JP6327569B2 - 平行運動機構及び平行運動機構のベアリング及びアクチュエータ - Google Patents

平行運動機構及び平行運動機構のベアリング及びアクチュエータ Download PDF

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Publication number
JP6327569B2
JP6327569B2 JP2015531411A JP2015531411A JP6327569B2 JP 6327569 B2 JP6327569 B2 JP 6327569B2 JP 2015531411 A JP2015531411 A JP 2015531411A JP 2015531411 A JP2015531411 A JP 2015531411A JP 6327569 B2 JP6327569 B2 JP 6327569B2
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Japan
Prior art keywords
magnetic field
voice coil
circuit board
printed circuit
active region
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Expired - Fee Related
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JP2015531411A
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English (en)
Japanese (ja)
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JP2015531461A5 (2
JP2015531461A (ja
Inventor
ニック クロウグリコフ
ニック クロウグリコフ
タウフィクル ラーマン
タウフィクル ラーマン
レヴィ マクネイル
レヴィ マクネイル
マイケル モーガン
マイケル モーガン
ニクヒル パンサーレ
ニクヒル パンサーレ
ディオン ヒックス
ディオン ヒックス
マシュー ロバーツ
マシュー ロバーツ
Original Assignee
メモリアル ユニヴァーシティー オブ ニューファンドランド
メモリアル ユニヴァーシティー オブ ニューファンドランド
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Publication of JP2015531461A publication Critical patent/JP2015531461A/ja
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/035—DC motors; Unipolar motors
    • H02K41/0352—Unipolar motors
    • H02K41/0354—Lorentz force motors, e.g. voice coil motors
    • H02K41/0356—Lorentz force motors, e.g. voice coil motors moving along a straight path
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L27/00—Materials for grafts or prostheses or for coating grafts or prostheses
    • A61L27/50—Materials characterised by their function or physical properties, e.g. injectable or lubricating compositions, shape-memory materials, surface modified materials
    • A61L27/58—Materials at least partially resorbable by the body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0033—Program-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B25J9/0039—Program-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-spherical-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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F16C11/0619—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints the female part comprising a blind socket receiving the male part
    • F16C11/0623—Construction or details of the socket 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F16C11/0604—Construction of the male part
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C25/00—Bearings for exclusively rotary movement adjustable for wear or play
    • F16C25/02—Sliding-contact bearings
    • F16C25/04—Sliding-contact bearings self-adjusting
    • F16C25/045—Sliding-contact bearings self-adjusting with magnetic means to preload the bearing
    • 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
    • Y10T403/00—Joints and connections
    • Y10T403/32—Articulated members
    • Y10T403/32606—Pivoted
    • Y10T403/32631—Universal ball and socket

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Combustion & Propulsion (AREA)
  • Dermatology (AREA)
  • Medicinal Chemistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Transplantation (AREA)
  • Epidemiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Manipulator (AREA)
  • Pivots And Pivotal Connections (AREA)
JP2015531411A 2012-09-12 2013-09-12 平行運動機構及び平行運動機構のベアリング及びアクチュエータ Expired - Fee Related JP6327569B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261700080P 2012-09-12 2012-09-12
US61/700,080 2012-09-12
PCT/CA2013/050702 WO2014040188A1 (en) 2012-09-12 2013-09-12 Parallel kinematic mechanism and bearings and actuators thereof

Publications (3)

Publication Number Publication Date
JP2015531461A JP2015531461A (ja) 2015-11-02
JP2015531461A5 JP2015531461A5 (2) 2016-07-21
JP6327569B2 true JP6327569B2 (ja) 2018-05-23

Family

ID=52686632

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015531411A Expired - Fee Related JP6327569B2 (ja) 2012-09-12 2013-09-12 平行運動機構及び平行運動機構のベアリング及びアクチュエータ

Country Status (11)

