WO2004010043A1 - Dispositif permettant de deplacer un ou plusieurs corps - Google Patents

Dispositif permettant de deplacer un ou plusieurs corps Download PDF

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Publication number
WO2004010043A1
WO2004010043A1 PCT/EP2003/006938 EP0306938W WO2004010043A1 WO 2004010043 A1 WO2004010043 A1 WO 2004010043A1 EP 0306938 W EP0306938 W EP 0306938W WO 2004010043 A1 WO2004010043 A1 WO 2004010043A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuating elements
elements
body structure
actuating
contain
Prior art date
Application number
PCT/EP2003/006938
Other languages
German (de)
English (en)
Inventor
Peter Olhöft
Original Assignee
Olhoeft Peter
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 Olhoeft Peter filed Critical Olhoeft Peter
Priority to AU2003249908A priority Critical patent/AU2003249908A1/en
Publication of WO2004010043A1 publication Critical patent/WO2004010043A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
    • B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand

Definitions

  • the invention is a novel parallel kinematic device for moving at least one body.
  • the invention relates generally to a device for moving a body through actuating elements, the actuating elements transmitting forces to the body through movements.
  • the invention relates to a device with which movements can be transferred simultaneously in up to four degrees of freedom to a body or to a plurality of bodies (body association) that are movably connected to one another (primary purpose). Three of the four degrees of freedom are rotational. The remaining degree of freedom can be either translational or rotational.
  • the body is preferably a ball joint arm, the body association preferably consists of a ball joint arm with an attachment movably attached to it.
  • the invention can measure the movement states (e.g. position and speed) of the actuating elements.
  • the movement states of the body or body structure can be calculated from these measured variables (secondary purpose).
  • a body can perform movements in six theoretically possible degrees of freedom. Three of them are rotatory and three are translatory. So far, hinge joints have mainly been used in robotics. On a hinge joint, an electric motor or a pneumatic cylinder connecting the two joint arms can transmit a rotational movement with one degree of freedom. The simultaneous transmission of rotary movements with two straight lines of freedom is already known. The simultaneous transmission of rotary movements with 2 straight lines of freedom is already known. In this way, a ball joint arm of 3 pneumatic cylinders, offset at an angle of 120 °, is brought into any position within a certain range. This range of motion of the ball joint arm is a section of a ball. However, twisting along the ball joint arm is not possible.
  • REPLACEMENT SHEET R ⁇ GEL 26
  • the newly invented device can also realize movements in up to four degrees of freedom.
  • actuating elements 1, 2, 3, 4 are connected in the manner according to the invention to the body 6 to be moved or the body structure 6, 7 to be moved.
  • the interaction of the four actuating elements 1, 2, 3, 4 allows the body 6 or the body structure 6, 7 consisting of several bodies to be moved simultaneously in up to four degrees of freedom.
  • hexapod is based on the simultaneous interaction of several actuating elements.
  • the "hexapod” belongs to the class of robots with so-called parallel kinematics. It has six degrees of freedom.
  • the present invention is based on the object of designing and developing a generic device in such a way that combinations of rotational movements realized in nature are possible.
  • a generic device for moving a body 6 or a body structure 6, 7 is designed and developed in such a way that at least three actuating elements act directly or indirectly on the body and that the body can be rotated and / or pivoted in space by the interaction of the individual actuating elements ,
  • case "A" The principle of the invention has already been implemented in nature.
  • the human thigh can simultaneously perform combinations of three rotational movements in relation to the hip. These movements are: forward or backward, sideways and a twist along the thigh.
  • a Cartesian reference coordinate system with the axes X, Y and Z is defined.
  • the axes of rotation Rx, Ry, Rz of the body 6 are fixed in the coordinate system XYZ.
  • the position of the body 6, which is movably mounted in three rotational degrees of freedom, is described by the body-fixed Cartesian coordinate system with the axes U, V and W.
  • Fig. 1 (a, b, c) to Fig. 5 (a, b, c) show the principle of operation of the invention for the case "A".
  • the component 5 represents one or more arbitrary devices in which or in which the body 6 is mounted so that it can rotate in three degrees of freedom
  • component 5 is the socket of a ball joint.
  • the device according to the invention is shown in its basic position.
  • the X-axis runs parallel to the U-axis
  • the Y- Axis parallel to the V axis
  • the Z axis parallel to the W axis.
  • the rotation axes Rx, Ry, and Rz overlap with the body-fixed coordinate system UVW.
  • the ends of the actuating elements facing away from the body 6 or 7 are called foot points.
  • the ends of the actuating elements facing the body 6 or 7 are called head points.
  • the route that connects the two end points of an actuating element by the shortest route is their connecting route.
