SE517356C2 - Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden - Google Patents

Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden

Info

Publication number
SE517356C2
SE517356C2 SE0003224A SE0003224A SE517356C2 SE 517356 C2 SE517356 C2 SE 517356C2 SE 0003224 A SE0003224 A SE 0003224A SE 0003224 A SE0003224 A SE 0003224A SE 517356 C2 SE517356 C2 SE 517356C2
Authority
SE
Sweden
Prior art keywords
arm
freedom
manipulator
degrees
allowing
Prior art date
Application number
SE0003224A
Other languages
English (en)
Swedish (sv)
Other versions
SE0003224L (sv
SE0003224D0 (sv
Inventor
Torgny Brogaardh
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 SE0003224A priority Critical patent/SE517356C2/sv
Publication of SE0003224D0 publication Critical patent/SE0003224D0/xx
Priority to EP01958792A priority patent/EP1320448B1/fr
Priority to PCT/SE2001/001770 priority patent/WO2002022320A1/fr
Priority to JP2002526552A priority patent/JP4901057B2/ja
Priority to DE60132604T priority patent/DE60132604T2/de
Priority to AT01958792T priority patent/ATE384601T1/de
Priority to US10/380,042 priority patent/US20040054438A1/en
Priority to AU2001280408A priority patent/AU2001280408A1/en
Publication of SE0003224L publication Critical patent/SE0003224L/xx
Publication of SE517356C2 publication Critical patent/SE517356C2/sv

Links

Classifications

    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Polymers With Sulfur, Phosphorus Or Metals In The Main Chain (AREA)
  • Medicines Containing Antibodies Or Antigens For Use As Internal Diagnostic Agents (AREA)
  • Transition And Organic Metals Composition Catalysts For Addition Polymerization (AREA)
SE0003224A 2000-09-11 2000-09-11 Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden SE517356C2 (sv)

Priority Applications (8)

Application Number Priority Date Filing Date Title
SE0003224A SE517356C2 (sv) 2000-09-11 2000-09-11 Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden
EP01958792A EP1320448B1 (fr) 2000-09-11 2001-08-20 Manipulateur dote d'au moins trois bras pour deplacer un objet dans l'espace
PCT/SE2001/001770 WO2002022320A1 (fr) 2000-09-11 2001-08-20 Manipulateur dote d'au moins trois bras pour deplacer un objet dans l'espace
JP2002526552A JP4901057B2 (ja) 2000-09-11 2001-08-20 マニピュレータ及び製造方法並びに移動方法
DE60132604T DE60132604T2 (de) 2000-09-11 2001-08-20 Manipulator zur bewegung eines gegenstandes im raum mit mindestens drei armen
AT01958792T ATE384601T1 (de) 2000-09-11 2001-08-20 Manipulator zur bewegung eines gegenstandes im raum mit mindestens drei armen
US10/380,042 US20040054438A1 (en) 2000-09-11 2001-08-20 Manipulator to move an object in the space with at least tree arms
AU2001280408A AU2001280408A1 (en) 2000-09-11 2001-08-20 A manipulator to move an object in the space with at least tree arms

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0003224A SE517356C2 (sv) 2000-09-11 2000-09-11 Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden

Publications (3)

Publication Number Publication Date
SE0003224D0 SE0003224D0 (sv) 2000-09-11
SE0003224L SE0003224L (sv) 2002-03-12
SE517356C2 true SE517356C2 (sv) 2002-05-28

Family

ID=20280976

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0003224A SE517356C2 (sv) 2000-09-11 2000-09-11 Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden

Country Status (8)

Country Link
US (1) US20040054438A1 (fr)
EP (1) EP1320448B1 (fr)
JP (1) JP4901057B2 (fr)
AT (1) ATE384601T1 (fr)
AU (1) AU2001280408A1 (fr)
DE (1) DE60132604T2 (fr)
SE (1) SE517356C2 (fr)
WO (1) WO2002022320A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003078111A1 (fr) * 2002-03-18 2003-09-25 Abb Ab Manipulateur

