FR2852265B1 - Segment intermediaire de bras articule contenant une transmission a vis et ecrou - Google Patents

Segment intermediaire de bras articule contenant une transmission a vis et ecrou

Info

Publication number
FR2852265B1
FR2852265B1 FR0350047A FR0350047A FR2852265B1 FR 2852265 B1 FR2852265 B1 FR 2852265B1 FR 0350047 A FR0350047 A FR 0350047A FR 0350047 A FR0350047 A FR 0350047A FR 2852265 B1 FR2852265 B1 FR 2852265B1
Authority
FR
France
Prior art keywords
intermediate segment
articulated arms
nut transmission
arms containing
containing screw
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 - Fee Related
Application number
FR0350047A
Other languages
English (en)
Other versions
FR2852265A1 (fr
Inventor
Philippe Garrec
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
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 Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR0350047A priority Critical patent/FR2852265B1/fr
Priority to PCT/FR2004/050102 priority patent/WO2004082901A1/fr
Priority to US10/549,049 priority patent/US7574939B2/en
Priority to EP04719503A priority patent/EP1603713A1/fr
Publication of FR2852265A1 publication Critical patent/FR2852265A1/fr
Application granted granted Critical
Publication of FR2852265B1 publication Critical patent/FR2852265B1/fr
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2081—Parallel arrangement of drive motor to screw axis
    • 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
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
    • Y10T74/18664—Shaft moves through rotary drive 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
    • 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
    • Y10T74/20323—Robotic arm including flaccid drive element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
FR0350047A 2003-03-14 2003-03-14 Segment intermediaire de bras articule contenant une transmission a vis et ecrou Expired - Fee Related FR2852265B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR0350047A FR2852265B1 (fr) 2003-03-14 2003-03-14 Segment intermediaire de bras articule contenant une transmission a vis et ecrou
PCT/FR2004/050102 WO2004082901A1 (fr) 2003-03-14 2004-03-11 Segment intermediaire de bras articule contenant une transmission a vis et ecrou
US10/549,049 US7574939B2 (en) 2003-03-14 2004-03-11 Intermediate segment of an articulated arm comprising a screw and nut transmission
EP04719503A EP1603713A1 (fr) 2003-03-14 2004-03-11 Segment intermediaire de bras articule contenant une transmission a vis et ecrou

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0350047A FR2852265B1 (fr) 2003-03-14 2003-03-14 Segment intermediaire de bras articule contenant une transmission a vis et ecrou

Publications (2)

Publication Number Publication Date
FR2852265A1 FR2852265A1 (fr) 2004-09-17
FR2852265B1 true FR2852265B1 (fr) 2006-02-24

Family

ID=32893401

Family Applications (1)

Application Number Title Priority Date Filing Date
FR0350047A Expired - Fee Related FR2852265B1 (fr) 2003-03-14 2003-03-14 Segment intermediaire de bras articule contenant une transmission a vis et ecrou

Country Status (4)

