WO2013084788A1 - パラレルリンクロボット - Google Patents
パラレルリンクロボット Download PDFInfo
- Publication number
- WO2013084788A1 WO2013084788A1 PCT/JP2012/080927 JP2012080927W WO2013084788A1 WO 2013084788 A1 WO2013084788 A1 WO 2013084788A1 JP 2012080927 W JP2012080927 W JP 2012080927W WO 2013084788 A1 WO2013084788 A1 WO 2013084788A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- link
- base
- parallel
- drive
- movable part
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for 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
Definitions
- the present invention relates to a parallel link robot in which a plurality of link portions are arranged between a base and a movable portion, and the plurality of link portions are driven by a plurality of actuators to move the movable portion.
- a parallel link robot has a plurality of link parts arranged between a base and a movable part.
- a plurality of link parts are driven by a plurality of actuators to change the position or position and posture of the movable part.
- the types of parallel link robots include a telescopic parallel link robot, a rotary parallel link robot, and a direct acting parallel link robot.
- the telescopic parallel link robot has been proposed since the oldest, and is used in aircraft simulators and amusement facilities.
- the telescopic parallel link robot has six telescopic links arranged between a base and a movable part.
- the movable part is translated in the three axial directions of the X, Y, and Z axes, and the posture of the movable part is rotated around the three axes of the X, Y, and Z axes ( Patent Document 1).
- Rotational parallel link robots use a rotary actuator as a drive source.
- a base is formed in a triangle, and three motors are attached to each side of the base triangle so that the output shaft of the motor is parallel to each side.
- An elongated arm that rotates around the output shaft is integrally coupled to the output shaft, and the tip of each arm and the movable portion are connected by a link (see Patent Document 2).
- the movable portion is translated in the three axial directions of the X, Y, and Z axes with respect to the base.
- Direct-acting parallel link robots use direct-acting actuators as drive sources.
- a direct acting actuator six guides are fixed radially to a base at a predetermined angle, and a slide table driven by a ball screw is attached to each guide so as to be linearly movable. And a movable part connected with a rod are known (see Patent Document 3).
- the slide table of the six guides By moving the slide table of the six guides linearly, the movable part is translated relative to the base in the three axial directions of the X, Y, and Z axes, and the posture of the movable part is the three axes of the X, Y, and Z axes Can be changed around.
- the telescopic parallel link robot, the rotary parallel link robot, and the direct-acting parallel link robot have the following advantages and disadvantages.
- the telescopic parallel link robot has the advantages that all the telescopic links between the base and the movable part are parallel, so that high output is possible and the rigidity of the parallel link robot is high.
- the movable range of the movable part is small.
- Rotational parallel link robots have the advantage that the movable range of the movable part can be widened because the arm and link coupled to the output shaft of the motor move the movable part.
- the force that the motor can withstand when an external force acts on the movable part is small, and the rigidity of the parallel link robot is low.
- Increasing the size of the motor in order to increase the rigidity of the parallel link robot will increase the size of the parallel link robot.
- the direct acting actuator has the advantage that the movable part can be positioned with high accuracy.
- the linear actuator requires a large rigidity, which leads to an increase in the size of the linear actuator and consequently a parallel link robot.
- a linear guide is required to ensure rigidity.
- the present invention solves the above-mentioned disadvantages of the conventional parallel link robot, and an object thereof is to provide a parallel link robot that can increase rigidity and can be miniaturized.
- an embodiment of the present invention includes a base, a movable portion, a plurality of link portions that connect the base and the movable portion, and a plurality of actuators that drive the plurality of link portions.
- Each of the plurality of actuators is supported by the base so as to be rotatable about a predetermined axis, and has a main body and a shaft that linearly moves with respect to the main body.
- Each of the plurality of links is supported by the base so as to be rotatable around a predetermined axis, and is connected to the linear actuator, the drive link, and the movable portion.
- a passive link for connecting the drive link to the base by extending and contracting the linear actuator. Is a parallel robot to rotate about said predetermined axis of the link.
- the linear motion actuator and the drive link are rotatably supported by the base on a predetermined axis, and the drive link is rotated around the predetermined axis by extending and contracting the linear motion actuator. .
