SE524747C2 - Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden - Google Patents

Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden

Info

Publication number
SE524747C2
SE524747C2 SE0200343A SE0200343A SE524747C2 SE 524747 C2 SE524747 C2 SE 524747C2 SE 0200343 A SE0200343 A SE 0200343A SE 0200343 A SE0200343 A SE 0200343A SE 524747 C2 SE524747 C2 SE 524747C2
Authority
SE
Sweden
Prior art keywords
arms
industrial robot
platform
arm
manipulator
Prior art date
Application number
SE0200343A
Other languages
English (en)
Swedish (sv)
Other versions
SE0200343L (sv
SE0200343D0 (sv
Inventor
Soenke Kock
Roland Oesterlein
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 SE0200343A priority Critical patent/SE524747C2/sv
Publication of SE0200343D0 publication Critical patent/SE0200343D0/xx
Priority to AU2003206324A priority patent/AU2003206324A1/en
Priority to PCT/SE2003/000200 priority patent/WO2003066289A1/en
Priority to ES03703615T priority patent/ES2309298T3/es
Priority to AT03703615T priority patent/ATE402793T1/de
Priority to US10/502,205 priority patent/US7685902B2/en
Priority to JP2003565697A priority patent/JP2005516784A/ja
Priority to DE60322510T priority patent/DE60322510D1/de
Priority to EP03703615A priority patent/EP1472053B1/de
Publication of SE0200343L publication Critical patent/SE0200343L/
Publication of SE524747C2 publication Critical patent/SE524747C2/sv

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
    • B25J9/106—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
    • 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
    • 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
    • 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
    • Y10T74/20335—Wrist

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)
SE0200343A 2002-02-06 2002-02-06 Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden SE524747C2 (sv)

Priority Applications (9)

Application Number Priority Date Filing Date Title
SE0200343A SE524747C2 (sv) 2002-02-06 2002-02-06 Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden
EP03703615A EP1472053B1 (de) 2002-02-06 2003-02-05 Industrieroboter
AT03703615T ATE402793T1 (de) 2002-02-06 2003-02-05 Industrieroboter
PCT/SE2003/000200 WO2003066289A1 (en) 2002-02-06 2003-02-05 Industrial robot
ES03703615T ES2309298T3 (es) 2002-02-06 2003-02-05 Robot industrial.
AU2003206324A AU2003206324A1 (en) 2002-02-06 2003-02-05 Industrial robot
US10/502,205 US7685902B2 (en) 2002-02-06 2003-02-05 Industrial robot
JP2003565697A JP2005516784A (ja) 2002-02-06 2003-02-05 産業用ロボット
DE60322510T DE60322510D1 (de) 2002-02-06 2003-02-05 Industrieroboter

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0200343A SE524747C2 (sv) 2002-02-06 2002-02-06 Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden

Publications (3)

Publication Number Publication Date
SE0200343D0 SE0200343D0 (sv) 2002-02-06
SE0200343L SE0200343L (sv) 2003-08-07
SE524747C2 true SE524747C2 (sv) 2004-09-28

Family

ID=20286878

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0200343A SE524747C2 (sv) 2002-02-06 2002-02-06 Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden

Country Status (9)

Country Link
US (1) US7685902B2 (de)
EP (1) EP1472053B1 (de)
JP (1) JP2005516784A (de)
AT (1) ATE402793T1 (de)
AU (1) AU2003206324A1 (de)
DE (1) DE60322510D1 (de)
ES (1) ES2309298T3 (de)
SE (1) SE524747C2 (de)
WO (1) WO2003066289A1 (de)

