WO2001059409A3 - Systeme de mesure de position et guidage de liaison pour servomoteur a deux axes de coordonnees - Google Patents

Systeme de mesure de position et guidage de liaison pour servomoteur a deux axes de coordonnees Download PDF

Info

Publication number
WO2001059409A3
WO2001059409A3 PCT/AT2001/000029 AT0100029W WO0159409A3 WO 2001059409 A3 WO2001059409 A3 WO 2001059409A3 AT 0100029 W AT0100029 W AT 0100029W WO 0159409 A3 WO0159409 A3 WO 0159409A3
Authority
WO
WIPO (PCT)
Prior art keywords
dimensional actuator
joint
measuring system
arms
scissor
Prior art date
Application number
PCT/AT2001/000029
Other languages
German (de)
English (en)
Other versions
WO2001059409A2 (fr
Inventor
Heinz Peter Brandstetter
Original Assignee
Heinz Peter Brandstetter
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 Heinz Peter Brandstetter filed Critical Heinz Peter Brandstetter
Priority to DE20180033U priority Critical patent/DE20180033U1/de
Priority to AU31410/01A priority patent/AU3141001A/en
Publication of WO2001059409A2 publication Critical patent/WO2001059409A2/fr
Publication of WO2001059409A3 publication Critical patent/WO2001059409A3/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • G01B7/008—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points using coordinate measuring machines
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/18—Machines moving with multiple degrees of freedom

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

L'invention concerne un système de mesure de position pour servomoteur (1) à deux axes de coordonnées se déplaçant à l'intérieur d'une surface de portée (2) d'un stator, conformément aux commandes émanant de moyens de commande, sensiblement parallèlement à l'axe, caractérisé en ce qu'il comprend une articulation en forme de ciseaux comportant des bras (3 et 4) reliés pivotant entre eux via une articulation en ciseaux (7), bras dont les extrémités externes sont fixées, d'une part via une première articulation (5), pivotantes en un point servant de point de référence et, d'autre part, via une seconde articulation (6), au servomoteur à deux axes de coordonnées (1), en ce que des transducteurs rotatifs, absolus ou incrémentaux (8 et 9) sont montés dans deux des trois articulations pivotantes ou à ciseaux (8 et 9) qui mesurent directement ou indirectement l'angle (14) entre le bras (3) et une première ligne de référence parallèle à l'une des deux directions de déplacement et, en même temps, l'angle (15) entre le bras (4) et une autre ligne de référence s'étendant parallèlement à la première ligne de référence, et en ce que les valeurs mesurées sont transmises à une unité d'évaluation qui calcule, à partir des longueurs (a et b) des bras (3 et 4) et de la position relative de la première articulation pivotante (5), les coordonnées de position (X6 et Y6) de la seconde articulation pivotante (6) sur le servomoteur à deux axes de coordonnées (1), par rapport au système de coordonnées de la surface de portée (2) du stator.
PCT/AT2001/000029 2000-02-07 2001-02-07 Systeme de mesure de position et guidage de liaison pour servomoteur a deux axes de coordonnees WO2001059409A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE20180033U DE20180033U1 (de) 2000-02-07 2001-02-07 Positionsmeßsystem sowie Zwangsführung für einen 2-Koordinaten-Stellantrieb
AU31410/01A AU3141001A (en) 2000-02-07 2001-02-07 Position measuring system and restricted guidance for a two-dimensional actuator

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT1862000A AT409043B (de) 2000-02-07 2000-02-07 Vorrichtung und verfahren zur zweidimensionalen positionsbestimmung
ATA186/2000 2000-02-07

Publications (2)

Publication Number Publication Date
WO2001059409A2 WO2001059409A2 (fr) 2001-08-16
WO2001059409A3 true WO2001059409A3 (fr) 2002-04-11

Family

ID=3663360

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AT2001/000029 WO2001059409A2 (fr) 2000-02-07 2001-02-07 Systeme de mesure de position et guidage de liaison pour servomoteur a deux axes de coordonnees

Country Status (4)

Country Link
AT (1) AT409043B (fr)
AU (1) AU3141001A (fr)
DE (1) DE20180033U1 (fr)
WO (1) WO2001059409A2 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022534713A (ja) 2019-05-28 2022-08-03 ベーウントエル・インダストリアル・オートメイション・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング 運搬装置
WO2020239933A1 (fr) 2019-05-28 2020-12-03 B&R Industrial Automation GmbH Dispositif de transport
IT202100009569A1 (it) 2021-04-15 2022-10-15 G Mondini S P A Apparecchiatura e metodo per il posizionamento di prodotti su supporti
IT202100015857A1 (it) 2021-06-17 2022-12-17 G Mondini S P A Apparecchiatura per la termosaldatura di un film di copertura a un elemento di supporto
DE102022119231A1 (de) * 2022-08-01 2024-02-01 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Transportieren von Behältern

