SE524747C2 - Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden - Google Patents
Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymdenInfo
- Publication number
- SE524747C2 SE524747C2 SE0200343A SE0200343A SE524747C2 SE 524747 C2 SE524747 C2 SE 524747C2 SE 0200343 A SE0200343 A SE 0200343A SE 0200343 A SE0200343 A SE 0200343A SE 524747 C2 SE524747 C2 SE 524747C2
- Authority
- SE
- Sweden
- Prior art keywords
- arms
- industrial robot
- platform
- arm
- manipulator
- Prior art date
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
- 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
- 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
-
- 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
-
- 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
- Y10T74/20329—Joint between elements
- Y10T74/20335—Wrist
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Forklifts And Lifting Vehicles (AREA)
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0200343A SE524747C2 (sv) | 2002-02-06 | 2002-02-06 | Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden |
PCT/SE2003/000200 WO2003066289A1 (en) | 2002-02-06 | 2003-02-05 | Industrial robot |
US10/502,205 US7685902B2 (en) | 2002-02-06 | 2003-02-05 | Industrial robot |
AT03703615T ATE402793T1 (de) | 2002-02-06 | 2003-02-05 | Industrieroboter |
AU2003206324A AU2003206324A1 (en) | 2002-02-06 | 2003-02-05 | Industrial robot |
ES03703615T ES2309298T3 (es) | 2002-02-06 | 2003-02-05 | Robot industrial. |
EP03703615A EP1472053B1 (en) | 2002-02-06 | 2003-02-05 | Industrial robot |
DE60322510T DE60322510D1 (de) | 2002-02-06 | 2003-02-05 | Industrieroboter |
JP2003565697A JP2005516784A (ja) | 2002-02-06 | 2003-02-05 | 産業用ロボット |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0200343A SE524747C2 (sv) | 2002-02-06 | 2002-02-06 | Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden |
Publications (3)
Publication Number | Publication Date |
---|---|
SE0200343D0 SE0200343D0 (sv) | 2002-02-06 |
SE0200343L SE0200343L (sv) | 2003-08-07 |
SE524747C2 true SE524747C2 (sv) | 2004-09-28 |
Family
ID=20286878
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE0200343A SE524747C2 (sv) | 2002-02-06 | 2002-02-06 | Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden |
Country Status (9)
Country | Link |
---|---|
US (1) | US7685902B2 (es) |
EP (1) | EP1472053B1 (es) |
JP (1) | JP2005516784A (es) |
AT (1) | ATE402793T1 (es) |
AU (1) | AU2003206324A1 (es) |
DE (1) | DE60322510D1 (es) |
ES (1) | ES2309298T3 (es) |
SE (1) | SE524747C2 (es) |
WO (1) | WO2003066289A1 (es) |
Families Citing this family (33)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7337691B2 (en) * | 1999-08-05 | 2008-03-04 | Shambhu Nath Roy | Parallel kinematics mechanism with a concentric spherical joint |
ES2357655T3 (es) * | 2004-06-10 | 2011-04-28 | Abb Ab | Robot cinemático paralelo y procedimiento de control de este robot. |
ES2258917B1 (es) * | 2005-02-17 | 2007-12-01 | Fundacion Fatronik | Robot paralelo con cuatro grados de libertad de alta velocidad. |
DE102007011849B4 (de) * | 2007-03-12 | 2009-02-26 | Data M Software Gmbh | Vorrichtung und Verfahren zum Biegen von flachem Halbzeug zu Profil mit über seine Länge veränderlichem Querschnitt |
WO2009148603A1 (en) * | 2008-06-04 | 2009-12-10 | Ross-Hime Designs, Inc. | Robotic manipulator |
US20100126293A1 (en) * | 2008-11-21 | 2010-05-27 | Comau Inc. | Robotic radial tool positioning system |
DE102010005586B4 (de) * | 2010-01-22 | 2012-03-29 | Martin Schwab | Hexapod |