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US7337691B2 (en) * 1999-08-05 2008-03-04 Shambhu Nath Roy Parallel kinematics mechanism with a concentric spherical joint
ATE491551T1 (de) * 2004-06-10 2011-01-15 Abb Ab Kinematischer parallelroboter und verfahren zur steuerung dieses roboters
ES2258917B1 (es) * 2005-02-17 2007-12-01 Fundacion Fatronik Robot paralelo con cuatro grados de libertad de alta velocidad.
DE102007011849B4 (de) * 2007-03-12 2009-02-26 Data M Software Gmbh Vorrichtung und Verfahren zum Biegen von flachem Halbzeug zu Profil mit über seine Länge veränderlichem Querschnitt
WO2009148603A1 (en) * 2008-06-04 2009-12-10 Ross-Hime Designs, Inc. Robotic manipulator
US20100126293A1 (en) * 2008-11-21 2010-05-27 Comau Inc. Robotic radial tool positioning system
DE102010005586B4 (de) * 2010-01-22 2012-03-29 Martin Schwab Hexapod
NL2004167C2 (en) * 2010-01-28 2011-07-29 Univ Delft Tech Robot with multiple degrees of freedom.
KR101182600B1 (ko) 2010-04-30 2012-09-18 경남대학교 산학협력단 실린더 형태의 큰 작업영역을 갖는 병렬형 로봇기구
WO2012031635A1 (en) 2010-09-10 2012-03-15 Abb Research Ltd. Industrial robot
US20120073738A1 (en) * 2010-09-29 2012-03-29 The Boeing Company Method and apparatus for laying up barrel-shaped composite structures
CN103328161B (zh) * 2011-01-31 2015-08-19 丰田自动车株式会社 多关节型臂机器人及其控制方法
WO2012116991A1 (de) * 2011-02-28 2012-09-07 Technische Universität Dresden Parallelroboter und steuerungsverfahren
JP2012192499A (ja) * 2011-03-17 2012-10-11 Canon Electronics Inc パラレルリンクロボット
US9140763B2 (en) * 2011-09-19 2015-09-22 Utah State University Wireless power transfer test system
GB2502788B (en) * 2012-06-06 2015-06-10 Ten Fold Engineering Ltd Apparatus for converting motion
US20150217359A1 (en) * 2012-06-15 2015-08-06 Abb Technology Ag Stacking Line System And Method For Stacking Blanks Outputted From A Blanking Shear Or Press
CN105121100B (zh) 2013-05-23 2018-06-05 Abb瑞士股份有限公司 紧凑型并联运动机器人
US10828768B2 (en) 2014-02-27 2020-11-10 Abb Schweiz Ag Compact robot installation
US9868205B2 (en) 2014-03-18 2018-01-16 Abb Schweiz Ag Compact parallel kinematics robot
CN104923432A (zh) * 2014-03-18 2015-09-23 江苏长虹智能装备集团有限公司 多平行四边形连杆并行的串并联驱动喷涂机器人
US10272562B2 (en) * 2014-06-09 2019-04-30 Abb Schweiz Ag Parallel kinematics robot with rotational degrees of freedom
CN106737715A (zh) * 2016-11-28 2017-05-31 广西大学 一种用于装配作业的含锁紧装置可变活动度连杆机构机械手臂
CN106737716A (zh) * 2016-11-28 2017-05-31 广西大学 一种用于装配作业的伺服驱动二活动度连杆机构简易机械手臂
CN106826745A (zh) * 2016-11-28 2017-06-13 广西大学 一种采用伺服电机驱动三自由度连杆机构饲料堆码机械臂
CN106608540A (zh) * 2016-11-28 2017-05-03 广西大学 一种含有转动副锁紧装置的变自由度连杆机构新型饲料堆码机械臂
CN106737727A (zh) * 2016-12-05 2017-05-31 广西大学 一种用于搬运作业的伺服驱动多杆式变自由度机械臂
CN106607872A (zh) * 2016-12-07 2017-05-03 广西大学 一种用于气割下料机的伺服驱动连杆式可变自由度连杆机构
CN106607932A (zh) * 2016-12-09 2017-05-03 广西大学 一种用于气割下料作业多杆闭链结构机械臂
EP3428754B1 (de) * 2017-07-13 2023-02-15 Siemens Aktiengesellschaft Verfahren zum einrichten eines bewegungsautomaten und einrichtungsanordnung
KR20200105657A (ko) * 2018-01-15 2020-09-08 코그니보티스 에이비 산업용 로봇 아암
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
US12398527B2 (en) 2022-06-01 2025-08-26 The Chinese University Of Hong Kong Cable-driven robot system for operation inside long piles or shafts
DE102023115988A1 (de) 2023-06-19 2024-12-19 Schaeffler Technologies AG & Co. KG Manipulator für einen Industrieroboter

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FR2716400B1 (fr) * 1994-02-22 1996-04-26 Onera (Off Nat Aerospatiale) Dispositif manipulateur, à structure parallèle, pour déplacer un objet dans un espace de travail cylindrique.
JP3204115B2 (ja) * 1996-01-25 2001-09-04 ダイキン工業株式会社 ワーク搬送ロボット
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US5699695A (en) * 1996-05-01 1997-12-23 Virginia Tech Intellectual Properties, Inc. Spatial, parallel-architecture robotic carpal wrist
SE512931C2 (sv) 1998-04-29 2000-06-05 Abb Ab Anordning för relativ förflyttning av två element
US7337691B2 (en) * 1999-08-05 2008-03-04 Shambhu Nath Roy Parallel kinematics mechanism with a concentric spherical joint
JP3806273B2 (ja) 1999-09-17 2006-08-09 株式会社ジェイテクト 四自由度パラレルロボット
JP4632560B2 (ja) * 2000-03-01 2011-02-16 シーグ パック システムズ アクチェンゲゼルシャフト 三次元空間内で製品を操作するロボット
SE517356C2 (sv) 2000-09-11 2002-05-28 Abb Ab Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden
SE0100134D0 (sv) * 2001-01-15 2001-01-15 Abb Ab Industrirobot
USD478921S1 (en) * 2002-02-06 2003-08-26 Abb Ab Industrial robot

Also Published As

Publication number Publication date
WO2003066289A1 (en) 2003-08-14
SE0200343L (sv) 2003-08-07
AU2003206324A1 (en) 2003-09-02
ES2309298T3 (es) 2008-12-16
US20050172750A1 (en) 2005-08-11
DE60322510D1 (de) 2008-09-11
EP1472053B1 (de) 2008-07-30
ATE402793T1 (de) 2008-08-15
EP1472053A1 (de) 2004-11-03
SE0200343D0 (sv) 2002-02-06
US7685902B2 (en) 2010-03-30
JP2005516784A (ja) 2005-06-09

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