DE60203544D1 - Gelenkmechanismus mit einer seilgetriebenen untersetzungsvorrichtung für einen roboterarm - Google Patents

Gelenkmechanismus mit einer seilgetriebenen untersetzungsvorrichtung für einen roboterarm

Info

Publication number
DE60203544D1
DE60203544D1 DE60203544T DE60203544T DE60203544D1 DE 60203544 D1 DE60203544 D1 DE 60203544D1 DE 60203544 T DE60203544 T DE 60203544T DE 60203544 T DE60203544 T DE 60203544T DE 60203544 D1 DE60203544 D1 DE 60203544D1
Authority
DE
Germany
Prior art keywords
support device
robot arm
joint mechanism
rope support
axis
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 - Lifetime
Application number
DE60203544T
Other languages
English (en)
Other versions
DE60203544T2 (de
Inventor
Florian Gosselin
Alain Riwan
Dominique Ponsort
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
Publication of DE60203544D1 publication Critical patent/DE60203544D1/de
Application granted granted Critical
Publication of DE60203544T2 publication Critical patent/DE60203544T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • 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
    • Y10T74/18832—Reciprocating or oscillating to or from alternating rotary including flexible drive connector [e.g., belt, chain, strand, etc.]
    • Y10T74/18848—Reciprocating or oscillating to or from alternating rotary including flexible drive connector [e.g., belt, chain, strand, etc.] with pulley
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
DE60203544T 2001-11-19 2002-11-15 Gelenkmechanismus mit einer seilgetriebenen untersetzungsvorrichtung für einen roboterarm Expired - Lifetime DE60203544T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0114923A FR2832345B1 (fr) 2001-11-19 2001-11-19 Mecanisme articule comprenant un reducteur a cable utilisable dans un bras de robot
FR0114923 2001-11-19
PCT/FR2002/003914 WO2003043790A2 (fr) 2001-11-19 2002-11-15 Mecanisme articule comprenant un reducteur a cable utilisable dans un bras de robot

Publications (2)

Publication Number Publication Date
DE60203544D1 true DE60203544D1 (de) 2005-05-04
DE60203544T2 DE60203544T2 (de) 2006-02-16

Family

ID=8869525

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60203544T Expired - Lifetime DE60203544T2 (de) 2001-11-19 2002-11-15 Gelenkmechanismus mit einer seilgetriebenen untersetzungsvorrichtung für einen roboterarm

Country Status (9)

Country Link
US (1) US7281447B2 (de)
EP (1) EP1463612B1 (de)
JP (1) JP4181995B2 (de)
AT (1) ATE291993T1 (de)
AU (1) AU2002358901A1 (de)
CA (1) CA2466893A1 (de)
DE (1) DE60203544T2 (de)
FR (1) FR2832345B1 (de)
WO (1) WO2003043790A2 (de)