NL2004167C2 (en) * | 2010-01-28 | 2011-07-29 | Univ Delft Tech | Robot with multiple degrees of freedom. |
KR101182600B1 (ko) | 2010-04-30 | 2012-09-18 | 경남대학교 산학협력단 | 실린더 형태의 큰 작업영역을 갖는 병렬형 로봇기구 |
WO2012031635A1 (en) | 2010-09-10 | 2012-03-15 | Abb Research Ltd. | Industrial robot |
US20120073738A1 (en) * | 2010-09-29 | 2012-03-29 | The Boeing Company | Method and apparatus for laying up barrel-shaped composite structures |
US8442686B2 (en) * | 2011-01-31 | 2013-05-14 | Toyota Jidosha Kabushiki Kaisha | Articulated arm robot, control method and control program |
EP2681016B1 (de) * | 2011-02-28 | 2017-07-19 | Technische Universität Dresden | Parallelroboter und steuerungsverfahren |
JP2012192499A (ja) * | 2011-03-17 | 2012-10-11 | Canon Electronics Inc | パラレルリンクロボット |
US9140763B2 (en) * | 2011-09-19 | 2015-09-22 | Utah State University | Wireless power transfer test system |
GB2518505B (en) * | 2012-06-06 | 2016-06-08 | Ten Fold Eng Ltd | Apparatus For Converting Motion |
US20150217359A1 (en) * | 2012-06-15 | 2015-08-06 | Abb Technology Ag | Stacking Line System And Method For Stacking Blanks Outputted From A Blanking Shear Or Press |
CN105121100B (zh) | 2013-05-23 | 2018-06-05 | Abb瑞士股份有限公司 | 紧凑型并联运动机器人 |
CN106413995B (zh) * | 2014-02-27 | 2019-12-20 | Abb瑞士股份有限公司 | 紧凑型机器人设备 |
CN104923432A (zh) * | 2014-03-18 | 2015-09-23 | 江苏长虹智能装备集团有限公司 | 多平行四边形连杆并行的串并联驱动喷涂机器人 |
EP3119561B1 (en) | 2014-03-18 | 2018-06-06 | ABB Schweiz AG | A compact parallel kinematics robot |
WO2015188843A1 (en) * | 2014-06-09 | 2015-12-17 | Abb Technology Ltd | A parallel kinematics robot with rotational degrees of freedom |
CN106608540A (zh) * | 2016-11-28 | 2017-05-03 | 广西大学 | 一种含有转动副锁紧装置的变自由度连杆机构新型饲料堆码机械臂 |
CN106737715A (zh) * | 2016-11-28 | 2017-05-31 | 广西大学 | 一种用于装配作业的含锁紧装置可变活动度连杆机构机械手臂 |
CN106826745A (zh) * | 2016-11-28 | 2017-06-13 | 广西大学 | 一种采用伺服电机驱动三自由度连杆机构饲料堆码机械臂 |
CN106737716A (zh) * | 2016-11-28 | 2017-05-31 | 广西大学 | 一种用于装配作业的伺服驱动二活动度连杆机构简易机械手臂 |
CN106737727A (zh) * | 2016-12-05 | 2017-05-31 | 广西大学 | 一种用于搬运作业的伺服驱动多杆式变自由度机械臂 |
CN106607872A (zh) * | 2016-12-07 | 2017-05-03 | 广西大学 | 一种用于气割下料机的伺服驱动连杆式可变自由度连杆机构 |
CN106607932A (zh) * | 2016-12-09 | 2017-05-03 | 广西大学 | 一种用于气割下料作业多杆闭链结构机械臂 |
EP3428754B1 (de) * | 2017-07-13 | 2023-02-15 | Siemens Aktiengesellschaft | Verfahren zum einrichten eines bewegungsautomaten und einrichtungsanordnung |
KR20200105657A (ko) * | 2018-01-15 | 2020-09-08 | 코그니보티스 에이비 | 산업용 로봇 아암 |
US11135783B2 (en) | 2018-09-26 | 2021-10-05 | The Boeing Company | System and method for manufacturing composite structures |
US11135784B2 (en) | 2018-09-26 | 2021-10-05 | The Boeing Company | System and method for manufacturing composite structures |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CH672089A5 (es) | 1985-12-16 | 1989-10-31 | Sogeva Sa | |
US5725352A (en) * | 1993-11-22 | 1998-03-10 | Sony Corporation | Multi-articulate arm type transport device |
FR2716400B1 (fr) | 1994-02-22 | 1996-04-26 | Onera (Off Nat Aerospatiale) | Dispositif manipulateur, à structure parallèle, pour déplacer un objet dans un espace de travail cylindrique. |
JP3204115B2 (ja) * | 1996-01-25 | 2001-09-04 | ダイキン工業株式会社 | ワーク搬送ロボット |
SE508890C2 (sv) | 1996-03-14 | 1998-11-16 | Asea Brown Boveri | Manipulator |
US5699695A (en) * | 1996-05-01 | 1997-12-23 | Virginia Tech Intellectual Properties, Inc. | Spatial, parallel-architecture robotic carpal wrist |
SE512931C2 (sv) | 1998-04-29 | 2000-06-05 | Abb Ab | Anordning för relativ förflyttning av två element |
