WO2004106011A1 - Sphere armillaire: mecanisme parallele spherique presentant trois degres de liberte - Google Patents

Sphere armillaire: mecanisme parallele spherique presentant trois degres de liberte Download PDF

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Publication number
WO2004106011A1
WO2004106011A1 PCT/EP2003/051097 EP0351097W WO2004106011A1 WO 2004106011 A1 WO2004106011 A1 WO 2004106011A1 EP 0351097 W EP0351097 W EP 0351097W WO 2004106011 A1 WO2004106011 A1 WO 2004106011A1
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WO
WIPO (PCT)
Prior art keywords
actuation system
spherical
link
axis
freedom
Prior art date
Application number
PCT/EP2003/051097
Other languages
English (en)
Inventor
Matteo Zoppi
Rezia Molfino
Original Assignee
Matteo Zoppi
Rezia Molfino
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 Matteo Zoppi, Rezia Molfino filed Critical Matteo Zoppi
Priority to AU2003299261A priority Critical patent/AU2003299261A1/en
Publication of WO2004106011A1 publication Critical patent/WO2004106011A1/fr

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Classifications

    • 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
    • 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
    • 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
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • 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
    • F16M11/123—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 the axis of rotation intersecting in a single point, e.g. by using gimbals
    • 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
    • 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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle

