилевский Машиностроительный Институт Манипул тор
JPH0623437Y2 (ja) * 1988-10-13 1994-06-22 日産自動車株式会社 工業用ロボットの作業アーム
SU1691092A1 (ru) 1989-10-24 1991-11-15 Одесское специальное конструкторское бюро прецизионных станков Обрабатывающее устройство
GB9107207D0 (en) * 1991-04-05 1991-05-22 Tycho Technology Ltd Mechanical manipulator
US5156062A (en) 1991-07-01 1992-10-20 Rockwell International Corporation Anti-rotation positioning mechanism
US5386741A (en) * 1993-06-07 1995-02-07 Rennex; Brian G. Robotic snake
JP3640087B2 (ja) * 1994-11-29 2005-04-20 豊田工機株式会社 工作機械
SE508890C2 (sv) * 1996-03-14 1998-11-16 Asea Brown Boveri Manipulator
DE19611130A1 (de) * 1996-03-21 1997-09-25 Vdw Verein Deutscher Werkzeugm Vorrichtung zur Erzeugung einer definierten Positionierung und Orientierung mindestens einer Plattform

Also Published As

Publication number Publication date
EP0894038A1 (de) 1999-02-03
ES2184074T3 (es) 2003-04-01
WO1997033726A1 (en) 1997-09-18
CA2248627A1 (en) 1997-09-18
ATE222161T1 (de) 2002-08-15
AU2185097A (en) 1997-10-01
SE9600999L (sv) 1997-09-15
DE69714715D1 (de) 2002-09-19
JP2000506451A (ja) 2000-05-30
SE9600999D0 (sv) 1996-03-14
KR100484985B1 (ko) 2005-06-16
DE69714715T2 (de) 2003-04-24
US6301988B1 (en) 2001-10-16
KR19990087796A (ko) 1999-12-27
JP2008200846A (ja) 2008-09-04
EP0894038B1 (de) 2002-08-14

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