SE511804C2 - Anordning för relativ förflyttning av två element - Google Patents

Anordning för relativ förflyttning av två element

Info

Publication number
SE511804C2
SE511804C2 SE9600998A SE9600998A SE511804C2 SE 511804 C2 SE511804 C2 SE 511804C2 SE 9600998 A SE9600998 A SE 9600998A SE 9600998 A SE9600998 A SE 9600998A SE 511804 C2 SE511804 C2 SE 511804C2
Authority
SE
Sweden
Prior art keywords
links
link
relative
joint
force generating
Prior art date
Application number
SE9600998A
Other languages
English (en)
Swedish (sv)
Other versions
SE9600998D0 (sv
SE9600998L (sv
Inventor
Torgny Brogaardh
Original Assignee
Abb 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 Abb Ab filed Critical Abb Ab
Priority to SE9600998A priority Critical patent/SE511804C2/sv
Publication of SE9600998D0 publication Critical patent/SE9600998D0/xx
Priority to SE9700091A priority patent/SE9700091L/xx
Priority to PCT/SE1997/000433 priority patent/WO1997033725A1/fr
Priority to AU21849/97A priority patent/AU2184997A/en
Priority to JP9532523A priority patent/JP2000506450A/ja
Priority to EP97914703A priority patent/EP0897329A1/fr
Priority to US09/142,582 priority patent/US6095011A/en
Priority to KR1019980707284A priority patent/KR19990087795A/ko
Priority to CA002248590A priority patent/CA2248590A1/fr
Priority to TW086109467A priority patent/TW374055B/zh
Priority to TW086109516A priority patent/TW412467B/zh
Publication of SE9600998L publication Critical patent/SE9600998L/xx
Priority to KR1019997006374A priority patent/KR20000070148A/ko
Publication of SE511804C2 publication Critical patent/SE511804C2/sv

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
    • 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)
  • Aerials With Secondary Devices (AREA)
SE9600998A 1996-03-14 1996-03-14 Anordning för relativ förflyttning av två element SE511804C2 (sv)

Priority Applications (12)

Application Number Priority Date Filing Date Title
SE9600998A SE511804C2 (sv) 1996-03-14 1996-03-14 Anordning för relativ förflyttning av två element
SE9700091A SE9700091L (sv) 1996-03-14 1997-01-14 Anordning fjör relativ förflyttning av två element
CA002248590A CA2248590A1 (fr) 1996-03-14 1997-03-14 Dispositif concu pour le mouvement relatif de deux elements
US09/142,582 US6095011A (en) 1996-03-14 1997-03-14 Device for relative movement of two elements
AU21849/97A AU2184997A (en) 1996-03-14 1997-03-14 A device for relative movement of two elements
JP9532523A JP2000506450A (ja) 1996-03-14 1997-03-14 ２要素の相対運動装置
EP97914703A EP0897329A1 (fr) 1996-03-14 1997-03-14 Dispositif concu pour le mouvement relatif de deux elements
PCT/SE1997/000433 WO1997033725A1 (fr) 1996-03-14 1997-03-14 Dispositif concu pour le mouvement relatif de deux elements
KR1019980707284A KR19990087795A (ko) 1996-03-14 1997-03-14 두 구성 요소의 상대 이동 장치
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

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9600998A SE511804C2 (sv) 1996-03-14 1996-03-14 Anordning för relativ förflyttning av två element

Publications (3)

Publication Number Publication Date
SE9600998D0 SE9600998D0 (sv) 1996-03-14
SE9600998L SE9600998L (sv) 1997-09-15
SE511804C2 true SE511804C2 (sv) 1999-11-29

Family

ID=20401805

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9600998A SE511804C2 (sv) 1996-03-14 1996-03-14 Anordning för relativ förflyttning av två element

Country Status (8)

Country Link
US (1) US6095011A (fr)
EP (1) EP0897329A1 (fr)
JP (1) JP2000506450A (fr)
KR (1) KR19990087795A (fr)
AU (1) AU2184997A (fr)
CA (1) CA2248590A1 (fr)
SE (1) SE511804C2 (fr)
WO (1) WO1997033725A1 (fr)