Definitions

  • the invention is directed to a 3-DoF (degree-of-freedom) support device driven by three rotary actuators fixed to a base.
  • the end- effector has two rotational and one translational properly decoupled freedoms. It is suitable to carry and orient a rigid body in space as well as to operate a vision system for stereoscopic vision, particularly in underwater environments and/or environments characterised by high fluid dynamic resistance.
  • This invention is also directed to a scanning methodology for stereoscopic vision; such scanning methodology is particularly suitable to the mechanics of said support device that is the object of the present invention.
  • this invention is directed to a 3-DoF (degree-of- freedom) spherical orienting device, which is a sub-part of said support device that is the object of the present invention.
  • the horizon of the viewpoint should be constant, as it is natural for a proper perception of the environment.
  • the viewpoint should be oriented so that the rotation component along the view axis is always zero. This can be obtained in two ⁇ ways: by a three rotational degree-of-freedom device, suitably controlled in order that the component of the resulting rotation of the viewpoint around the view axis is zero; by a two rotational degree-of-freedom device intrinsically lacking (due to its kinematics) of the rotational freedom about the view axis. In harsh environments, this second way is preferable, since it requires mechanisms with simpler architecture (two degree-of-freedom instead of three) and control is simpler.
  • a two rotational degree-of-freedom device it is preferable that such two rotational freedoms are decoupled with respect to the horizon of the viewpoint for every direction of the view axis.
  • the translational degree-of-freedom which is required (as said before) for stereoscopic vision with one viewpoint, is decoupled from at least one of the two rotational freedoms of the device, preferably the rotation about the direction parallel to the horizon and orthogonal to the view axis (decoupled rotational freedom); i.e.
  • the decoupled rotational freedom is the rotational freedom parallel to the horizon of the viewpoint and orthogonal to the view axis, in order to proceed by horizontal scanning of the field of vision.
  • Actuation System to orient and translate a rigid body in space, suitable for stereoscopic vision with one viewpoint and having all said characteristics for effective application in harsh environments.
  • Such Actuation System is three degree-of- freedom: two rotational freedoms about two axes intersecting in a spherical centre of rotation fixed to the base; one translational freedom along a straight line through such spherical centre of rotation. These three freedoms are suitably decoupled, i.e. one of the two rotational freedoms is commanded independently to the other rotational freedom and to the translational freedom.
  • rotation about the direction of the translational freedom is impossible in every configuration.
  • the parallel- hybrid architecture of the Actuation System object of the present invention, has a high transmission gain (from actuators to end -effector); moreover, the structural stress of the links due to payload and fluid dynamic resistance on the submersed moving surfaces is low.
  • the actuators are fixed to the base, so that they do not increase the inertia of the moved links and can be easily hosted and protected inside a fluid-proof box.
  • Such Actuation System comprises: a base; first, second and third rotary actuators (the first, second and third rotary actuators of the Actuation System), each actuator having a shaft disposed in order to rotate about an actuation axis of rotation, each actuator being fixed to the base with actuator axes intersecting at a spherical centre of rotation (the spherical centre of the Actuation System); two closed, 2- DoF (degree-of- freedom), spherical kinematic chains (the spherical chains of the Actuation System), both with the same architecture and closed through the base, each composed of five links, the fifth link being common to both said spherical chains of the Actuation System and being connected at one side to the shaft of said third rotary actuator of the Actuation System, the first link of one said spherical chain of the Actuation System being connected
  • the two said spherical chains of the Actuation System share their common fifth link; together with the base, they constitute the spherical section of the Actuation System , which is a 3-DoF (degree-of-freedom) mechanism commanded by said three rotary actuators of the Actuation System.
  • Output mobility of said spherical section of the Actuation System is the coupled orientation of both the third links of said spherical chains of the Actuation System, i.e. the coupled orientation of both said output axes of the spherical chains around said spherical centre of the Actuation System.
  • "Coupled orientation" means that it is not possible to command the orientation of said two axes of the spherical chains separately each other.
  • Armilleye uses as said translational section of the Actuation System a 1-DoF (degree of freedom), planar mechanism composed of two closed, interconnected chains lying in said horizon plane of the Actuation System that is the plane defined by the axis of said third rotary actuator of the Actuation System and by said orientation axis of the Actuation System, each such chain being composed of five links, two links (the fourth and fifth of each chain) being common to both chains, the first link being the third link of one said spherical chain of the spherical section of the Actuation System, the second link being connected to the first link and to the fifth link by revolute joints whose axes are parallel and orthogonal to said horizon plane of the Actuation System, the third link being connected to first and fourth links by revolute joints whose axis are parallel themselves and parallel to the axes of the revolute joints that connect the second link to first and fifth links, the fourth link being connected to the fifth by a cylindrical joint whose axis coincide with said orientation axi
  • the vision system is carried by the end-effector.
  • the view axis must coincide with the orientation axis of the Armilleye. So, the three actuators command the orientation of the vision system around said spherical centre of the Actuation System, without rotation component about said orientation axis of the Actuation System, and the horizon of the vision system coincide with the horizon of the Actuation System.
  • Armilleye can also be used to orient and support such vision systems.
  • the translational freedom along said orientation axis of the Armilleye is used to focus the camera.
  • said translational freedom of the Armilleye can be used as a zoom facility.
