WO2001087547A1 - Bras de commande parallele a deux branches - Google Patents
Bras de commande parallele a deux branches Download PDFInfo
- Publication number
- WO2001087547A1 WO2001087547A1 PCT/FR2001/001511 FR0101511W WO0187547A1 WO 2001087547 A1 WO2001087547 A1 WO 2001087547A1 FR 0101511 W FR0101511 W FR 0101511W WO 0187547 A1 WO0187547 A1 WO 0187547A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- wrist
- control arm
- branches
- arm according
- base
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
-
- 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
-
- 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
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE60121571T DE60121571T2 (de) | 2000-05-18 | 2001-05-17 | Steuerarm mit paralleler struktur |
JP2001583988A JP4959088B2 (ja) | 2000-05-18 | 2001-05-17 | 操縦用アーム |
US10/276,415 US7086307B2 (en) | 2000-05-18 | 2001-05-17 | Parallel control arm with two branches |
CA002408822A CA2408822A1 (fr) | 2000-05-18 | 2001-05-17 | Bras de commande parallele a deux branches |
EP01936559A EP1282485B1 (fr) | 2000-05-18 | 2001-05-17 | Bras de commande parallele a deux branches |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR00/06364 | 2000-05-18 | ||
FR0006364A FR2809047B1 (fr) | 2000-05-18 | 2000-05-18 | Bras de commande parallele a deux branches |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001087547A1 true WO2001087547A1 (fr) | 2001-11-22 |
Family
ID=8850373
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2001/001511 WO2001087547A1 (fr) | 2000-05-18 | 2001-05-17 | Bras de commande parallele a deux branches |
Country Status (8)
Country | Link |
---|---|
US (1) | US7086307B2 (fr) |
EP (1) | EP1282485B1 (fr) |
JP (1) | JP4959088B2 (fr) |
AT (1) | ATE333346T1 (fr) |
CA (1) | CA2408822A1 (fr) |
DE (1) | DE60121571T2 (fr) |
FR (1) | FR2809047B1 (fr) |
WO (1) | WO2001087547A1 (fr) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011039341A1 (fr) * | 2009-10-02 | 2011-04-07 | Commissariat à l'énergie atomique et aux énergies alternatives | Structure de robot ou d'interface haptique a bras en parallele |
FR2950830A1 (fr) * | 2009-10-02 | 2011-04-08 | Commissariat Energie Atomique | Structure de robot ou d'interface haptique a bras en paralleles |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8768516B2 (en) * | 2009-06-30 | 2014-07-01 | Intuitive Surgical Operations, Inc. | Control of medical robotic system manipulator about kinematic singularities |
FR2836851B1 (fr) * | 2002-03-11 | 2004-05-21 | Commissariat Energie Atomique | Poignet de bras de commande a deux branches paralleles |
FR2853272B1 (fr) * | 2003-04-04 | 2006-03-10 | Commissariat Energie Atomique | Bras articule comprenant des transmissions a cable |
FR2853273B1 (fr) * | 2003-04-04 | 2006-03-10 | Commissariat Energie Atomique | Dispositif d'actionnement, notamment pour un bras articule |
FR2863534B1 (fr) * | 2003-12-15 | 2007-01-05 | Commissariat Energie Atomique | Articulation de bras mecanique et bras pourvu de cette articulation |
US7223063B2 (en) * | 2004-09-24 | 2007-05-29 | Raytheon Company | Method and system for adjusting a position of an object |
US7896607B2 (en) * | 2004-09-24 | 2011-03-01 | Raytheon Company | Method and system for adjusting a position of an object |
JP4541091B2 (ja) * | 2004-10-04 | 2010-09-08 | 本田技研工業株式会社 | 加工搬送装置 |
CA2597686A1 (fr) * | 2005-02-11 | 2006-08-17 | Force Dimension S.A.R.L. | Dispositif pour transmettre des mouvements et ses composants |
ITUD20050158A1 (it) * | 2005-09-26 | 2007-03-27 | Gisulfo Baccini | Dispositivo robotizzato per la movimentazione di un oggetto |
US7673537B2 (en) * | 2007-06-01 | 2010-03-09 | Socovar, Société En Commandite | Parallel manipulator |
CN102059696B (zh) * | 2009-11-18 | 2013-11-20 | 鸿富锦精密工业(深圳)有限公司 | 并联机构 |
EP2576154A4 (fr) * | 2010-05-25 | 2014-09-10 | Systemantics India Pvt Ltd | Liaison série-parallèle hybride basée sur un manipulateur robotique à six degrés de liberté |
FR2961423B1 (fr) * | 2010-06-17 | 2012-07-27 | Commissariat Energie Atomique | Reducteur a grand rapport de reduction, robot et interface haptique comportant au moins un tel reducteur |
JP5893330B2 (ja) * | 2011-10-18 | 2016-03-23 | オリンパス株式会社 | 操作入力装置および操作入力装置の初期化方法 |