Country Link
US (1) US7574939B2 (fr)
EP (1) EP1603713A1 (fr)
FR (1) FR2852265B1 (fr)
WO (1) WO2004082901A1 (fr)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITPI20080037A1 (it) * 2008-04-30 2009-11-01 Scuola Superiore Di Studi Universitari S Anna Attuatore compatto e leggero a escursione angolare limitata e elevata coppia
KR20090128878A (ko) * 2008-06-11 2009-12-16 삼성전자주식회사 로봇용 관절구동장치 및 이를 구비한 로봇
IT1392212B1 (it) * 2008-11-25 2012-02-22 Bossan Dispositivo per la movimentazione automatica di nodi di macchine ad assi controllati
KR20100077504A (ko) * 2008-12-29 2010-07-08 삼성전자주식회사 로봇용 관절구동장치 및 이를 구비한 로봇
KR20100082225A (ko) * 2009-01-08 2010-07-16 삼성전자주식회사 로봇용 관절구동장치 및 이를 구비한 로봇
FR2941760A1 (fr) * 2009-02-04 2010-08-06 Commissariat Energie Atomique Verin a cable monopalier
FR2945232B1 (fr) * 2009-05-06 2011-04-22 Commissariat Energie Atomique Procede de compensation de frottements dans un dispositif a retour d'effort equipe d'une transmission a cable
FR2949451B1 (fr) * 2009-09-02 2011-08-26 Commissariat Energie Atomique Verin a cable et dispositif d'assistance aux personnes integrant un tel verin
KR20110026935A (ko) * 2009-09-09 2011-03-16 삼성전자주식회사 로봇 관절 구동장치 및 이를 포함하는 로봇
US20110137423A1 (en) * 2009-12-04 2011-06-09 Hsiang Ouyang Mechanical joint imitating creatures' joints
KR101706094B1 (ko) * 2010-01-14 2017-02-14 삼성전자주식회사 로봇용 관절 구동장치 및 이를 포함하는 로봇, 로봇용 관절 구동장치의 케이블 연결방법
CN102229144A (zh) * 2011-06-15 2011-11-02 哈尔滨工程大学 具有可伸缩变形性能的自锁机械手
FR2981420B1 (fr) * 2011-10-17 2013-11-29 Commissariat Energie Atomique Dispositif d'anti-rotation asymetrique et verin a vis comportant un tel dispositif
FR2990485B1 (fr) * 2012-05-09 2021-04-23 Commissariat Energie Atomique Arbre de transmission flexible, et verin a cable a moteur deporte utilisant un tel arbre
JP2014073222A (ja) * 2012-10-04 2014-04-24 Sony Corp 運動補助装置及び運動補助方法
FR3008916B1 (fr) * 2013-07-26 2015-08-07 Commissariat Energie Atomique Procede de commande d'un segment de bras de comanipulateur
US9475191B1 (en) * 2014-09-03 2016-10-25 Google Inc. Robotic leg parallel to a ball screw
KR102346226B1 (ko) * 2015-01-22 2022-01-03 삼성전자주식회사 구동 모듈 및 이를 포함하는 운동 보조 장치
JP2017104968A (ja) * 2015-12-03 2017-06-15 並木精密宝石株式会社 マニピュレーターおよび多指ハンド装置
US10673303B2 (en) 2017-12-28 2020-06-02 Aeolus Robotics Corporation Limited Robotic arm
FR3086361B1 (fr) * 2018-09-25 2021-07-23 Commissariat Energie Atomique Transmission hybride a raideur augmentee pour verin a cable
FR3091325B1 (fr) * 2018-12-27 2021-03-05 Commissariat Energie Atomique Transmission pour vérin à câble à ancrage d’écrou décalés
KR102188210B1 (ko) * 2019-01-31 2020-12-09 한국과학기술원 위치 조절 암

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0108657B1 (fr) * 1982-09-25 1987-08-12 Fujitsu Limited Robot multi-articulé
JPS61192486A (ja) * 1985-02-19 1986-08-27 株式会社神戸製鋼所 多関節型ア−ム装置
JPS61236485A (ja) * 1985-04-12 1986-10-21 株式会社日立製作所 ロボツトの手首駆動装置
JPH0755465B2 (ja) * 1985-12-27 1995-06-14 松下電器産業株式会社 工業用ロボツト
JPS62188690A (ja) * 1986-02-14 1987-08-18 三菱重工業株式会社 作業ロボツトの駆動系揺動抑制装置
JPS62192486A (ja) 1986-02-18 1987-08-24 Kobe Steel Ltd 乾燥、予熱炭の製造方法
FR2640607B1 (fr) 1988-12-19 1991-05-17 Cga Hbs Dispositif de levage de charges
JP2826556B2 (ja) * 1990-11-28 1998-11-18 キヤノン株式会社 工業用ロボツト
JPH06280935A (ja) * 1993-03-30 1994-10-07 Nippon Seiko Kk 制振ユニット
US5692412A (en) * 1993-11-15 1997-12-02 Ross-Hime Designs, Incorporated Robotic manipulator
FR2724208B1 (fr) 1994-09-07 1996-10-18 Commissariat Energie Atomique Systeme telescopique
FR2807959B1 (fr) * 2000-04-21 2002-06-14 Centre Nat Rech Scient Actionneur concu pour des structures articulees, telles que des membres de robot marcheur
FR2809464B1 (fr) 2000-05-26 2002-10-11 Commissariat Energie Atomique Transmission a vis, ecrou et cable attache a la vis
DE20202440U1 (de) 2002-02-18 2002-07-04 Kröll, Johannes, 90587 Obermichelbach Bier mit Mineralwasser gebraut

Also Published As

Publication number Publication date
EP1603713A1 (fr) 2005-12-14
US7574939B2 (en) 2009-08-18
WO2004082901A1 (fr) 2004-09-30
US20060169086A1 (en) 2006-08-03
FR2852265A1 (fr) 2004-09-17

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Legal Events

Date Code Title Description
ST Notification of lapse

Effective date: 20121130