ES2175961T3 - Sistema compensador para hexapodo. - Google Patents

Sistema compensador para hexapodo.

Info

Publication number
ES2175961T3
ES2175961T3 ES99915842T ES99915842T ES2175961T3 ES 2175961 T3 ES2175961 T3 ES 2175961T3 ES 99915842 T ES99915842 T ES 99915842T ES 99915842 T ES99915842 T ES 99915842T ES 2175961 T3 ES2175961 T3 ES 2175961T3
Authority
ES
Spain
Prior art keywords
hexapod
plate
respect
hexapode
mobile
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
ES99915842T
Other languages
English (en)
Inventor
Francois Wildenberg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CONST MECANIQUES DES VOSGES
Constructions Mecaniques des Vosges
Original Assignee
CONST MECANIQUES DES VOSGES
Constructions Mecaniques des Vosges
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 CONST MECANIQUES DES VOSGES, Constructions Mecaniques des Vosges filed Critical CONST MECANIQUES DES VOSGES
Application granted granted Critical
Publication of ES2175961T3 publication Critical patent/ES2175961T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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
    • B25J17/0208—Compliance devices
    • B25J17/0216—Compliance devices comprising a stewart mechanism
    • 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
    • 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
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/306664—Milling including means to infeed rotary cutter toward work
    • Y10T409/307672—Angularly adjustable cutter head
    • 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
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/309576—Machine frame
    • 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
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/309576—Machine frame
    • Y10T409/309688—Machine frame including counterbalancing means
    • 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
    • Y10T74/20317—Robotic arm including electric motor

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Machine Tool Units (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Liquid Crystal Substances (AREA)
  • Addition Polymer Or Copolymer, Post-Treatments, Or Chemical Modifications (AREA)
  • Measuring Volume Flow (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Diaphragms For Electromechanical Transducers (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Manufacturing And Processing Devices For Dough (AREA)
  • Saccharide Compounds (AREA)
  • Steroid Compounds (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Manipulator (AREA)

Abstract

Hexápodo, por ejemplo, un hexápodo dispuesto horizontalmente que sirve para posicionar una herramienta con respecto a una pieza que hay que mecanizar, que comprende dos platos espaciados unidos entre sí por seis patas extensibles y articuladas que permiten hacer variar a voluntad la posición relativa del plato móvil (2) con respecto al plato-base, caracterizado porque está equipado con un medio de disminución-compensación de las tensiones en, al menos, uno de los elementos del hexápodo, que consiste en un gato (S1) mantenido por un bastidor fijo (6) y que soporta la masa embarcada en el plato móvil (2).
ES99915842T 1998-04-27 1999-04-27 Sistema compensador para hexapodo. Expired - Lifetime ES2175961T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9805682A FR2779086B1 (fr) 1998-04-27 1998-04-27 Systeme compensateur pour hexapode

Publications (1)

Publication Number Publication Date
ES2175961T3 true ES2175961T3 (es) 2002-11-16

Family

ID=9526054

Family Applications (1)

Application Number Title Priority Date Filing Date
ES99915842T Expired - Lifetime ES2175961T3 (es) 1998-04-27 1999-04-27 Sistema compensador para hexapodo.

Country Status (10)

Country Link
US (1) US6474915B1 (es)
EP (1) EP1075348B1 (es)
JP (1) JP4742377B2 (es)
AT (1) ATE215418T1 (es)
AU (1) AU3428199A (es)
DE (1) DE69901172T2 (es)
ES (1) ES2175961T3 (es)
FR (1) FR2779086B1 (es)
PT (1) PT1075348E (es)
WO (1) WO1999055488A1 (es)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2779080B1 (fr) * 1998-05-27 2000-08-11 Renault Automation Dispositif permettant de mettre en oeuvre une structure logique de machine-outil a architecture parallele et machine-outil adoptant un tel dispositif
AU2000259904A1 (en) * 2000-06-23 2002-01-02 Constructions Mecaniques Des Vosges-Marioni Method for determining the relative position of two platforms of a six-legged machine
GB0016059D0 (en) * 2000-06-30 2000-08-23 Denne Phillip R M Improvements in motion simulators
GB0026357D0 (en) 2000-10-27 2000-12-13 Makex Ltd Improvements in parallel link machine design
JP4589007B2 (ja) 2002-04-12 2010-12-01 ヘンリー ケイ． オバーマイヤー， 多軸ジョイスティックおよびそのためのトランスデューサー手段
US7320389B1 (en) * 2003-04-03 2008-01-22 Lockheed Martin Corporation Three-axis offset damping system
CN100462578C (zh) * 2003-04-10 2009-02-18 哈尔滨工业大学 锥轴虎克铰
DE102004004313A1 (de) * 2004-01-28 2005-08-18 Guido Kübler GmbH Vorrichtung zur räumlichen Anordnung und Abstützung von einem Arbeitselement zu bzw. an wenigstens einem Basiselement und deren Verwendung
WO2005085692A1 (en) 2004-03-10 2005-09-15 Gusto Engineering B.V. Light-weight versatile j-lay system
DE102006046758A1 (de) * 2006-09-29 2008-04-03 Abb Patent Gmbh Vorrichtung insbesondere zum Positionieren von Objekten
SE530573C2 (sv) * 2006-11-16 2008-07-08 Hexagon Metrology Ab Förfarande och anordning för kompensering av geometriska fel i bearbetningsmaskiner
SE530700C2 (sv) * 2006-12-21 2008-08-19 Hexagon Metrology Ab Förfarande och anordning för kompensering av geometriska fel i bearbetningsmaskiner
FR2917316B1 (fr) * 2007-06-15 2010-02-12 Cmw Construction Mecaniques De Procede de travail sur site d'une piece de grande dimension avec une machine a architecture parallele
US8215199B2 (en) * 2008-11-17 2012-07-10 Marcroft Sacha L Parallel kinematic positioning system
ES2401365T3 (es) * 2009-11-20 2013-04-19 Eads Deutschland Gmbh Estructura de aislamiento de choques
US20140150593A1 (en) * 2012-12-05 2014-06-05 Alio Industries, Inc. Precision tripod motion system
WO2015179989A1 (en) * 2014-05-30 2015-12-03 Unitechnologies Sa Apparatus and method for laser processing of a workpiece on a three-dimensional surface area