  • said end-effector of the Actuation System can also carry and orient a spindle for machining as well as a gripper or a wrist in order to operate on the environment, e.g. for assembly or manipulation, or any other equipment requiring input spin and/or torque as well as a the third rotary degree of freedom around said spherical centre of rotation of the Actuation System.
  • said end- effector carries a spindle
  • Spin and/or torque are provided by a motor fixed to said base of the Actuation System and connected to said spindle through a cardan joint and an extensible limb.
  • the centre of the cardan joint must coincide with said spherical centre of rotation of the Actuation System.
  • every other joint it is also possible to use every other joint, provided that it can transmit torque, that it allows angular mobility about a fixed point and that such point coincides with said spherical centre of rotation of the Actuation System.
  • Such scanning methodology consists of horizontal scanning along the horizon plane of the vision system, while the inclination of such horizon plane with respect to the horizon of the ground (horizon of the ground refers to a horizontal plane in the environment where the vision system operates) is changed by steps.
  • the environment to be scanned is larger than the field of vision of the vision system, so that it is not possible to shoot the entire environment at a time.
  • the proposed scanning methodology consists of fixing the inclination of said horizon plane of the Actuation System with respect to the horizon of the ground by operating said third rotary actuator of the Actuation System, which commands the decoupled rotational freedom of said orientation axis of the Actuation System.
  • the scanning proceeds in said horizon plane of the Actuation System by suitably operating said first and second rotary actuators of the Actuation System in order to: change the direction of said orientation axis of the Actuation System by angular steps; and, at each step, translate the vision system along said orientation axis of the Actuation System to shoot a sequence of images.
  • the inclination of said horizon plane of the Actuation System is changed of an angular step by operating said third rotary actuator of the Actuation System and a new horizontal scanning is performed.
  • the span of the angular steps is chosen in order that a new portion of environment is enclosed in the field of vision of the vision system, with as small superimposition as possible.
  • FIG.l is an isometric view of a realistic embodiment of the invention with a particular said translational section of the Actuation System (Armilleye) adapted to orient a cylindrical camera payload for stereoscopic vision with one view point; a planar, 1-DoF (degree-of-freedom), closed chain has been chosen as said translational section of the Actuation System in order to obtain high rigidity, while the external body of the camera frame is used as a part of said translational section of the Actuation System.
  • Armilleye said translational section of the Actuation System
  • 1-DoF degree-of-freedom
  • FIG.2 is an isometric view of a realistic embodiment of Armilleye adapted to orient a spindle.
  • the end-effector of the 1-DoF (degree-of-freedom) mechanism used as said translational section of the Actuation System, is a hollow socket hosting the spindle; a motor fixed to the base provides torque to the spindle through a cardan joint and an extensible limb.
  • a motor fixed to the base provides torque to the spindle through a cardan joint and an extensible limb.
  • one extremity of said common fifth link of said spherical chains of the Actuation System has a fork shape.
  • FIG.3 is an isometric representation of a realistic embodiment of said spherical section of the Actuation System adapted to orient two cameras like human eyes for stereoscopic vision with two view points (Armillhead).
  • FIG.4 is an isometric representation of a realistic embodiment of said spherical section of the Actuation System adapted to carry and orient two end-effector wrists for manipulation, cooperative handling, machining or such similar applications.
  • FIG.5 schematically represents the scanning methodology.
  • FIG.l shows one preferred embodiment of the Actuation System object of the present invention. Due to the architecture of the mechanism that has been chosen for said translational section of the Actuation System, this particular embodiment of the Actuation System object of the present invention is also a particular embodiment of said Armilleye, further object of the present invention.
  • the first, second and third rotary actuators of the Armilleye, respectively 36, 37, 38, are fixed to the base 0.
  • the first spherical chain of the Armilleye is composed of the links: 6 (first), 12 (second link), 16 (third link), 8 (fourth link), 4 (fifth link).
  • the second spherical chain of the Armilleye is composed of the links: 7 (first), 13 (second link), 17 (third link), 9 (fourth link), 4 (fifth link).
  • Said link 4 is common to both two said spherical chains of the Armilleye.
  • Said link 6 is connected to the shaft of said second rotary actuator 37 and can rotate with respect to said base 0 about the axis 2.
  • Said link 7 is connected to the shaft of said first rotary actuator 36 and can rotate with respect to said base 0 about the axis 1.
  • Said link 4 is connected to the shaft of said third rotary actuator 38 and can rotate with respect to the base about the axis 3.
  • Said links 8 and 9 are connected to said link 4 by coaxial revolute joints, whose axes coincide with the axis 5 (Armilleye also includes embodiments such that these two revolute joints, respectively between said links 8 to 4 and 9 to 4, are not coaxial).
  • Said link 6 is connected to said link 12 by a revolute joint, whose axis is 10, while said link 7 is connected to said link 13 by a revolute joint, whose axis is 11.
  • Said link 12 is connected to said link 16 and said link 16 is connected to said link 8 by two coaxial revolute joints, whose axes coincide with the axis 14, which is the output axis of the first spherical chain of the Armilleye (Armilleye also includes embodiments such that said links 12 and 16 or 8 and 16 are rigidly connected together).
  • Said link 13 is connected to said link 17 and said link 17 is connected to said link 9 by two coaxial revolute joints, whose axes coincide with the axis 15, which is the output axis of the second spherical chain of the Armilleye (Armilleye also includes embodiments such that said links 13 and 17 or 9 and 17 are rigidly connected together).
  • the two said spherical chains of the Armilleye constitute the spherical section of the Armilleye.
  • Said spherical section of the Armilleye is a 3-DoF (degree-of-freedom) mechanism, whose inputs are the angular orientation of said rotary actuators 36, 37, 38.