US7337691B2 (en) * | 1999-08-05 | 2008-03-04 | Shambhu Nath Roy | Parallel kinematics mechanism with a concentric spherical joint |
JP3806273B2 (ja) | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 四自由度パラレルロボット |
JP4632560B2 (ja) * | 2000-03-01 | 2011-02-16 | シーグ パック システムズ アクチェンゲゼルシャフト | 三次元空間内で製品を操作するロボット |
SE517356C2 (sv) | 2000-09-11 | 2002-05-28 | Abb Ab | Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden |
SE0100134D0 (sv) * | 2001-01-15 | 2001-01-15 | Abb Ab | Industrirobot |
USD478921S1 (en) * | 2002-02-06 | 2003-08-26 | Abb Ab | Industrial robot |
-
2002
- 2002-02-06 SE SE0200343A patent/SE524747C2/sv not_active IP Right Cessation
-
2003
- 2003-02-05 ES ES03703615T patent/ES2309298T3/es not_active Expired - Lifetime
- 2003-02-05 AT AT03703615T patent/ATE402793T1/de not_active IP Right Cessation
- 2003-02-05 US US10/502,205 patent/US7685902B2/en not_active Expired - Lifetime
- 2003-02-05 EP EP03703615A patent/EP1472053B1/en not_active Expired - Lifetime
- 2003-02-05 DE DE60322510T patent/DE60322510D1/de not_active Expired - Lifetime
- 2003-02-05 WO PCT/SE2003/000200 patent/WO2003066289A1/en active Application Filing
- 2003-02-05 JP JP2003565697A patent/JP2005516784A/ja active Pending
- 2003-02-05 AU AU2003206324A patent/AU2003206324A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
US20050172750A1 (en) | 2005-08-11 |
JP2005516784A (ja) | 2005-06-09 |
US7685902B2 (en) | 2010-03-30 |
WO2003066289A1 (en) | 2003-08-14 |
SE0200343D0 (sv) | 2002-02-06 |
DE60322510D1 (de) | 2008-09-11 |
ATE402793T1 (de) | 2008-08-15 |
SE0200343L (sv) | 2003-08-07 |
AU2003206324A1 (en) | 2003-09-02 |
EP1472053A1 (en) | 2004-11-03 |
ES2309298T3 (es) | 2008-12-16 |
EP1472053B1 (en) | 2008-07-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
SE524747C2 (sv) | Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden | |
EP1863734B1 (en) | Parallel robot | |
US7337691B2 (en) | Parallel kinematics mechanism with a concentric spherical joint | |
EP1365893B1 (en) | Industrial robot | |
TWI306428B (en) | A device for the production of schonflies motions | |
CN101804631B (zh) | 具备3自由度的手腕部的并联机器人 | |
US4329111A (en) | Mechanical manipulator | |
JP4901057B2 (ja) | マニピュレータ及び製造方法並びに移動方法 | |
US20040086351A1 (en) | Micro-motion machine and micro-element fabricating machine using a 3 degree of freedom parallel mechanism | |
JP2001088072A (ja) | 四自由度パラレルロボット | |
JPH07273B2 (ja) | ロボツトマニピユレ−タ | |
GB2083795A (en) | Manipulator mechanisms | |
EP1492649A1 (en) | Industrial robot | |
JP2008264881A (ja) | 作業装置 | |
SE512931C2 (sv) | Anordning för relativ förflyttning av två element | |
US20040013509A1 (en) | Parallel kinematics mechanism with a concentric spherical joint | |
JPH10277985A (ja) | 位置決め装置 | |
JP2020078839A (ja) | パラレルリンクロボット | |
US20220281100A1 (en) | A parallel-kinematic machine with versatile tool orientation | |
JPH09290382A (ja) | 反力フィードバックに適した六自由度運動可能なマニピュレータ | |
EP1513657B1 (en) | An industrial robot and a method for manipulation in an industrial robot comprising a parallel kinematic manipulator | |
EP0180558B1 (en) | An industrial robot having two gimbal-ring type arranged swinging axes | |
WO2004056538A1 (en) | A parallel kinematic manipulator and a method of operating the same, including pairwise actuators | |
JPH10286792A (ja) | 平行リンクで構成された脚を有する位置決め装置及び工作機械 | |
Bailey | The merits of hexapods for robotic applications |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
NUG | Patent has lapsed |