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7337691B2 (en) * 1999-08-05 2008-03-04 Shambhu Nath Roy Parallel kinematics mechanism with a concentric spherical joint
SE524747C2 (sv) 2002-02-06 2004-09-28 Abb Ab Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden
SE0201848D0 (sv) * 2002-06-14 2002-06-14 Abb Ab Anordning vid industrirobot
WO2004033161A1 (fr) * 2002-09-30 2004-04-22 Evotech S.R.L. Dispositif pour deplacer et orienter un objet avec au moins deux degres de liberte
ITGE20030040A1 (it) * 2003-05-30 2004-11-30 Rezia Molfino Meccanismo armillare per il supporto alla visione stereoscopica in ambienti sottomarini e ad alta resistenza idrodinamica
DE102005004522A1 (de) * 2005-01-31 2006-08-17 Sitec Industrietechnologie Gmbh Bewegungs- und/oder Positioniervorrichtung
ES2258917B1 (es) 2005-02-17 2007-12-01 Fundacion Fatronik Robot paralelo con cuatro grados de libertad de alta velocidad.
JP4960038B2 (ja) * 2006-08-09 2012-06-27 オークマ株式会社 パラレルメカニズム機械の制御方法及び制御装置
DE102008058644A1 (de) * 2008-10-10 2010-04-15 Num Industry Alliance Ag Schneidvorrichtung
CN101497198B (zh) * 2009-02-24 2011-01-05 燕山大学 具有远程运动中心的三自由度转动并联机构
US20120073738A1 (en) * 2010-09-29 2012-03-29 The Boeing Company Method and apparatus for laying up barrel-shaped composite structures
KR101179046B1 (ko) 2010-12-27 2012-09-03 한국기계연구원 스프링-댐퍼 기구를 가지는 병렬로봇
JP2012192499A (ja) * 2011-03-17 2012-10-11 Canon Electronics Inc パラレルリンクロボット
CN102152306B (zh) * 2011-04-27 2012-05-23 天津大学 杆轮组合式三平一转并联机构
CN102161200B (zh) * 2011-04-27 2012-05-16 天津大学 平行错动式三平一转并联机构
CN102161201B (zh) * 2011-04-27 2012-05-16 天津大学 上下伸缩式三平一转并联机构
JP5602676B2 (ja) * 2011-05-20 2014-10-08 Ｃｋｄ株式会社 可動体支持装置
JP5866154B2 (ja) * 2011-07-06 2016-02-17 キヤノン電子株式会社 パラレルリンクロボット
ES2738210T3 (es) * 2012-06-15 2020-01-20 Abb Schweiz Ag Línea de corte y procedimiento para apilar piezas en bruto que salen de una cizalla o prensa de corte
KR101488440B1 (ko) 2013-07-24 2015-02-12 한국로봇융합연구원 병렬형 도포 로봇
US12030176B2 (en) 2014-06-11 2024-07-09 Xenidev Ab Parallel kinematic manipulator system and control method therefor
JP6310901B2 (ja) * 2015-11-30 2018-04-11 Ckd株式会社 支持装置
CN105269569B (zh) * 2015-11-30 2017-12-08 梅江平 一种三同轴二维转动一维平动并联机构
KR101868235B1 (ko) * 2016-12-07 2018-06-15 고려대학교 세종산학협력단 6 자유도 메커니즘
CN106671062A (zh) * 2016-12-15 2017-05-17 常州大学 一种三平移一转动的四自由度并联机构
WO2019138025A1 (fr) 2018-01-15 2019-07-18 Cognibotics Ab Bras de robot industriel
EP3611420A1 (fr) * 2018-08-16 2020-02-19 Ondal Medical Systems GmbH Dispositif de support d'un moniteur
US11135783B2 (en) 2018-09-26 2021-10-05 The Boeing Company System and method for manufacturing composite structures
US11135784B2 (en) 2018-09-26 2021-10-05 The Boeing Company System and method for manufacturing composite structures