Country Link
US (1) US20150239082A1 (2)
EP (2) EP2895755A4 (2)
JP (1) JP6327569B2 (2)
KR (2) KR20150071014A (2)
CN (1) CN104995417A (2)
AU (2) AU2013315173B2 (2)
BR (1) BR112015005408A2 (2)
CA (2) CA2920422C (2)
IL (2) IL237651A (2)
IN (1) IN2015DN02392A (2)
WO (1) WO2014040188A1 (2)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3154748B1 (en) * 2014-06-11 2023-08-09 Xenidev AB A parallel kinematic manipulator system and control method therefor
US10112296B2 (en) * 2014-08-08 2018-10-30 Bbz S.R.L. Remote manipulation input device
WO2016164824A1 (en) 2015-04-09 2016-10-13 Auris Surgical Robotics, Inc. Surgical system with configurable rail-mounted mechanical arms
CN105838027A (zh) * 2016-01-27 2016-08-10 宁波新大陆磁制品有限公司 一种万向连杆吸盘
CN105522569A (zh) * 2016-02-24 2016-04-27 常州机电职业技术学院 一种精密模具打磨机器人机构
US11681100B2 (en) 2016-09-30 2023-06-20 3Sae Technologies, Inc. Multi-axis positioner
CN117283539A (zh) 2016-09-30 2023-12-26 3Sae技术有限公司 多轴相对定位台
TWI629974B (zh) * 2017-05-26 2018-07-21 醫百科技股份有限公司 Surgical guidance system
WO2019126919A1 (zh) * 2017-12-25 2019-07-04 深圳先进技术研究院 三自由度并联机构
KR102264368B1 (ko) 2018-01-17 2021-06-17 아우리스 헬스, 인코포레이티드 조절가능 아암 지지부를 갖는 수술 플랫폼
US11202683B2 (en) 2019-02-22 2021-12-21 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
WO2020185516A1 (en) 2019-03-08 2020-09-17 Auris Health, Inc. Tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and
EP4217775A1 (en) * 2020-09-23 2023-08-02 3SAE Technologies, Inc. Multi-axis positioner
DE102022101921B4 (de) * 2022-01-27 2026-01-15 Toptica Photonics SE Halteanordung für ein optisches Element
CN119077707B (zh) * 2024-09-25 2025-10-10 燕山大学 六自由度弱耦合并联机构及其构建方法
CN119567236B (zh) * 2025-02-10 2025-06-06 之江实验室 一种基于折纸结构的抗扭力连续体机器人执行器

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Publication number Priority date Publication date Assignee Title
US4331990A (en) * 1979-10-18 1982-05-25 Burroughs Corporation Flat coil linear actuator for multiple transducer arms
US4669013A (en) * 1985-04-02 1987-05-26 International Business Machines Corporation Multiple coils for reduction of stray magnetic fields in disk file actuators
JP3050992B2 (ja) * 1992-04-24 2000-06-12 豊田工機株式会社 パラレルロボット
US5333514A (en) * 1992-04-24 1994-08-02 Toyoda Koki Kabushiki Kaisha Parallel robot
JPH11182529A (ja) * 1997-12-16 1999-07-06 Maguna:Kk ボールジョイント
JP3550678B2 (ja) * 1999-05-18 2004-08-04 株式会社安川電機 リニアモータ
US20030085676A1 (en) * 2001-06-28 2003-05-08 Michael Binnard Six degree of freedom control of planar motors
JP4142399B2 (ja) * 2002-10-25 2008-09-03 富士通コンポーネント株式会社 アクチュエータ
JP4543375B2 (ja) * 2003-07-22 2010-09-15 日立金属株式会社 可動コイル型リニアモータ及びその制御方法
JP2005223958A (ja) * 2004-02-03 2005-08-18 Fujitsu Component Ltd アクチュエータ
AT502864A3 (de) * 2004-10-11 2008-08-15 Ehrenleitner Franz Parallelkinematischer roboter
US7368838B2 (en) * 2004-11-02 2008-05-06 Nikon Corporation High efficiency voice coil motor
US7541699B2 (en) * 2005-12-27 2009-06-02 Asml Netherlands B.V. Magnet assembly, linear actuator, planar motor and lithographic apparatus
JP4928793B2 (ja) * 2006-01-27 2012-05-09 東芝機械株式会社 リニアモータを使用した直交ロボットの軸用移動装置
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Also Published As

Publication number Publication date
WO2014040188A1 (en) 2014-03-20
CA2920422C (en) 2016-05-17
CN104995417A (zh) 2015-10-21
EP3056228A1 (en) 2016-08-17
AU2013315173A1 (en) 2015-04-30
AU2016201670A1 (en) 2016-04-07
EP2895755A4 (en) 2016-06-01
KR20150071014A (ko) 2015-06-25
IL237651A (en) 2017-01-31
EP2895755A1 (en) 2015-07-22
IN2015DN02392A (2) 2015-09-04
US20150239082A1 (en) 2015-08-27
AU2013315173B2 (en) 2016-04-28
JP2015531461A (ja) 2015-11-02
CA2884541A1 (en) 2014-03-20
CA2920422A1 (en) 2014-03-20
BR112015005408A2 (pt) 2017-07-04
AU2016201670B2 (en) 2016-06-09
IL247205A (en) 2017-06-29
KR20160054049A (ko) 2016-05-13
IL237651A0 (en) 2015-04-30
CA2884541C (en) 2016-05-17

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