  • Figures 2a, 2b and 2c show a tilt about the Rx axis. It is achieved in that the actuating elements move or are moved as follows.
  • the foot and the Kop ⁇ Vietnamese of the actuator 3 approach.
  • the foot and head point of actuator 4 are approaching.
  • the foot and the Kop ⁇ Vietnamese of actuator 1 move away from each other.
  • the base and the Kop ⁇ Vietnamese of actuator 2 move away from each other.
  • a tilt about the Ry axis is shown in Figures 3a, 3b and 3c. It is achieved in that the actuating elements move or are moved as follows.
  • the foot and the Kop ⁇ Vietnamese of the actuator 2 approach.
  • the foot and the Kop ⁇ Vietnamese of the actuator 3 approach.
  • the foot and the Kop ⁇ Vietnamese of actuator 1 move away from each other.
  • the foot and the Kop ⁇ Vietnamese of actuator 4 move away from each other.
  • the foot and the Kop ⁇ Vietnamese of the actuator 2 approach.
  • the foot and the Kop ⁇ Vietnamese of the actuator 4 approach.
  • the foot and the Kop ⁇ Vietnamese of actuator 1 move away from each other.
  • the base and the Kop ⁇ Vietnamese of the actuator 3 move away from each other.
  • FIGS. 2 (a, b, c) to 4 (a, b, c) it is exemplified how the three basic rotations can be realized by lengthening or shortening two of the four force-transmitting actuating elements in pairs.
  • Four input variables lengths of the actuating elements 1, 2, 3, 4) thus become three output variables (rotation angle ⁇ x , ⁇ y , ⁇ z ).
  • An explanation follows for the basic rotations:
  • One of the actuating elements 1, 2, 3, 4 has exactly three possibilities to form a pair "A” with another of these actuating elements, which together lengthens or shortens. The remaining pair “B” moves in the opposite direction to "A”. If “A” was chosen, "B” is therefore also known.
  • the actual advantage of the invention consists in being able to carry out any desired combinations of the basic rotations on the rotatably mounted body 6 within a range. This is done as follows:
  • the actuating elements 1, 2, 3, 4 can experience a change in direction through an additional device. This is shown, for example, by the perforated circular disk used on the body 6 in FIG. 6 for guiding the actuating elements (here threads with winches). Such an additional device can enable an increased range of rotation.
  • the body 6, which is rotatably mounted in three degrees of freedom can itself be a force-transmitting device, for example a pneumatic cylinder. Then an additional translational degree of freedom is present in the invention. Equipped in this way, the invention could be used, for example, to lift and rotate workpieces as follows:
  • a workpiece e.g. B. a tube, lie lengthwise in a U-shaped rail. It should be placed in a different U-shaped rail at a stop. Both rails run horizontally, but not parallel.
  • the actuating elements 1, 2, 3, 4 and the component 5 in which the body to be moved is movably mounted are attached to the ceiling.
  • the body 6 here is a lifting cylinder the one at the outer end of which a gripping device is attached.
  • the gripper takes the pipe from the first rail. To do this, the movably mounted lifting cylinder must be aligned with the pipe. Then the lifting cylinder must be extended and retracted a bit after gripping.
  • the actuating elements align the pipe carried so that it runs parallel to the second rail. Then the lifting cylinder extends and the gripper places the tube in the rail.
  • a conventional robot which is supposed to do the same task, is composed of considerably more components than the invention. Accordingly, cheaper robots can be produced by the invention.
  • a variant of the power transmission with flexible elements such as threads or ropes is also conceivable.
  • the structure of the device according to the invention is different from the previous example, but the principle of force guidance is the same.
  • Case "B” refers to the simultaneous transmission of movements in three rotational degrees of freedom and one translational degree of freedom.
  • the device according to the invention remains the same. However, it is now applied to a body structure 6, 7.
  • FIG. 7 shows an exemplary implementation.
  • the body bandage can consist of two or more bodies.
  • one body 6 is a ball joint arm which is designed as a sleeve and the other body 7 is a solid cylinder which passively slides in the sleeve.
  • actuating elements 1, 2, 3, 4 are only single-acting, for example on pull.
  • actuating elements 1, 2, 3, 4 are required which both pull - Can also exert pressure and thus actively lengthen or shorten the distance between their respective base and head points.
  • These actuating elements 1, 2, 3, 4 can, for example, be double-acting pneumatic cylinders or linkages with motors.
  • FIGS. 8a and 8b illustrate this connection.
  • the rotations about the Rx, Ry and Rz axes take place exactly as in cases “A” and “B” by mutually lengthening and shortening the connecting sections of the beta actuating elements.
  • a simultaneous shortening or lengthening of all connecting sections of the actuating elements results in a tilting of the body 7 in relation to the body 6 by the angle ⁇ .
  • case "C” On the body 6 and / or 7 e.g. a gripping device or another tool can be attached.
  • the invention applied to case "C” also has applications in robotics.
  • actuating elements 1, 2, 3, 4 are shown, which do not transmit the movements directly, but indirectly to the body 6 or the body structure 6, 7.