- the external force that acts on the movable portion is converted into a force in the direction of the center line of the linear actuator, and acts on the linear actuator. Since the linear actuator can withstand a large external force acting on the movable part, the rigidity of the parallel link robot is improved.
- the drive link is supported by the base so as to be rotatable around a predetermined axis, a part of the external force applied to the movable portion can be received by the base. Since a part of the external force applied to the movable part is received by the base, the external force acting on the linear actuator is reduced, and the linear actuator can be downsized and, as a result, the parallel link robot as a whole can be downsized.
- FIG. 1 is a perspective view of the parallel link robot of the embodiment
- FIG. 2 is a plan view
- FIG. 3 is a side view.
- the parallel link robot of the present embodiment drives a base 1, a movable part 2, three link parts 5 that connect the base 1 and the movable part 2, and three link parts 5.
- Three linear actuators 6 are provided.
- the movable part 2 has three degrees of freedom.
- the base 1 is accommodated in a housing (not shown) of the parallel link robot.
- the movable portion 2 performs a translational movement parallel to the base 1 in the X, Y, and Z directions.
- Translational movement refers to the movement of the movable part 2 such that all virtual lines fixed to the movable part 2 are kept parallel to the original direction.
- the movable part 2 can have six degrees of freedom.
- An end effector (not shown) that performs a predetermined operation is attached to the lower surface of the movable portion 2.
- the end effector as a gripping part, a tool or the like, for example, various operations such as mounting electronic parts on a substrate, assembling machine parts, processing machine parts, transporting products and boxing can be performed.
- the base 1 is formed in a flat hexagonal plate shape, for example.
- three linear motion actuators 6 are arranged radially and at an equal interval of 120 degrees in the circumferential direction.
- the center lines of the three linear actuators 6 intersect at the center of the base 1 at a center angle of 120 degrees (see FIG. 2).
- Each of the linear actuators 6 is supported on the base 1 so as to be rotatable around the axes of the rotary shafts 9a and 9b as predetermined axes.
- a pair of parallel receiving plates 11 a and 11 b are coupled to the base 1 in correspondence with the linear motion actuators 6.
- Rotating shafts 9a and 9b of the linear actuator 6 are rotatably supported by the pair of receiving plates 11a and 11b via bearings.
- Three axes A1 of the three linear actuators 6 exist in the same plane parallel to the upper surface of the base 1.
- the axis A1 of the rotation axes 9a and 9b of the linear actuator 6 is orthogonal to the center line C1 of the linear actuator 6 (see FIG. 2).
- the drive link 3 of the link portion 5 is rotatably supported at the tip of the link support beam 1a.
- a rotating shaft 13 is coupled to the tip of the link support beam 1a. The rotating shaft 13 protrudes horizontally from the front end of the link support beam 1a.
- the drive link 3 rotates around the axis A2 of the rotating shaft 13 as a predetermined axis.
- the axis A2 of the rotary shaft 13 is orthogonal to the center line C1 of the linear actuator 6 (see FIG. 2).
- each linear actuator 6 includes a substantially rectangular parallelepiped main body portion 8 and a shaft portion 7 that linearly moves in the center line direction with respect to the main body portion 8.
- the rotating shafts 9 a and 9 b are coupled to the side surface of the main body 8.
- a ball screw nut that is screwed into a thread groove formed on the outer peripheral surface of the shaft portion 7 and a motor that rotationally drives the ball screw nut about the center line of the shaft portion 7 are provided inside the main body portion 8, for example.
- a stepping motor is a motor having a function of rotating by a certain angle in proportion to a given number of pulses. When the stepping motor rotates the ball screw nut, the shaft portion 7 linearly moves in the center line direction.
- the stepping motor is connected to a driver that controls the linear momentum of the shaft portion 7.
- a holder 7 a that holds the connecting shaft 15 of the linear motion actuator 6 connected to the drive link 3 is attached to the tip of the shaft portion 7. Since the structures of the three linear actuators 6 are the same, the same reference numerals are given and description thereof is omitted.
- three link portions 5 are arranged radially and at equal intervals of 120 degrees in the circumferential direction.