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH672089A5 (fr) * 1985-12-16 1989-10-31 Sogeva Sa
JPH04125960A (ja) * 1990-09-18 1992-04-27 Nec Corp 半導体装置
US5156062A (en) * 1991-07-01 1992-10-20 Rockwell International Corporation Anti-rotation positioning mechanism
US5847528A (en) * 1995-05-19 1998-12-08 Canadian Space Agency Mechanism for control of position and orientation in three dimensions
SE508890C2 (sv) * 1996-03-14 1998-11-16 Asea Brown Boveri Manipulator
CA2277846A1 (fr) * 1997-01-14 1998-07-16 Asea Brown Boveri Ab Dispositif de deplacement relatif de deux elements
SE512931C2 (sv) * 1998-04-29 2000-06-05 Abb Ab Anordning för relativ förflyttning av två element
JP2000246680A (ja) * 1999-03-03 2000-09-12 Suzuki Motor Corp ３次元入力用マニピュレータ

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003078111A1 (fr) * 2002-03-18 2003-09-25 Abb Ab Manipulateur

Also Published As

Publication number Publication date
US20040054438A1 (en) 2004-03-18
DE60132604T2 (de) 2008-05-21
AU2001280408A1 (en) 2002-03-26
SE0003224L (sv) 2002-03-12
JP4901057B2 (ja) 2012-03-21
SE0003224D0 (sv) 2000-09-11
JP2004508950A (ja) 2004-03-25
EP1320448B1 (fr) 2008-01-23
ATE384601T1 (de) 2008-02-15
DE60132604D1 (de) 2008-03-13
WO2002022320A1 (fr) 2002-03-21
EP1320448A1 (fr) 2003-06-25

Similar Documents

Publication Publication Date Title
EP1320448B1 (fr) Manipulateur dote d'au moins trois bras pour deplacer un objet dans l'espace
Bryson et al. Toward parallel continuum manipulators
US7337691B2 (en) Parallel kinematics mechanism with a concentric spherical joint
CN105666471B (zh) 一种sps+upu+(2rps+r)型四自由度并联机器人
Palpacelli et al. Analysis and design of a reconfigurable 3-DoF parallel manipulator for multimodal tasks
JPWO2012017722A1 (ja) パラレル機構
US20080262653A1 (en) Parallel Robot Comprising Assembly for Moving a Mobile Element Composed of Two Subassemblies
US10737379B2 (en) Compact parallel kinematics robot
CN101977737A (zh) 两自由度并行操纵器
JP2004529780A (ja) 産業用ロボット
SE512931C2 (sv) Anordning för relativ förflyttning av två element
CN101439515A (zh) 平行四杆式结构解耦六维力反馈装置
US20200219417A1 (en) Shaking device
US20040013509A1 (en) Parallel kinematics mechanism with a concentric spherical joint
KR101046422B1 (ko) 견관절 생체역학 시험용 다자유도 운동장치
CN109848969B (zh) 一种用于虚轴机床和机器人的解耦三转动自由度并联机构
JP2020104182A (ja) パラレルリンクロボット
Rashoyan et al. Development of structural schemes of parallel structure manipulators using screw calculus
JPS609676A (ja) マニピユレ−タの構造体
JP2004066385A (ja) 機器操作用パラレル機構及びその設計方法
JP2000254876A (ja) てこ−パラレルリンク式位置姿勢伝達機構及びてこ−パラレルリンク式位置姿勢伝達機構を有するマニピュレータ
CN113348055B (zh) 多自由度并联机构
CN113069212A (zh) 手术机器人用主操作臂
Glazunov et al. Development of parallel-structured mechanisms with kinematic and dynamic uncoupling
CN215701696U (zh) 一种具有关节自平衡的主操作手及机器人