  • the actuating elements 1, 2, 3, 4 consist, for example, of a linear drive anchored in the floor and a linkage. The linear drive moves the linkage and this acts on the body 6 or the body structure 6, 7.
  • At least one actuating element may contain two or more drives. This case is shown by way of example in FIG. 11. There the base of the cylinder moves in the horizontal linear drive. The cylinder can also move the piston.
  • drives that generate curved paths are also conceivable. This is shown by way of example in FIG. 12.
  • motors that generate at least one rotary movement act on the body or body structure via a linkage.
  • Any actuation elements can be selected. They can transfer their movements directly (as shown by way of example in FIGS. 1 to 8) to the body or the body structure. But you can also indirectly on the body or Body structure, for example by using a rod. This was shown by way of example in FIGS. 12 to 13.
  • the drive does not matter at which point the drive is arranged. It can be located in the actuating element itself, in the body or body association or in the external environment.
  • Fastening structures are associated with the body 6 and 7, respectively, on which the actuating elements 1, 2, 3, 4 act at their head points.
  • the mounting structures can be cantilevers. In FIG. 14 it is shown that the fastening structures can protrude from the body 6 or 7 at any point and at any angle and length.
  • the fastening constructions assigned to the body 6 or 7 can have any shape.
  • the mounting structures are, for example, arched. This may enlarge the working space of the invention.
  • the base points of the actuating elements 1, 2, 3, 4 are permanently connected to the coordinate system XYZ at any location.
  • the arbitrariness of the location of the base points for the actuating elements 1, 2, 3, 4 is shown in FIG. 16.
  • the actuating elements 1, 2, 3, 4 can be constructed in any way. Each of the actuating elements 1, 2, 3, 4 is capable of transmitting tensile or compressive forces or both types of force (primary purpose).
  • the arrangement according to the invention is decisive:
  • the actuating elements 1, 2, 3, 4 are connected to a reference system, here for example the coordinate system XYZ.
  • Each of the actuating elements 1, 2, 3, 4 is connected to the rotatably mounted body 6 or body structure 6, 7 in such a way that the force exerted by it acts eccentrically to all three axes of rotation Rx, Ry and Rz of the body or body structure.
  • the force-transmitting actuating elements are to be aligned in such a way that with simultaneous action of all forces by varying the force doses, at least one state can be achieved by keeping the body 6 at rest. The latter condition deserves further explanation.
  • each of the actuating elements 1, 2, 3, 4 transmits the force Fi, F 2 , F 3 and F 4 assigned to it to the body.
  • Each of these forces generates an associated torque Mi, M 2 , M 3 , M 4 on the body.
  • the moment generated by a force can be represented as the sum of moments around the Rx, Ry and Rz axes.
  • the moment Mi M ⁇ x + M ⁇ y + M ⁇ z .
  • the direction of rotation of these individual moments is compared with the direction of rotation defined in the XYZ coordinate system (see FIG. 1 a). This gives the individual moments a sign.
  • the actuators can be constructed differently than shown in the drawings of this patent. However, the following conditions always apply to a functioning arrangement of the actuating elements according to the invention. It is characteristic of the invention that in both tables 1 and 2 there are two positive and two negative signs in each Signums column. It is also characteristic that the order of the signs in the columns is not repeated.
  • the idle state for the example in FIGS. 1 to 5 can be achieved in any position within the range of motion of the body 6.
  • the idle state when tensile forces are applied can only be achieved if the body 7 has largely been moved into the body 6 and has reached its end position.
  • the state of rest is reached when the body 7 is at most extended from the body 6.
  • the invention can be used to build novel robots.
  • several bodies can be assembled one behind the other with the devices according to the invention become.
  • a snake or trunk-like structure is created.
  • This "robot trunk” could, for example, be used for welding in tight spaces. If it is attached appropriately, it can also be used to transport and twist loads as desired.
  • a snake-like movement of the assembled robot structure on the ground or in liquids is also conceivable.
  • a small manipulator e.g. gripper, camera
  • a tiny ball joint arm is attached to a Bowden cable, for example. Both are introduced into the body.
  • the invention can be enclosed with an artificial casing (e.g. the Bowden cable casing) and / or with a natural casing (e.g. gastrointestinal tract).
  • the controller can e.g. at the other end of the Bowden cable by a mirror-image, but larger counterpart to the small ball joint arm.
  • the invention can be used as a "joystick".
  • the surgeon grasps the appropriately designed body 6 or 7 or the corresponding body structure. With this, his hand movements can be transmitted, for example, to the endoscopic manipulator through the Bowden cable.
  • This application of the invention as a measuring device for positions and movements or as a transmission device for movements is not limited to this application.
  • the invention can also be used in other areas as a novel “joystick”.