- Center lines C2 of the drive links 3 of the three link portions 5 are arranged on the same straight line as the center lines C1 of the three linear motion actuators 6 (see FIG. 2).
- each link portion 5 includes a drive link 3 connected to the linear actuator 6 and a passive link 4 connecting the drive link 3 and the movable portion 2.
- the link length of the drive link 3 is shorter than the link length of the passive link 4.
- the drive link 3 includes a pair of separation links 3a and 3b that are separated from each other.
- the passive link 4 includes a pair of parallel links 4a and 4b having the same link length. Each parallel link 4a, 4b is connected to each separation link 3a, 3b.
- One of the pair of separation links 3a is rotatably supported by one of the rotation shafts 9a protruding left and right from the link support beam 1a so that the link support beam 1a of the base 1 is sandwiched between the pair of separation links 3a and 3b.
- the other 3b of the pair of separation links is rotatably supported by the other 9b of the rotating shaft that protrudes left and right from the link support beam 1a.
- the separation links 3a and 3b are formed in an L shape, and the short side piece 3a1 and 3b1 and the long side perpendicular to the piece 3a1 and 3b1
- One piece 3a2, 3b2 is provided (refer FIG. 3).
- the shaft portion 7 of the linear motion actuator 6 is rotatably connected to the short side pieces 3a1 and 3b1 of the separation links 3a and 3b.
- Parallel links 4a and 4b are rotatably connected to the long side pieces 3a2 and 3b2 of the separation links 3a and 3b.
- a rotating shaft 13 is inserted into the separation links 3a and 3b via bearings.
- the separation links 3 a and 3 b can rotate only about the axis A ⁇ b> 2 of the rotation shaft 13, and swing within a virtual plane perpendicular to the base 1.
- the connecting shaft 15 of the linear actuator 6 is inserted into the separation links 3a and 3b through bearings.
- the pair of separation links 3 a and 3 b can swing synchronously within a vertical virtual plane with respect to the base 1.
- Parallel links 4a and 4b are rotatably connected to the separation links 3a and 3b through spherical bearings 21a and 21b as ball joints.
- the spherical bearing has three degrees of freedom, and the parallel links 4a and 4b can rotate around the X, Y and Z axes with respect to the separation links 3a and 3b.
- a cardan joint may be used instead of the spherical bearing.
- the movable part 2 is connected to the lower ends of the parallel links 4a and 4b via spherical bearings 22a and 22b as joints.
- the spherical bearings 22a and 22b have three degrees of freedom, and the parallel links 4a and 4b can rotate around the X, Y, and Z axes with respect to the movable portion 2.
- a cardan type joint may be used instead of the spherical bearings 22a and 22b.
- the pair of parallel links 4 a and 4 b are connected to one side of the triangular movable part 2.
- the length of the pair of parallel links 4a and 4b is equal to each other, and a parallelogram is formed by the pair of parallel links 4a and 4b, the spherical bearings 21a and 21b, and the spherical bearings 22a and 22b. Since the parallelogram is maintained even when the movable part 2 moves, the movable part 2 translates in the X, Y and Z axis directions with respect to the base 1.
- FIG. 4 shows a state where the movable part of FIG. 3 is moved in the horizontal direction.
- the drivers that control the stepping motors of the three linear actuators 6 are classified into one master driver and two slave drivers.
- the host controller sends a command only to the master driver.
- the master driver receives the command transmitted from the host controller and transmits it to the slave driver.
- the slave driver receives the command transmitted from the master driver.
- the master driver and the slave driver execute commands and realize synchronous control among the three stepping motors. Note that commands may be transmitted from the host controller to the three drivers without performing master-slave control.
- the movable unit 2 is provided with a posture control mechanism that changes the posture of the end effector as necessary.
- the posture control mechanism includes, for example, a rotation unit that rotates the end effector around at least one of the X, Y, and Z axes, and changes the posture of the end effector including, for example, a gripping unit. It is desirable to mount the driver for controlling the rotating unit and the gripping unit on the movable unit 2. If the command from the host controller is communicated to the driver via wireless communication, wiring to the driver on the movable unit 2 becomes unnecessary.
- the parallel link robot of the present embodiment has the following effects.
