SE0200831L - Manipulator and method involving manipulator for moving an object, comprising at least two driving parallel kinematic connection chains - Google Patents

Manipulator and method involving manipulator for moving an object, comprising at least two driving parallel kinematic connection chains

Info

Publication number
SE0200831L
SE0200831L SE0200831A SE0200831A SE0200831L SE 0200831 L SE0200831 L SE 0200831L SE 0200831 A SE0200831 A SE 0200831A SE 0200831 A SE0200831 A SE 0200831A SE 0200831 L SE0200831 L SE 0200831L
Authority
SE
Sweden
Prior art keywords
manipulator
parallel kinematic
moving
method involving
kinematic connection
Prior art date
Application number
SE0200831A
Other languages
Swedish (sv)
Other versions
SE521539C2 (en
SE0200831D0 (en
Inventor
Torgny Brogaardh
Jan Smede
Original Assignee
Abb Ab
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 Abb Ab filed Critical Abb Ab
Priority to SE0200831A priority Critical patent/SE521539C2/en
Publication of SE0200831D0 publication Critical patent/SE0200831D0/en
Priority to AU2003208693A priority patent/AU2003208693A1/en
Priority to PCT/SE2003/000421 priority patent/WO2003078111A1/en
Publication of SE0200831L publication Critical patent/SE0200831L/en
Publication of SE521539C2 publication Critical patent/SE521539C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least three axial directions, e.g. manipulators, robots
    • 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
    • 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
    • B25J9/0072—Program-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • 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
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B25J9/107—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G01B5/008—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points using coordinate measuring machines

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)

Abstract

A manipulator (2) arranged for movement of an object (3) in space, comprising a stationary platform (4), a movable platform (5) on which the object (3) is arranged, and at least two driving parallel kinematic connecting chains (6, 7) arranged between the platforms (4, 5), wherein a first single-axle joint (8) with a first axis of rotation (A), included in the first parallel kinematic connecting chain (6), is arranged on the stationary platform (4), and a second single-axle joint (10) with a second axis of rotation (B), included in the second parallel kinematic connecting chain (7), is arranged on the stationary platform (4).
SE0200831A 2002-03-18 2002-03-18 Manipulator and method involving manipulator for moving an object, comprising at least two driving parallel kinematic connection chains SE521539C2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE0200831A SE521539C2 (en) 2002-03-18 2002-03-18 Manipulator and method involving manipulator for moving an object, comprising at least two driving parallel kinematic connection chains
AU2003208693A AU2003208693A1 (en) 2002-03-18 2003-03-13 Manipulator
PCT/SE2003/000421 WO2003078111A1 (en) 2002-03-18 2003-03-13 Manipulator and method involving a manipulator for movement of an object, comprising at least two driving parallel kinematic connecting chains

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0200831A SE521539C2 (en) 2002-03-18 2002-03-18 Manipulator and method involving manipulator for moving an object, comprising at least two driving parallel kinematic connection chains

Publications (3)

Publication Number Publication Date
SE0200831D0 SE0200831D0 (en) 2002-03-18
SE0200831L true SE0200831L (en) 2003-09-19
SE521539C2 SE521539C2 (en) 2003-11-11

Family

ID=20287317

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0200831A SE521539C2 (en) 2002-03-18 2002-03-18 Manipulator and method involving manipulator for moving an object, comprising at least two driving parallel kinematic connection chains

Country Status (3)

Country Link
AU (1) AU2003208693A1 (en)
SE (1) SE521539C2 (en)
WO (1) WO2003078111A1 (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012031635A1 (en) 2010-09-10 2012-03-15 Abb Research Ltd. Industrial robot
JP2012192499A (en) * 2011-03-17 2012-10-11 Canon Electronics Inc Parallel link robot
CN105121100B (en) 2013-05-23 2018-06-05 Abb瑞士股份有限公司 Compact parallel kinematic robot
EP3154748B1 (en) * 2014-06-11 2023-08-09 Xenidev AB A parallel kinematic manipulator system and control method therefor
WO2018170018A1 (en) 2017-03-14 2018-09-20 Biofilm Ip, Llc Garage door systems and methods
KR20200105657A (en) * 2018-01-15 2020-09-08 코그니보티스 에이비 Industrial robot arm
CN108942891B (en) * 2018-08-31 2023-09-15 昆明理工大学 A parallel mechanism with five-dimensional motion
CN109849047B (en) * 2019-03-27 2021-09-10 上海工程技术大学 Mechanical arm joint with controllable rigidity
CN110142744B (en) * 2019-06-11 2022-05-17 常州大学 A three-translation parallel device with zero coupling degree and positive analytical position solution

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2558080B2 (en) * 1994-11-02 1996-11-27 株式会社奈和精機製作所 Transfer device
SE511804C2 (en) * 1996-03-14 1999-11-29 Abb Ab Apparatus for relative movement of two elements
JP2001508158A (en) * 1997-01-14 2001-06-19 アセア ブラウン ボベリ アクチボラグ Device for moving two elements relative to each other
AU3909599A (en) * 1997-12-22 1999-07-12 Liechti Engineering Ag Machine tool for machining elongated workpieces
AU1594601A (en) * 1999-11-12 2001-06-06 Microdexterity Systems, Inc. Manipulator
SE517356C2 (en) * 2000-09-11 2002-05-28 Abb Ab Manipulator comprising at least three arms for moving a body in space

Also Published As

Publication number Publication date
WO2003078111A1 (en) 2003-09-25
SE521539C2 (en) 2003-11-11
SE0200831D0 (en) 2002-03-18
AU2003208693A1 (en) 2003-09-29

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