  • Said rotary actuators 36 and 37 command the angular orientation of said axes 14 and 15 about said axis 5, while said rotary actuator 38 commands the angular orientation of said axes 14 and 15 about said axis 3.
  • Said axes command the angular orientation of said axes 14 and 15 about said axis 5.
  • said translational section of the Actuation System consists of two closed, interconnected chains.
  • the first chain consists of the links 32, 22, 16, 24, 35, while the second chain consists of the links 32, 23, 17, 25, 35.
  • Said link 22 is connected at one side to said link 16 by a revolute joint of axis 18; at the other side it is connected to said link 32 by a revolute joint of axis 28.
  • Said link 24 is connected to said link 16 by a revolute joint of axis 20; it is connected at the other side to said link 35 by a revolute joint of axis 26.
  • Said link 23 is connected at one side to said link 17 by a revolute joint of axis 19; at the other side it is connected to said link 32 by a revolute joint of axis 29.
  • Said link 25 is connected to said link 17 by a revolute joint of axis 21; it is connected at the other side to said link 35 by a revolute joint of axis 27.
  • Said axes 18, 19, 20, 21, 26, 27, 28, 29, are parallel themselves and are orthogonal to said horizon plane of the Armilleye (which is defined by said axes 3, 14, 15).
  • Said links 32 and 35 are connected by a cylindrical revolute joint of axis 34, in order that said link 35 can translate along said axis 34 with respect to said body 32.
  • Said links 32 and 35 can also be connected by a prismatic joint of direction 34 without changing the behaviour of the mechanism.
  • Said axis 34 passes through said spherical centre of rotation 33.
  • Said axis 34 is the orientation axis of the Armilleye; due to the geometry of the present embodiment, said axis 34 is also the bisecting line of the planar angle formed by said axes 14, 15.
  • the translational section of the Armilleye is a 1-DoF (degree-of-freedom) mechanism.
  • Input coordinate of the translational section of the Armilleye is the span of the planar angle formed by said axes 14, 15, while output freedom is a translation along said axis 34.
  • the whole translational section of the Armilleye is suspended on said axes 14, 15, and so oriented as a whole by the spherical section of the Armilleye.
  • the geometry of the links of the Armilleye in the present embodiment is such that the workspace is somewhat less than a full sphere; however, many applications require a smaller workspace.
  • FIG.2 shows one preferred embodiment of Armilleye, according to FIG.l, adapted to carry and orient a spindle.
  • the spindle 65 is connected to said link 32 by a revolute joint, whose axis coincides with said orientation axis of the Actuation System 34 and with the axis of rotation of said spindle 65.
  • the shaft 63 is connected to said spindle 65 by a prismatic joint, whose sliding axis coincides with said orientation axis of the Actuation System 34, in order to transmit torque like an extensible limb.
  • Said shaft 63 is connected to a cardan joint 61, whose centre of rotation coincides with said spherical centre of rotation 33.
  • Said cardan joint 61 is connected at the opposite side to the rotary actuator 60, fixed to the base.
  • the geometry of the other links of the Armilleye in the present embodiment is the same as in FIG.l.
  • FIG.3 shows one preferred embodiment of said spherical section of the Actuation System utilised as a device to support and orient two cameras for stereoscopic vision with two view points (Armillhead).
  • the embodiment of said spherical section of the Actuation System is the same as described with reference to FIG.l.
  • the first, second and third rotary actuators of the Armillhead, respectively 36, 37, 38, are fixed to the base 0.
  • the first spherical chain of the Armillhead is composed of the links: 6 (first), 12 (second link), 16 (third link), 8 (fourth link), 4 (fifth link).
  • the second spherical chain of the Armillhead is composed of the links: 7 (first), 13 (second link), 17 (third link), 9 (fourth link), 4 (fifth link). Said link 4 is common to both two said spherical chains of the Armillhead.
  • Said link 6 is connected to the shaft of said second rotary actuator 37 and can rotate with respect to said base 0 about the axis 2.
  • Said link 7 is connected to the shaft of said first rotary actuator 36 and can rotate with respect to said base 0 about the axis 1.
  • Said link 4 is connected to the shaft of said third rotary actuator 38 and can rotate with respect to the base about the axis 3.
  • Said links 8 and 9 are connected to said link 4 by coaxial revolute joints, whose axes coincide with the axis 5 (Armillhead also includes embodiments such that these two revolute joints, respectively between said links 8 to 4 and 9 to 4, are not coaxial).
  • Said link 6 is connected to said link 12 by a revolute joint, whose axis is 10, while said link 7 is connected to said link 13 by a revolute joint, whose axis is 11.
  • Said link 12 is connected to said link 16 and said link 16 is connected to said link 8 by two coaxial revolute joints, whose axes coincide with the axis 14 (Armillhead also includes embodiments such that said links 12 and 16 or 8 and 16 are rigidly connected together).
  • Said link 13 is connected to said link 17 and said link 17 is connected to said link 9 by two coaxial revolute joints, whose axes coincide with the axis 15 (Armillhead also includes embodiments such that said links 13 and 17 or 9 and 17 are rigidly connected together).
  • Each said spherical chain of the Armillhead carries a camera or other vision system, which is rigidly connected to its said fourth link. So, the first camera 39 of axis 41 is fixed to said link 8, while said camera 40 of axis 42 is fixed to said link 9. Said camera 39 is oriented with respect to said link 8 in order that said axis 41 forms a constant angle different from zero with the plane defined by said axes 14 and 5. Analogously, said camera 40 is oriented with respect to said link 9 in order that said axis 42 forms with the plane defined by said axes 15 and 5 an angle equal and opposite to said angle formed by said axis 41 with the plane defined by said axes 14 and 5.
  • FIG.4 shows one preferred embodiment of said spherical section of the Actuation System utilised as a device to support and orient two end-effector wrists for manipulation, cooperative handling, machining or such similar applications.
  • the embodiment of said spherical section of the Actuation System is the same as described with reference to FIG.l, FIG.2 and FIG.3.
  • the spherical chains carry and orient two serial arms endowed with two grippers. As well as such arms, the spherical chains can carry any two or more, more or less complex systems.