- the linear motion actuator 6 and the drive link 3 are supported by the base 1 so as to be rotatable around the rotation shafts 9 a, 9 b, and 13. Rotates around the rotation shaft 13. For this reason, the external force acting on the movable portion 2 is converted into a force in the direction of the center line of the linear motion actuator 6 and acts on the linear motion actuator 6. Since the ball screw with a high reduction ratio is incorporated in the linear motion actuator 6, the linear motion actuator 6 can withstand a large external force acting on the movable portion 2. Therefore, the rigidity of the parallel link robot is improved.
- the drive link 3 is supported by the base 1 so as to be rotatable around the rotation shaft 13 so as to be rotatable around the rotation shaft 13, a part of the external force applied to the movable portion 2 can be received by the base 1. Since the base 1 receives a part of the external force applied to the movable portion 2, the external force acting on the linear actuator 6 is reduced, and the linear actuator 6 can be downsized and the entire parallel link robot can be downsized.
- the center lines C1 of the three linear actuators 6 are radially arranged on the base 1 at equal intervals in the circumferential direction, and the three center lines C2 of the three drive links 3 are three. Since the linear actuators 6 are arranged on the same straight line as the center line C ⁇ b> 1 of each of the linear actuators 6, it is possible to prevent excessive force from acting on the linear actuators 6.
- the length from the rotary shaft 13 of the drive link 3 to the connecting shaft 15 of the linear motion actuator 6 is shorter than the length from the rotary shaft 13 to the spherical bearings 21a and 21b of the passive link 4. Even if the stroke of the moving actuator 6 is small, the moving amount of the passive link 4, that is, the movable range of the movable portion 2 can be widened.
- the drive link 3 is composed of a pair of separation links 3a and 3b that rotate around the rotary shaft 13 in synchronism with each other, so that the drive link 3 is paired in parallel via spherical bearings 21a and 21b. It becomes easy to connect the links 4a and 4b.
- the base is provided with three linear actuators and three link parts and the movable part is translated in three axes.
- the base is provided with six linear actuators and three link parts and is movable.
- the part may be translated in three axes and the movable part may be rotated around the three axes.
- the drive link is constituted by a pair of separated links separated from each other, but the pair of separated links may be coupled by a connecting rod or the like.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
Description
Claims (4)
- ベースと、可動部と、前記ベースと前記可動部とを連結する複数のリンク部と、前記複数のリンク部を駆動する複数のアクチュエータと、を備えるパラレルリンクロボットにおいて、
前記複数のアクチュエータのそれぞれは、前記ベースに所定の軸線の回りを回転可能に支持されると共に、本体部及び前記本体部に対して直線運動する軸部を有する直動アクチュエータであり、