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DE19654041A1 (de) * 1996-12-23 1998-06-25 Focke & Co Vorrichtung zum Handhaben von Gegenständen
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
DE19757886C2 (de) * 1997-12-24 2001-11-29 Rolf Wissner Vorrichtung zur Positionierung eines ersten Maschinenteils gegenüber einem zweiten Maschinenteil
DE19757885A1 (de) * 1997-12-24 1999-07-08 Wissner Rolf Vorrichtung zur Positionierung eines ersten Maschinenteils gegenüber einem zweiten Maschinenteil
SE513328C2 (sv) * 1998-11-11 2000-08-28 Abb Ab Manipulator och förfarande vid framställning av en manipulator
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
AU5466200A (en) * 1999-06-04 2000-12-28 Distributed Robotics, Llc Material handling device
AT409043B (de) * 2000-02-07 2002-05-27 Heinz Peter Dipl Brandstetter Vorrichtung und verfahren zur zweidimensionalen positionsbestimmung
EP1234632A1 (fr) * 2001-02-23 2002-08-28 Willemin Machines S.A. Dispositif cinématique du support et de déplacement programmable d'un élément terminal dans une machine ou un instrument
JP4628602B2 (ja) * 2001-04-05 2011-02-09 ナブテスコ株式会社 ロボットアーム
DE20116653U1 (de) * 2001-05-07 2002-01-03 Esec Trading S.A., Cham Montageautomat für die Plazierung eines Halbleiterchips als Flipchip auf einem Substrat
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
JP3614821B2 (ja) * 2002-02-14 2005-01-26 川崎重工業株式会社 ロボット群
SE521539C2 (sv) * 2002-03-18 2003-11-11 Abb Ab Manipulator och förfarande involverande manipulator för förflyttning av ett objekt,innefattande minst två drivande parallellkinematiska förbindningskedjor
EP1560681A1 (fr) * 2002-11-06 2005-08-10 McGILL UNIVERSITY Manipulateur parallele a quatre degres de liberte permettant de produire des mouvements de schonflies
US7204168B2 (en) * 2004-02-25 2007-04-17 The University Of Manitoba Hand controller and wrist device
US7444205B2 (en) * 2004-10-29 2008-10-28 Neil Desmond Modular self structuring and computing system
US8109171B2 (en) * 2006-11-15 2012-02-07 Murata Machinery Ltd. Parallel mechanism
US7950306B2 (en) * 2007-02-23 2011-05-31 Microdexterity Systems, Inc. Manipulator
JP4958069B2 (ja) * 2007-03-29 2012-06-20 株式会社Ｉｈｉ 搬送ロボット及び３自由度パラレルリンク機構
NL2000607C2 (nl) * 2007-04-24 2008-10-28 Academisch Medisch Ct Van De U Manipulator voor een instrument voor minimaal-invasieve chirurgie, alsmede een positioneerhulporgaan voor het plaatsen van een dergelijk instrument.
US20100275718A1 (en) * 2009-04-29 2010-11-04 Microdexterity Systems, Inc. Manipulator
DE102010025275B4 (de) 2010-06-28 2012-03-29 Martin Schwab Hexapod
CN102407524A (zh) * 2010-09-21 2012-04-11 鸿富锦精密工业（深圳）有限公司 机器人
TWI473694B (zh) * 2010-09-29 2015-02-21 Hon Hai Prec Ind Co Ltd 機器人
CA2734318C (fr) * 2011-03-17 2017-08-08 Crosswing Inc. Robot delta monte sur bloc de roues a relief universel
JP2012192499A (ja) * 2011-03-17 2012-10-11 Canon Electronics Inc パラレルリンクロボット
RU2489747C2 (ru) * 2011-11-09 2013-08-10 Лев Николаевич Евстратов Трехосный подвес камеры
CN102615649B (zh) * 2012-04-11 2014-10-29 北京交通大学 一种滚动双四平行四边形机器人
US20130279982A1 (en) * 2012-04-24 2013-10-24 ShoreMaster, LLC Watercraft Lift System
CN102699909B (zh) * 2012-05-14 2014-05-21 苏州市职业大学 一种新型工业机器人结构装置