US11458579B2 (en) | 2013-12-06 | 2022-10-04 | Huber Diffraktionstechnik Gmbh & Co. Kg | Redundant parallel positioning table device |
US10955084B2 (en) * | 2013-12-06 | 2021-03-23 | Huber Diffraktionstechnik Gmbh & Co. Kg | Redundant parallel positioning table device |
WO2018223362A1 (fr) * | 2017-06-09 | 2018-12-13 | 深圳先进技术研究院 | Mécanisme parallèle découplé à deux degrés de liberté |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07148684A (ja) * | 1993-11-25 | 1995-06-13 | Toshiba Corp | マスタ・スレーブシステムのマスタアーム装置 |
US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3371609D1 (en) * | 1982-08-30 | 1987-06-25 | Hitachi Ltd | Industrial robot |
CH672089A5 (fr) * | 1985-12-16 | 1989-10-31 | Sogeva Sa | |
JPS637280A (ja) * | 1986-06-27 | 1988-01-13 | 株式会社小松製作所 | マスタスレイブ方式マニピユレ−タ |
US5207114A (en) * | 1988-04-21 | 1993-05-04 | Massachusetts Institute Of Technology | Compact cable transmission with cable differential |
US5333514A (en) * | 1992-04-24 | 1994-08-02 | Toyoda Koki Kabushiki Kaisha | Parallel robot |
JPH06131114A (ja) * | 1992-10-19 | 1994-05-13 | Res Dev Corp Of Japan | 3次元データ入力装置 |
JP2665052B2 (ja) * | 1993-05-14 | 1997-10-22 | エスアールアイ インターナショナル | 遠隔中心位置決め装置 |
JPH075982A (ja) * | 1993-06-18 | 1995-01-10 | Fujita Corp | 入力装置 |
JP3009316B2 (ja) * | 1993-10-06 | 2000-02-14 | 株式会社協和エクシオ | 操作レバー装置 |
JPH07214482A (ja) * | 1994-01-28 | 1995-08-15 | Fujitsu Ltd | 多関節アーム機構 |
US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
AU6241896A (en) * | 1995-06-29 | 1997-01-30 | Daijiro Hamaguchi | Operation unit |
US5792135A (en) * | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
JP3534147B2 (ja) * | 1997-01-21 | 2004-06-07 | スズキ株式会社 | 3次元入力用マニピュレータ |
SE513334C2 (sv) * | 1997-09-12 | 2000-08-28 | Abb Ab | Anordning för relativ förflyttning av två element |
JP4155637B2 (ja) * | 1998-10-01 | 2008-09-24 | 三菱プレシジョン株式会社 | 3次元空間座標入力装置 |
JP2000246679A (ja) * | 1999-03-03 | 2000-09-12 | Suzuki Motor Corp | 3次元入力用マニピュレータ |
-
2000
- 2000-05-18 FR FR0006364A patent/FR2809047B1/fr not_active Expired - Fee Related
-
2001
- 2001-05-17 DE DE60121571T patent/DE60121571T2/de not_active Expired - Lifetime
- 2001-05-17 EP EP01936559A patent/EP1282485B1/fr not_active Expired - Lifetime
- 2001-05-17 US US10/276,415 patent/US7086307B2/en not_active Expired - Fee Related
- 2001-05-17 WO PCT/FR2001/001511 patent/WO2001087547A1/fr active IP Right Grant
- 2001-05-17 CA CA002408822A patent/CA2408822A1/fr not_active Abandoned
- 2001-05-17 AT AT01936559T patent/ATE333346T1/de not_active IP Right Cessation
- 2001-05-17 JP JP2001583988A patent/JP4959088B2/ja not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07148684A (ja) * | 1993-11-25 | 1995-06-13 | Toshiba Corp | マスタ・スレーブシステムのマスタアーム装置 |
US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
Non-Patent Citations (2)
Title |
---|
IWATA H: "PEN-BASED HAPTIC VIRTUAL ENVIRONMENT", PROCEEDINGS OF THE VIRTUAL REALITY ANNUAL INTERNATIONAL SYMPOSIUM,US,NEW YORK, IEEE, vol. SYMP. 1, 18 September 1993 (1993-09-18), pages 287 - 292, XP000457699 * |
PATENT ABSTRACTS OF JAPAN vol. 1995, no. 09 31 October 1995 (1995-10-31) * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011039341A1 (fr) * | 2009-10-02 | 2011-04-07 | Commissariat à l'énergie atomique et aux énergies alternatives | Structure de robot ou d'interface haptique a bras en parallele |
FR2950830A1 (fr) * | 2009-10-02 | 2011-04-08 | Commissariat Energie Atomique | Structure de robot ou d'interface haptique a bras en paralleles |
FR2952573A1 (fr) * | 2009-10-02 | 2011-05-20 | Commissariat Energie Atomique | Structure de robot ou d'interface haptique a bras en parallele |
US8950286B2 (en) | 2009-10-02 | 2015-02-10 | Commissariat à l'énergie atomique et aux énergies alternatives | Robot or haptic interface structure with parallel arms |
Also Published As
Publication number | Publication date |
---|---|
FR2809047B1 (fr) | 2002-07-12 |
EP1282485B1 (fr) | 2006-07-19 |
DE60121571D1 (de) | 2006-08-31 |
CA2408822A1 (fr) | 2001-11-22 |
ATE333346T1 (de) | 2006-08-15 |
JP2004520176A (ja) | 2004-07-08 |
EP1282485A1 (fr) | 2003-02-12 |
JP4959088B2 (ja) | 2012-06-20 |
FR2809047A1 (fr) | 2001-11-23 |
DE60121571T2 (de) | 2007-06-28 |
US20030151379A1 (en) | 2003-08-14 |
US7086307B2 (en) | 2006-08-08 |
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