前記複数のリンク部のそれぞれは、前記ベースに所定の軸線の回りを回転可能に支持されると共に、前記直動アクチュエータに連結される駆動リンクと、前記駆動リンクと前記可動部とを連結する受動リンクと、を備え、
前記直動アクチュエータが伸縮することによって、前記駆動リンクが前記ベースに対して前記駆動リンクの前記所定の軸線の回りを回転するパラレルリンクロボット。 - 前記駆動リンクの前記所定の軸線から前記直動アクチュエータと前記駆動リンクとの連結位置までの長さが、前記駆動リンクの前記所定の軸線から前記駆動リンクと前記受動リンクとの連結位置までの長さよりも短いことを特徴とする請求項1に記載のパラレルリンクロボット。
- 前記複数の直動アクチュエータの中心線が、前記ベースに放射状にかつ周方向に均等間隔を空けて配置され、
前記複数の駆動リンクそれぞれの中心線が、前記複数の直動アクチュエータそれぞれの中心線と同一の直線上に配置されることを特徴とする請求項1又は2に記載のパラレルリンクロボット。 - 前記ベースに3つの直動アクチュエータ及び3つのリンク部が配列され、
前記3つのリンク部それぞれの駆動リンクは、前記ベースに対して前記駆動リンクの前記所定の軸線の回りを同期して回転するように、前記直動アクチュエータに回転軸を介して回転可能に連結される一対の分離リンクを備え、
前記3つのリンク部それぞれの前記受動リンクは、リンク長さが等しい一対の平行リンクを備え、
各平行リンクの一端が各分離リンクにジョイントを介して連結され、各平行リンクの他端が前記可動部にジョイントを介して連結されることを特徴とする請求項3に記載にパラレルリンクロボット。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP12856546.2A EP2789432B1 (en) | 2011-12-07 | 2012-11-29 | Parallel link robot |
KR1020147018364A KR102010612B1 (ko) | 2011-12-07 | 2012-11-29 | 패럴렐 링크 로봇 |
CN201280059881.3A CN103987497B (zh) | 2011-12-07 | 2012-11-29 | 平行连杆机器人 |
US14/362,512 US9694501B2 (en) | 2011-12-07 | 2012-11-29 | Parallel link robot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011-267888 | 2011-12-07 | ||
JP2011267888A JP5475747B2 (ja) | 2011-12-07 | 2011-12-07 | パラレルリンクロボット |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2013084788A1 true WO2013084788A1 (ja) | 2013-06-13 |
Family
ID=48574158
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2012/080927 WO2013084788A1 (ja) | 2011-12-07 | 2012-11-29 | パラレルリンクロボット |
Country Status (7)
Country | Link |
---|---|
US (1) | US9694501B2 (ja) |
EP (1) | EP2789432B1 (ja) |
JP (1) | JP5475747B2 (ja) |
KR (1) | KR102010612B1 (ja) |
CN (1) | CN103987497B (ja) |
TW (1) | TWI546476B (ja) |
WO (1) | WO2013084788A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104526687A (zh) * | 2015-01-20 | 2015-04-22 | 江南大学 | 一种三移一转四自由度解耦并联机构 |
CN104626119A (zh) * | 2015-01-20 | 2015-05-20 | 江南大学 | 一种2t&(2r)四自由度解耦混联机构 |
US11221642B2 (en) * | 2017-05-19 | 2022-01-11 | Kawasaki Jukogyo Kabushiki Kaisha | Manipulating device |
US11548142B2 (en) | 2015-11-25 | 2023-01-10 | Mitsubishi Electric Corporation | Parallel link device |
Families Citing this family (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101164378B1 (ko) * | 2011-06-07 | 2012-07-09 | 양국진 | 병렬형 머니퓰레이터 |
US9764464B2 (en) * | 2011-08-03 | 2017-09-19 | The Boeing Company | Robot including telescopic assemblies for positioning an end effector |
US20140150593A1 (en) * | 2012-12-05 | 2014-06-05 | Alio Industries, Inc. | Precision tripod motion system |
NL2010312C2 (en) * | 2013-02-15 | 2014-08-18 | Oldin Beheer B V | Load handling robot with three single degree of freedom actuators. |
JP5723426B2 (ja) | 2013-09-02 | 2015-05-27 | 株式会社カイジョー | 駆動機構及び製造装置 |
DE102014104132A1 (de) * | 2014-03-25 | 2015-10-01 | Technische Universität Dresden | Parallelroboter und Steuerungsverfahren |
JP6105024B2 (ja) * | 2014-10-28 | 2017-03-29 | Thk株式会社 | ロボットにおける回転駆動機構 |