  • control stick In handling technology, for example, it would be very practical if a device according to the invention (control stick) which was designed to be sensitive would control an actively designed device according to the invention. This could be done by the hand of an operator moving the body 6 or the body structure 6, 7 and thereby changing the position and / or length of the actuating elements 1, 2, 3, 4 equipped with sensors. With the help of a computer, for example, a control loop can be implemented that forwards the new sensor data to the control loop as actual values. The control loop then moves the actuating elements 1, 2, 3, 4 of the actively executed device according to the invention. This in turn causes the associated body 6 to move or approximately the body structure 6, 7. This means that the movements of the actively executed device are synchronized with the movements of the control stick.
  • Another, also very interesting application is the use of the invention as an orthosis. Patients who have their arms or legs z. B. can not actively move due to an operation, there is a risk of rapid muscle decline. With the invention it is possible to let the thigh or the upper arm move in all positions and thus stimulate the muscles. This can be done programmatically. An extensive, but still to be researched application is the production of prostheses for amputated legs or arms.
  • nerve impulses are measured on a patient's skin.
  • the signals are e.g. computer-aided unchanged.
  • the new signals are directed to the actuating elements 1, 2, 3, 4 attached to the human or animal body. There they cause the actuators to react.
  • This reaction can now usefully amplify the patient's original movement impulse.
  • the patient can therefore move his limb or his prosthesis with the aid and strengthening of the actuating elements 1, 2, 3, 4.
  • an energy source e.g. serve a compressed air tank, which is attached to the patient portable.
  • Pneumatic muscles for example, could be controlled via a portable computer.
  • the additional, arbitrarily shaped device 8 in this case connects the base points of the actuating elements 1, 2, 3, 4 firmly to the XYZ coordinate system of the hip, shoulder or other joint 5.
  • the additional, arbitrarily shaped device 9 connects the head points of the actuating elements 1 . 2, 3, 4 fixed with the UVW coordinate system of the limbs 6 and / or the prosthesis 6.
  • the actuating elements 1, 2, 3, 4 touch and graze here with each other and the body 6.
  • the actuating elements, the body to be moved or the body structure can contain one or more components which act resiliently. They can also contain one or more components that dampen vibrations.
  • the invention can be used, for example, as a training device for at least one limb.
  • the actuating elements 1, 2, 3, 4 can be springs or contain springs. You will e.g. attached to the human or animal body by means of 8, 9. The springs can be preloaded. Then every limb movement causes a counterforce. Even complex leg movements, e.g. so-called PNF movements are trained.
  • a resilient element connected in series and a flexible artificial muscle in each of the actuating elements 1, 2, 3, 4 attached to the body.
  • the spring elements can also be preloaded here. The spring elements tension or relax by contracting the artificial muscles. As a result, forces act on the limb. Depending on the training goal, the limb can follow this force and be guided more or less passively.
  • limb should move against the pressure applied. This is a typical exercise from physiotherapy: the therapist puts constant pressure on the limbs, the patient should move against it. This process can be designed programmatically and can be taken over by the invention.
  • the invention can also be used to build new types of aircraft. Wings can then be attached to the ball joint arm. For the first time in the history of technology, it is now possible to implement wing movements, such as those that occur naturally in birds or insects. Other artificial limbs, such as artificial arms, artificial legs and artificial fins, can also be attached to the device according to the invention.
  • the measurement of the position of the body or body association can be carried out by measuring four reference lengths. These reference lengths are distances between points on the rotatably mounted body and points in the reference coordinate system XYZ. With these reference lengths, the twists and displacements (transformations) of the body or body association can be calculated according to the invention.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Dispositif permettant de déplacer un corps (6) ou un ensemble de corps (6, 7) à l'aide d'éléments d'actionnement (1, 2, 3, 4), lesdits éléments d'actionnement (1, 2, 3, 4) transmettant, par des mouvements, des forces au corps (6) ou à l'ensemble (6, 7) de corps. Ledit dispositif est ainsi conçu que quatre éléments d'actionnement (1, 2, 3, 4) sont appliqués directement ou indirectement sur le corps (6) ou sur l'ensemble (6, 7) de corps et que grâce à la coopération des différents éléments d'actionnement (1, 2, 3, 4), le corps (6) peut être tourné et / ou basculé dans l'espace ou l'ensemble (6, 7) de corps peut être tourné et / ou basculé dans l'espace, cet ensemble de corps étant en outre mobile par lui-même.
PCT/EP2003/006938 2002-07-02 2003-06-30 Dispositif permettant de deplacer un ou plusieurs corps WO2004010043A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003249908A AU2003249908A1 (en) 2002-07-02 2003-06-30 Device for moving a body or several bodies