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

Abstract

L'invention concerne un système d'actionnement hybride parallèle présentant 3-DoF (degrés de liberté) pour orienter et pour effectuer une translation d'un corps rigide dans l'espace. Un tel système d'actionnement est particulièrement approprié pour servir de support et pour orienter de manière appropriée un système de vision pour une vision stéréoscopique. Ce système est composé de : une base, sur laquelle sont fixés les actionneurs ; une liaison d'effecteur terminal, pouvant être orientée et pouvant subir une translation de sorte qu'elle puisse servir de support et orienter de manière appropriée une charge utile quelconque ; deux chaînes cinématiques fermées présentant 2-DoF (degrés de liberté), constituant la partie sphérique du système d'actionnement et permettant deux libertés d'orienter de la liaison d'effecteur terminal ; une chaîne cinématique présentant 1-DoF (degré de liberté) reliée correctement à ladite partie sphérique du système d'actionnement, de sorte à obtenir la liberté de translation de la liaison d'effecteur terminal.
PCT/EP2003/051097 2003-05-30 2003-12-23 Sphere armillaire: mecanisme parallele spherique presentant trois degres de liberte WO2004106011A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003299261A AU2003299261A1 (en) 2003-05-30 2003-12-23 Armilleye: a three degree- of-freedom spherical parallel mechanism

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT000040A ITGE20030040A1 (it) 2003-05-30 2003-05-30 Meccanismo armillare per il supporto alla visione stereoscopica in ambienti sottomarini e ad alta resistenza idrodinamica
ITGE2003A000040 2003-05-30

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WO2004106011A1 true WO2004106011A1 (fr) 2004-12-09

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