CN104690714A (zh) * | 2015-01-20 | 2015-06-10 | 江南大学 | 一种(2t)&1t1r四自由度解耦混联机构 |
CN104526686A (zh) * | 2015-01-20 | 2015-04-22 | 江南大学 | 一种1t&(1t1r)&1r四自由度解耦混联机构 |
WO2017015235A1 (en) * | 2015-07-17 | 2017-01-26 | The Johns Hopkins University | Delta mechanism with enhanced torsional stiffness |
CN105269562A (zh) * | 2015-11-16 | 2016-01-27 | 齐鲁工业大学 | 一种直线型并联机器人结构 |
TWI591276B (zh) | 2015-12-15 | 2017-07-11 | 國立臺北科技大學 | 位移機構 |
US20180038461A1 (en) * | 2016-08-05 | 2018-02-08 | Ecole Polytechnique Federale De Lausanne (Epfl) | Planar Pop-Up Actuator Device with Embedded Electro-Magnetic Actuation |
GB2568459B (en) | 2017-10-13 | 2020-03-18 | Renishaw Plc | Coordinate positioning machine |
US10941843B2 (en) * | 2018-01-22 | 2021-03-09 | International Institute Of Information Technology, Hyderabad | Telescopic differential screw mechanism based 3-DOF-parallel manipulator platform to achieve omnidirectional bending |
JP6688470B2 (ja) * | 2018-03-12 | 2020-04-28 | 株式会社安川電機 | パラレルリンクロボット及びパラレルリンクロボットシステム |
US20200009746A1 (en) * | 2018-07-03 | 2020-01-09 | Swift Engineering, Inc. | Robotic forearms |
US11059166B2 (en) | 2018-11-14 | 2021-07-13 | Battelle Energy Alliance, Llc | Linear delta systems with additional degrees of freedom and related methods |
US10821599B2 (en) * | 2018-11-14 | 2020-11-03 | Battelle Energy Alliance, Llc | Dual linear delta assemblies, linear delta systems, and related methods |
US10906172B2 (en) | 2018-11-14 | 2021-02-02 | Battelle Energy Alliance, Llc | Linear delta systems, hexapod systems, and related methods |
KR102164384B1 (ko) | 2018-11-22 | 2020-10-14 | 재단법인대구경북과학기술원 | 평형식 매니퓰레이터의 링크부 |
KR102170080B1 (ko) | 2018-11-23 | 2020-10-27 | 재단법인대구경북과학기술원 | 초정밀 소형 병렬 로봇 매니퓰레이터 |
JP7332337B2 (ja) * | 2019-05-27 | 2023-08-23 | ファナック株式会社 | パラレルリンクロボット |
US11752645B2 (en) * | 2020-02-13 | 2023-09-12 | Boston Dynamics, Inc. | Non-planar linear actuator |
Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63501860A (ja) | 1985-12-16 | 1988-07-28 | ソジエバ ソシエテ アノニム | 空間で要素を運動させて位置決めするための装置 |
JPH02160495A (ja) * | 1988-12-08 | 1990-06-20 | Fuji Electric Co Ltd | 柔軟物体用のハンド |
JPH0365686U (ja) * | 1989-10-30 | 1991-06-26 | ||
JPH0811080A (ja) * | 1994-06-29 | 1996-01-16 | Kawasaki Heavy Ind Ltd | 空間3自由度の駆動装置 |
JPH091491A (ja) * | 1995-06-20 | 1997-01-07 | Sumitomo Heavy Ind Ltd | ロボットハンド機構 |
JPH09136286A (ja) * | 1995-11-11 | 1997-05-27 | Hitachi Seiki Co Ltd | 三本の脚を有する位置決め装置及び工作機械 |
JPH1158286A (ja) * | 1997-08-25 | 1999-03-02 | Murata Mach Ltd | 物品処理装置 |
JPH11104987A (ja) | 1997-09-30 | 1999-04-20 | Toyoda Mach Works Ltd | パラレルリンク機構 |
JP2000110905A (ja) * | 1998-10-01 | 2000-04-18 | Fanuc Ltd | パラレルリンク機構の継手構造 |
JP2000130534A (ja) | 1998-10-27 | 2000-05-12 | Fanuc Ltd | パラレルリンク機構における継手機構 |
WO2007034561A1 (ja) * | 2005-09-26 | 2007-03-29 | Toshiaki Shimada | 産業用ロボット |