GB2518505B (en) * 2012-06-06 2016-06-08 Ten Fold Eng Ltd Apparatus For Converting Motion
US20140033886A1 (en) * 2012-08-01 2014-02-06 Xerox Corporation Document Production System and Method With Automated Die Exchange
GB2505206B (en) 2012-08-22 2015-03-04 Ten Fold Engineering Ltd Apparatus for converting motion
CN102886777B (zh) * 2012-10-25 2015-05-06 浙江理工大学 一种具有大横向位移的二自由度并联机构
JP6186970B2 (ja) * 2012-10-30 2017-08-30 株式会社ジェイテクト 搬送装置
US11353084B2 (en) 2013-03-15 2022-06-07 Clearmotion Acquisition I Llc Rotary actuator driven vibration isolation
US9291300B2 (en) 2013-03-15 2016-03-22 Bose Corporation Rotary actuator driven vibration isolation
GB201305989D0 (en) * 2013-04-03 2013-05-15 Moog Bv Manipulator mechanism
GB2514175B (en) 2013-05-17 2015-10-07 Ten Fold Engineering Ltd Apparatus for converting motion and building assembly comprising the same
GB2517920B (en) 2013-09-04 2016-05-18 Ten Fold Eng Ltd Apparatus for converting motion
CN103737583A (zh) * 2013-12-17 2014-04-23 广西大学 具有对称的机构式机械手
GB2529702B (en) 2014-08-29 2017-07-12 Ten Fold Eng Ltd Apparatus for converting motion
US9513168B2 (en) 2014-09-23 2016-12-06 Utah State University Research Foundation Linear-motion stage
CN104647367B (zh) * 2014-12-29 2016-05-25 合肥工业大学 一种索杆复合驱动的并联码垛机器人
CN104589329B (zh) * 2015-01-24 2015-12-30 江西省机械科学研究所 齿轮驱动电动缸高速两平动机械手
CN104589318B (zh) * 2015-01-24 2016-02-10 江西省机械科学研究所 齿轮传动高速两平动机械手
CN104924297B (zh) * 2015-06-30 2017-05-17 南京理工大学 一种高速二自由度平面平移机器人机构
WO2017070329A1 (fr) * 2015-10-23 2017-04-27 The Trustees Of The University Of Pennsylvania Élément structural reconfigurable et système
JP6310901B2 (ja) * 2015-11-30 2018-04-11 Ckd株式会社 支持装置
CN105364917A (zh) * 2015-12-23 2016-03-02 苏州哈工海渡工业机器人有限公司 一种垂直关节的伪四自由度并联机器人
CN106042000B (zh) * 2016-05-31 2018-05-18 泽达（北京）科技有限公司 支撑件以及包含该支撑件的支撑关节
DE102016219260B3 (de) * 2016-10-05 2017-12-07 Airbus Helicopters Deutschland GmbH Vorrichtung zum dreidimensionalen Positionieren einer Koppelkomponente sowie Aktor-System
US11590647B2 (en) * 2018-04-17 2023-02-28 Arizona Board Of Regents On Behalf Of Arizona State University Four-bar parallel actuated architecture for exoskeleton
GB2574822B (en) 2018-06-18 2021-09-15 Ten Fold Engineering Ltd Mechanical linkage assembly for converting motion
GB2574821B (en) 2018-06-18 2021-03-03 Ten Fold Engineering Ltd Apparatus For Converting Motion
US11548169B2 (en) 2019-09-18 2023-01-10 Ati Industrial Automation, Inc. Linkage assembly for attaching a tool to a robotic device
CN111150492B (zh) * 2020-01-17 2021-04-30 长沙理工大学 一种单自由度远程运动中心机构
US11925511B2 (en) * 2020-01-31 2024-03-12 Clearpoint Neuro, Inc. Surgical tool support systems including elongate support legs with adjustable lengths and related methods

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Also Published As

Publication number Publication date
CA2248590A1 (fr) 1997-09-18
SE9600998D0 (sv) 1996-03-14
US6095011A (en) 2000-08-01
WO1997033725A1 (fr) 1997-09-18
SE9600998L (sv) 1997-09-15
AU2184997A (en) 1997-10-01
KR19990087795A (ko) 1999-12-27
EP0897329A1 (fr) 1999-02-24
JP2000506450A (ja) 2000-05-30

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NUG Patent has lapsed