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3707333A (en) * 1970-07-13 1972-12-26 Mitsubishi Heavy Ind Ltd Headstock balancing construction for machine tools
JPS4858590U (es) * 1971-11-02 1973-07-25
CS201349B1 (en) * 1978-10-09 1980-10-31 Vaclav Smrha Facility for decreasing the deformation of the stands and frames of machines
JPS5877420A (ja) * 1981-10-30 1983-05-10 Toyoda Mach Works Ltd 工作機械における主軸ヘツドのバランス装置
FR2549916B1 (fr) * 1983-07-25 1988-05-20 Onera (Off Nat Aerospatiale) Dispositif d'articulation actif a compliance
JPS6138846A (ja) * 1984-03-20 1986-02-24 Sadao Yabuno 平面研削盤及び立フライス盤及び立型マシニングセンタ−の主軸頭の加工変位防止装置
US5028180A (en) * 1989-09-01 1991-07-02 Sheldon Paul C Six-axis machine tool
US5401128A (en) * 1991-08-26 1995-03-28 Ingersoll Milling Machine Company Octahedral machine with a hexapodal triangular servostrut section
US5388935A (en) * 1993-08-03 1995-02-14 Giddings & Lewis, Inc. Six axis machine tool
GB9401692D0 (en) * 1994-01-28 1994-03-23 Renishaw Plc Performing measurement or calibration on positioning machines
US5556242A (en) * 1994-06-17 1996-09-17 Giddings & Lewis, Inc. Space frame for a machine tool
JPH08300290A (ja) * 1995-05-02 1996-11-19 Hitachi Seiki Co Ltd 伸縮型パラレルメカニズムの駆動機構
JPH091491A (ja) * 1995-06-20 1997-01-07 Sumitomo Heavy Ind Ltd ロボットハンド機構
JPH09131690A (ja) * 1995-11-09 1997-05-20 Mitsubishi Heavy Ind Ltd ６軸荷重検出装置
JPH09234638A (ja) * 1996-02-28 1997-09-09 Toyoda Mach Works Ltd 工具ハンド並びにそれを用いた工作機械及び加工方法
JPH1029178A (ja) * 1996-07-15 1998-02-03 Toshiba Mach Co Ltd マニプレータ
US5787758A (en) * 1996-09-03 1998-08-04 Sheldon/Van Someren, Inc. Three-axis machine for rapid and rigid manipulation of components
FR2754205A1 (fr) * 1996-10-07 1998-04-10 Gec Alsthom Syst Et Serv Robot a structure parallele
US6223604B1 (en) * 1998-01-23 2001-05-01 Wisconsin Alumni Research Foundation Mobile truss testing apparatus
US6021579A (en) * 1998-04-01 2000-02-08 Joseph M. Schimmels Spatial parallel compliant mechanism

Also Published As

Publication number Publication date
DE69901172T2 (de) 2002-12-12
EP1075348A1 (fr) 2001-02-14
ATE215418T1 (de) 2002-04-15
AU3428199A (en) 1999-11-16
DE69901172D1 (de) 2002-05-08
WO1999055488A1 (fr) 1999-11-04
EP1075348B1 (fr) 2002-04-03
US6474915B1 (en) 2002-11-05
FR2779086B1 (fr) 2000-06-30
FR2779086A1 (fr) 1999-12-03
JP4742377B2 (ja) 2011-08-10
PT1075348E (pt) 2002-09-30
JP2002512893A (ja) 2002-05-08

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