WO2011114723A1 (ja) * | 2010-03-17 | 2011-09-22 | パナソニック株式会社 | パラレルリンクロボット、および、パラレルリンクロボットの教示方法 |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2462607A2 (fr) * | 1978-09-20 | 1981-02-13 | Ass Ouvriers Instr Precision | Articulation pour bras de manipulateur |
US4712441A (en) * | 1985-05-13 | 1987-12-15 | Brunswick Valve & Control, Inc. | Position controlled linear actuator |
US5378282A (en) * | 1993-06-28 | 1995-01-03 | Pollard; Willard L. | Robotic tool manipulating apparatus |
JPH0788917A (ja) * | 1993-09-21 | 1995-04-04 | Fanuc Ltd | 射出成形機の型締めユニット |
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 |
US6418811B1 (en) | 2000-05-26 | 2002-07-16 | Ross-Hime Designs, Inc. | Robotic manipulator |
JP2003170381A (ja) * | 2001-11-30 | 2003-06-17 | Seiko Epson Corp | 操作装置 |
JP2003311668A (ja) * | 2002-04-19 | 2003-11-05 | Murata Mach Ltd | パラレルリンクマニピュレータ |
FR2873317B1 (fr) * | 2004-07-22 | 2008-09-26 | Inst Nat Sciences Appliq | Robot parallele comprenant des moyens de mise en mouvement decomposees en deux sous-ensemble |
JP4659098B2 (ja) * | 2009-02-13 | 2011-03-30 | ファナック株式会社 | 3自由度を有する姿勢変更機構を備えたパラレルリンクロボット |
CN102029615B (zh) * | 2009-09-29 | 2013-06-05 | 鸿富锦精密工业(深圳)有限公司 | 并联机构及其平移支链 |
CN102049786A (zh) * | 2009-11-05 | 2011-05-11 | 鸿富锦精密工业(深圳)有限公司 | 转动机构及使用该转动机构的机器人 |
CN102059697B (zh) * | 2009-11-18 | 2013-12-11 | 鸿富锦精密工业(深圳)有限公司 | 平移支链及使用该平移支链的并联机器人 |
CN102069499B (zh) * | 2009-11-19 | 2013-08-28 | 鸿富锦精密工业(深圳)有限公司 | 并联机器人 |
CN102069495B (zh) * | 2009-11-23 | 2014-01-22 | 鸿富锦精密工业(深圳)有限公司 | 并联机器人 |
CN102109029B (zh) * | 2009-12-28 | 2014-03-26 | 鸿富锦精密工业(深圳)有限公司 | 减速机构 |
DE102010009447A1 (de) * | 2010-02-24 | 2011-08-25 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 80686 | Gelenk |
JP2011230241A (ja) * | 2010-04-28 | 2011-11-17 | Panasonic Corp | パラレルリンクロボット |
CN102259338B (zh) * | 2010-05-28 | 2014-03-26 | 鸿富锦精密工业(深圳)有限公司 | 机器人 |
CN102441889A (zh) * | 2010-09-30 | 2012-05-09 | 鸿富锦精密工业(深圳)有限公司 | 并联机器人 |
-
2011
- 2011-12-07 JP JP2011267888A patent/JP5475747B2/ja active Active
-
2012
- 2012-11-29 KR KR1020147018364A patent/KR102010612B1/ko active IP Right Grant
- 2012-11-29 WO PCT/JP2012/080927 patent/WO2013084788A1/ja active Application Filing
- 2012-11-29 US US14/362,512 patent/US9694501B2/en active Active
- 2012-11-29 EP EP12856546.2A patent/EP2789432B1/en active Active
- 2012-11-29 CN CN201280059881.3A patent/CN103987497B/zh active Active
- 2012-12-06 TW TW101145811A patent/TWI546476B/zh active
Patent Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63501860A (ja) | 1985-12-16 | 1988-07-28 | ソジエバ ソシエテ アノニム | 空間で要素を運動させて位置決めするための装置 |
JPH02160495A (ja) * | 1988-12-08 | 1990-06-20 | Fuji Electric Co Ltd | 柔軟物体用のハンド |
JPH0365686U (ja) * | 1989-10-30 | 1991-06-26 | ||
JPH0811080A (ja) * | 1994-06-29 | 1996-01-16 | Kawasaki Heavy Ind Ltd | 空間3自由度の駆動装置 |
JPH091491A (ja) * | 1995-06-20 | 1997-01-07 | Sumitomo Heavy Ind Ltd | ロボットハンド機構 |
JPH09136286A (ja) * | 1995-11-11 | 1997-05-27 | Hitachi Seiki Co Ltd | 三本の脚を有する位置決め装置及び工作機械 |