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4331954A (en) * 1980-10-10 1982-05-25 Bauman Verne W Planar coordinate resolving system
DE3717459A1 (de) * 1987-05-23 1988-12-01 Zeiss Carl Fa Handgefuehrtes koordinatenmessgeraet
EP0486787A1 (fr) * 1990-10-11 1992-05-27 International Business Machines Corporation Dispositif de positionnement du type à parallélogramme multi-barres
DE4300197A1 (de) * 1993-01-07 1994-07-14 Zeiss Carl Jena Gmbh Bewegungseinrichtung
WO1997033725A1 (fr) * 1996-03-14 1997-09-18 Asea Brown Boveri Ab Dispositif concu pour le mouvement relatif de deux elements

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3376578A (en) * 1966-05-31 1968-04-02 Bruce A. Sawyer Magnetic positioning device
US3457482A (en) * 1967-10-30 1969-07-22 Bruce A Sawyer Magnetic positioning device
US4706007A (en) * 1985-06-25 1987-11-10 Kabushiki Kaisha Yaskawa Denki Seisakusho Surface pulse motor
US4890241A (en) * 1987-10-26 1989-12-26 Megamation Incorporated Robotic system
DE19631106A1 (de) * 1996-08-01 1998-02-05 Heinz Peter Brandstetter Statorplatte oder Statorelement

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4331954A (en) * 1980-10-10 1982-05-25 Bauman Verne W Planar coordinate resolving system
DE3717459A1 (de) * 1987-05-23 1988-12-01 Zeiss Carl Fa Handgefuehrtes koordinatenmessgeraet
EP0486787A1 (fr) * 1990-10-11 1992-05-27 International Business Machines Corporation Dispositif de positionnement du type à parallélogramme multi-barres
DE4300197A1 (de) * 1993-01-07 1994-07-14 Zeiss Carl Jena Gmbh Bewegungseinrichtung
WO1997033725A1 (fr) * 1996-03-14 1997-09-18 Asea Brown Boveri Ab Dispositif concu pour le mouvement relatif de deux elements

Also Published As

Publication number Publication date
AU3141001A (en) 2001-08-20
AT409043B (de) 2002-05-27
WO2001059409A2 (fr) 2001-08-16
ATA1862000A (de) 2001-09-15
DE20180033U1 (de) 2003-04-10

Similar Documents

Publication Publication Date Title
CN102015223B (zh) 机械手及其控制方法
US8525460B2 (en) Architecture for robust force and impedance control of series elastic actuators
CN103359279B (zh) 具有被保护的力传感器的飞行器操控装置
US6301525B1 (en) System and method for controlling a robot
CA2265680A1 (fr) Systeme de direction
EP1939134A3 (fr) Dispositif de commande de bras intelligent
CA2297881A1 (fr) Direction ackerman a commande electronique
US20210205101A1 (en) Multi-articulated link knee joint
CN104802802A (zh) 一种用于摆臂式履带机器人零位校准的误差辨识方法
WO2001059409A3 (fr) Systeme de mesure de position et guidage de liaison pour servomoteur a deux axes de coordonnees
GB2201758A (en) Control device incorporating an arm rest
JP2003165445A5 (fr)
KR102154065B1 (ko) 모션 플랫폼 구성
US20210146527A1 (en) Exoskeleton joint drive with non-linear transmission
AU2001282767A1 (en) An angular position measuring equipment in robotics, where it determines the angle of the joints
JP3263939B2 (ja) マニピュレータ操作装置
EP0965900A3 (fr) Dispositif pour le support corporel d'une unité de contrôle manuelle
KR100951817B1 (ko) 병렬형 햅틱장치를 이용한 굴삭기 조종장치
KR100463757B1 (ko) 수동 자유도를 갖는 2자유도 햅틱장치
Shoval et al. Sensory redundant parallel mobile mechanism
KR101049953B1 (ko) 3자유도 햅틱 조이스틱 및 이를 이용한 로봇 시스템
JP3397317B2 (ja) 力フィードバック型操縦装置
KR100480012B1 (ko) 스트레인 게이지를 이용한 조이스틱
JPH0736205U (ja) 多関節アームの簡易操作装置
JP2531844Y2 (ja) バックホーの配線支持構造

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): AE AG AL AM AT AT AU AZ BA BB BG BR BY BZ CA CH CN CR CU CZ CZ DE DE DK DK DM DZ EE EE ES FI FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ PL PT RO RU SD SE SG SI SK SK SL TJ TM TR TT TZ UA UG US UZ VN YU ZA ZW

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

AK Designated states

Kind code of ref document: A3

Designated state(s): AE AG AL AM AT AT AU AZ BA BB BG BR BY BZ CA CH CN CR CU CZ CZ DE DE DK DK DM DZ EE EE ES FI FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ PL PT RO RU SD SE SG SI SK SK SL TJ TM TR TT TZ UA UG US UZ VN YU ZA ZW

AL Designated countries for regional patents

Kind code of ref document: A3

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref country code: AT

Ref document number: 2001 9018

Date of ref document: 20010816

Kind code of ref document: A

Format of ref document f/p: F

WWE Wipo information: entry into national phase

Ref document number: 20019018

Country of ref document: AT

REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: JP