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE10229722.3 2002-07-02
DE10229722 2002-07-02
DE10250660 2002-10-31
DE10250660.4 2002-10-31

Publications (1)

Publication Number Publication Date
WO2004010043A1 true WO2004010043A1 (fr) 2004-01-29

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PCT/EP2003/006938 WO2004010043A1 (fr) 2002-07-02 2003-06-30 Dispositif permettant de deplacer un ou plusieurs corps

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WO (1) WO2004010043A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2901596A1 (fr) * 2006-05-24 2007-11-30 Agence Spatiale Europeenne Mecanisme spherique parallele a deux degres de liberte
DE102019216106A1 (de) * 2019-10-18 2021-04-22 Physik Instrumente (Pi) Gmbh & Co. Kg Antriebssystem

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107477315B (zh) * 2017-07-04 2019-10-18 陈文娟 一种可调角度的显示屏

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USRE27051E (en) * 1967-11-28 1971-02-09 Motion simulator
GB1545121A (en) * 1977-05-11 1979-05-02 Redifon Flight Simulation Ltd Ground-based flight simulators
US4343610A (en) * 1980-01-30 1982-08-10 The Franklin Institute Motion systems providing three or four degrees of freedom
DE3716688A1 (de) * 1986-06-04 1987-12-10 Skoda Kp Vorrichtung zur ausfuehrung raeumlicher bewegungen
US6168634B1 (en) * 1999-03-25 2001-01-02 Geoffrey W. Schmitz Hydraulically energized magnetorheological replicant muscle tissue and a system and a method for using and controlling same

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USRE27051E (en) * 1967-11-28 1971-02-09 Motion simulator
GB1545121A (en) * 1977-05-11 1979-05-02 Redifon Flight Simulation Ltd Ground-based flight simulators
US4343610A (en) * 1980-01-30 1982-08-10 The Franklin Institute Motion systems providing three or four degrees of freedom
DE3716688A1 (de) * 1986-06-04 1987-12-10 Skoda Kp Vorrichtung zur ausfuehrung raeumlicher bewegungen
US6168634B1 (en) * 1999-03-25 2001-01-02 Geoffrey W. Schmitz Hydraulically energized magnetorheological replicant muscle tissue and a system and a method for using and controlling same

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2901596A1 (fr) * 2006-05-24 2007-11-30 Agence Spatiale Europeenne Mecanisme spherique parallele a deux degres de liberte
US8020465B2 (en) 2006-05-24 2011-09-20 Agence Spatiale Europeenne Parallel spherical mechanism with two degrees of freedom
DE102019216106A1 (de) * 2019-10-18 2021-04-22 Physik Instrumente (Pi) Gmbh & Co. Kg Antriebssystem
DE102019216106B4 (de) 2019-10-18 2022-01-27 Physik Instrumente (Pi) Gmbh & Co. Kg Antriebssystem

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