JPH1158286A (ja) * | 1997-08-25 | 1999-03-02 | Murata Mach Ltd | 物品処理装置 |
JPH11104987A (ja) | 1997-09-30 | 1999-04-20 | Toyoda Mach Works Ltd | パラレルリンク機構 |
JP2000110905A (ja) * | 1998-10-01 | 2000-04-18 | Fanuc Ltd | パラレルリンク機構の継手構造 |
JP2000130534A (ja) | 1998-10-27 | 2000-05-12 | Fanuc Ltd | パラレルリンク機構における継手機構 |
WO2007034561A1 (ja) * | 2005-09-26 | 2007-03-29 | Toshiaki Shimada | 産業用ロボット |
WO2011114723A1 (ja) * | 2010-03-17 | 2011-09-22 | パナソニック株式会社 | パラレルリンクロボット、および、パラレルリンクロボットの教示方法 |
Non-Patent Citations (1)
Title |
---|
See also references of EP2789432A4 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104526687A (zh) * | 2015-01-20 | 2015-04-22 | 江南大学 | 一种三移一转四自由度解耦并联机构 |
CN104626119A (zh) * | 2015-01-20 | 2015-05-20 | 江南大学 | 一种2t&(2r)四自由度解耦混联机构 |
US11548142B2 (en) | 2015-11-25 | 2023-01-10 | Mitsubishi Electric Corporation | Parallel link device |
US11221642B2 (en) * | 2017-05-19 | 2022-01-11 | Kawasaki Jukogyo Kabushiki Kaisha | Manipulating device |
Also Published As
Publication number | Publication date |
---|---|
KR20140099537A (ko) | 2014-08-12 |
TW201335516A (zh) | 2013-09-01 |
CN103987497A (zh) | 2014-08-13 |
EP2789432A1 (en) | 2014-10-15 |
JP2013119135A (ja) | 2013-06-17 |
TWI546476B (zh) | 2016-08-21 |
KR102010612B1 (ko) | 2019-08-13 |
EP2789432B1 (en) | 2020-07-29 |
EP2789432A4 (en) | 2015-10-21 |
US20140331806A1 (en) | 2014-11-13 |
CN103987497B (zh) | 2017-06-23 |
US9694501B2 (en) | 2017-07-04 |
JP5475747B2 (ja) | 2014-04-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5475747B2 (ja) | パラレルリンクロボット | |
US7793564B2 (en) | Parallel mechanism having two rotational and one translational degrees of freedom | |
KR101485999B1 (ko) | 병렬형 5자유도 마이크로 로봇 | |
JP2018001385A5 (ja) | ||
JP4289506B2 (ja) | 四自由度パラレルロボット | |
JP2010184328A (ja) | 3自由度を有する姿勢変更機構を備えたパラレルリンクロボット | |
CN104622573A (zh) | 一种具有高刚性的四自由度远程运动中心机构 | |
CA2633395A1 (en) | Parallel manipulator | |
KR20110114199A (ko) | 무한회전 다축 구동 모션 시스템 | |
CN103203741A (zh) | 一种三自由度并联机器人机构 | |
JP2010247280A (ja) | 多自由度ロボット装置 | |
JP2009297793A (ja) | パラレルメカニズム | |
KR20160007785A (ko) | 병렬형 마이크로 로봇 및 이를 갖는 수술 로봇 시스템 | |
KR101262863B1 (ko) | 6자유도 병렬 기구 | |
JP2002295623A (ja) | パラレルリンクロボット | |
CN102848375A (zh) | 转动运动和平动运动单独控制的空间六自由度机构 | |
JP5681564B2 (ja) | ロボット | |
CN103895007A (zh) | 一种二平动并联机器人 | |
CN109843520B (zh) | 机器人的关节构造体 | |
WO2017072999A1 (ja) | パラレルリンクロボットおよび操作装置 | |
CN104842346A (zh) | 装配3-自由度手腕装置的桌面式直角坐标机器人 | |
US10272562B2 (en) | Parallel kinematics robot with rotational degrees of freedom | |
JP2011056661A (ja) | 3自由度を有する姿勢変更機構を備えたパラレルリンクロボット | |
WO2019150812A1 (ja) | 駆動装置並びにロボット装置 | |
JP7289644B2 (ja) | 作業装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 12856546 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14362512 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2012856546 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 20147018364 Country of ref document: KR Kind code of ref document: A |