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ES2247889A1 (es) * 2003-10-09 2006-03-01 Universidad Politecnica De Madrid Dispositivo joystick robotico de arquitectura paralela de 6 grados de libertad con percepcion de fuerzas y posicion.
FR2863535B1 (fr) * 2003-12-15 2009-01-30 Commissariat Energie Atomique Bloc d'actionnement d'un train de segments articules et interface manuelle les comprenant
FR2863534B1 (fr) * 2003-12-15 2007-01-05 Commissariat Energie Atomique Articulation de bras mecanique et bras pourvu de cette articulation
FR2866826B1 (fr) * 2004-02-26 2006-08-04 Commissariat Energie Atomique Bras de telemanipulation en deux parties
WO2006054693A1 (ja) * 2004-11-22 2006-05-26 Matsushita Electric Industrial Co., Ltd. 関節構造体及びロボットアーム
WO2006084743A1 (en) * 2005-02-11 2006-08-17 Force Dimension S.A.R.L Device for transmitting movements and components thereof
EP1690652A1 (de) * 2005-02-11 2006-08-16 Force Dimension S.à.r.l Vorrichtung zur Übertragung von Bewegungen mit einer parallelkinematischen Struktur und ihre Komponenten
DE102006006322B3 (de) * 2006-02-11 2007-06-28 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboterhand
US20080000317A1 (en) 2006-05-31 2008-01-03 Northwestern University Cable driven joint actuator and method
CA2655431C (en) 2006-06-14 2014-10-21 Benny Hon Bun Yeung Surgical manipulator
CN101687320B (zh) * 2007-05-10 2013-04-24 史蒂文·D·索姆斯 利用旋转驱动器的机器人操作器
US8444631B2 (en) 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
US8428781B2 (en) * 2008-11-17 2013-04-23 Energid Technologies, Inc. Systems and methods of coordination control for robot manipulation
DE102009017503A1 (de) * 2009-04-15 2010-10-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Aktor
KR20110026935A (ko) * 2009-09-09 2011-03-16 삼성전자주식회사 로봇 관절 구동장치 및 이를 포함하는 로봇
CN102069495B (zh) * 2009-11-23 2014-01-22 鸿富锦精密工业（深圳）有限公司 并联机器人
TWI458611B (zh) * 2009-12-28 2014-11-01 Hon Hai Prec Ind Co Ltd 並聯機器人
KR101685997B1 (ko) * 2010-01-07 2016-12-13 삼성전자주식회사 로봇 핸드 및 이를 포함하는 로봇
CN102452078B (zh) * 2010-11-01 2014-04-23 鸿富锦精密工业（深圳）有限公司 机器人关节
US9789603B2 (en) 2011-04-29 2017-10-17 Sarcos Lc Teleoperated robotic system
US8942846B2 (en) * 2011-04-29 2015-01-27 Raytheon Company System and method for controlling a teleoperated robotic agile lift system
DE102011108265A1 (de) * 2011-07-25 2013-01-31 Eisenmann Ag Betätigungsarm für eine Handhabungsvorrichtung
US9616580B2 (en) 2012-05-14 2017-04-11 Sarcos Lc End effector for a robotic arm
US10766133B2 (en) 2014-05-06 2020-09-08 Sarcos Lc Legged robotic device utilizing modifiable linkage mechanism
CN104647367B (zh) * 2014-12-29 2016-05-25 合肥工业大学 一种索杆复合驱动的并联码垛机器人
GB2540756B (en) 2015-07-22 2021-03-31 Cmr Surgical Ltd Gear packaging for robot arms
WO2017013451A1 (en) * 2015-07-22 2017-01-26 Cambridge Medical Robotics Ltd Gear packaging for robot arms
GB2541369B (en) 2015-07-22 2021-03-31 Cmr Surgical Ltd Drive mechanisms for robot arms
US10821614B2 (en) 2016-11-11 2020-11-03 Sarcos Corp. Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
US10919161B2 (en) 2016-11-11 2021-02-16 Sarcos Corp. Clutched joint modules for a robotic system
US10765537B2 (en) 2016-11-11 2020-09-08 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system
US10828767B2 (en) 2016-11-11 2020-11-10 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements
US10843330B2 (en) 2017-12-07 2020-11-24 Sarcos Corp. Resistance-based joint constraint for a master robotic system
US11331809B2 (en) 2017-12-18 2022-05-17 Sarcos Corp. Dynamically controlled robotic stiffening element
CN108453788B (zh) * 2018-04-20 2020-07-10 华中科技大学 一种可换向的机械臂重力矩平衡装置
US10906191B2 (en) 2018-12-31 2021-02-02 Sarcos Corp. Hybrid robotic end effector
US11351675B2 (en) 2018-12-31 2022-06-07 Sarcos Corp. Robotic end-effector having dynamic stiffening elements for conforming object interaction
US11241801B2 (en) 2018-12-31 2022-02-08 Sarcos Corp. Robotic end effector with dorsally supported actuation mechanism
SG11202104450QA (en) * 2019-01-29 2021-05-28 Univ Nanyang Tech Mobility aid
US11198215B1 (en) 2019-08-19 2021-12-14 Joshua Scott Robotic arm
US11833676B2 (en) 2020-12-07 2023-12-05 Sarcos Corp. Combining sensor output data to prevent unsafe operation of an exoskeleton
US11794345B2 (en) 2020-12-31 2023-10-24 Sarcos Corp. Unified robotic vehicle systems and methods of control
US11826907B1 (en) 2022-08-17 2023-11-28 Sarcos Corp. Robotic joint system with length adapter
US11717956B1 (en) 2022-08-29 2023-08-08 Sarcos Corp. Robotic joint system with integrated safety
CN115411659B (zh) * 2022-08-29 2023-09-08 国网江苏省电力有限公司泰州供电分公司 一种电缆张紧方法
WO2024091107A1 (es) * 2022-10-27 2024-05-02 Castellanos Villanueva Sergio Enrique Actuador de movimiento satelital en dos dimensiones xy para la automatización industrial
US11924023B1 (en) 2022-11-17 2024-03-05 Sarcos Corp. Systems and methods for redundant network communication in a robot
US11897132B1 (en) 2022-11-17 2024-02-13 Sarcos Corp. Systems and methods for redundant network communication in a robot

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* Cited by examiner, † Cited by third party
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FR2434685A1 (fr) * 1978-09-04 1980-03-28 Commissariat Energie Atomique Manipulateur motorise
JPS60227050A (ja) * 1984-04-23 1985-11-12 Hitachi Ltd 変位伝達装置
DE3423432C2 (de) * 1984-06-26 1986-06-12 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Vorrichtung zur Positionierung einer Probe
US5207114A (en) * 1988-04-21 1993-05-04 Massachusetts Institute Of Technology Compact cable transmission with cable differential

Also Published As

Publication number Publication date
FR2832345A1 (fr) 2003-05-23
EP1463612B1 (de) 2005-03-30
CA2466893A1 (fr) 2003-05-30
WO2003043790A3 (fr) 2004-02-26
JP2005509536A (ja) 2005-04-14
JP4181995B2 (ja) 2008-11-19
AU2002358901A1 (en) 2003-06-10
US20040250644A1 (en) 2004-12-16
EP1463612A2 (de) 2004-10-06
US7281447B2 (en) 2007-10-16
FR2832345B1 (fr) 2003-12-19
ATE291993T1 (de) 2005-04-15
DE60203544T2 (de) 2006-02-16
WO2003043790A2 (fr) 2003-05-30

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