DE60331369D1 - Manipulator mit paralleler kinematik und verfahren zu dessen betrieb mit paarweisen aktuatoren - Google Patents

Manipulator mit paralleler kinematik und verfahren zu dessen betrieb mit paarweisen aktuatoren

Info

Publication number
DE60331369D1
DE60331369D1 DE60331369T DE60331369T DE60331369D1 DE 60331369 D1 DE60331369 D1 DE 60331369D1 DE 60331369 T DE60331369 T DE 60331369T DE 60331369 T DE60331369 T DE 60331369T DE 60331369 D1 DE60331369 D1 DE 60331369D1
Authority
DE
Germany
Prior art keywords
manipulator
parallel
chinematic
pair
operating
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
DE60331369T
Other languages
English (en)
Inventor
Torgny Brogardh
Ivan Lundberg
Daniel Waeppling
Xiaolong Feng
Ola Robberts
Jan Johansson
Martin Frisk
Jan-Gunnar Persson
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.)
ABB AB
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
Application granted granted Critical
Publication of DE60331369D1 publication Critical patent/DE60331369D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • 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
    • B23Q1/5468—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 a single rotating pair followed parallelly by a single rotating pair
    • B23Q1/5481—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 a single rotating pair followed parallelly by a single rotating pair followed parallelly by a single rotating 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—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-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)
  • Vehicle Body Suspensions (AREA)
  • Jib Cranes (AREA)
  • Actuator (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
DE60331369T 2002-12-20 2003-12-22 Manipulator mit paralleler kinematik und verfahren zu dessen betrieb mit paarweisen aktuatoren Expired - Lifetime DE60331369D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US43472702P 2002-12-20 2002-12-20
PCT/SE2003/002056 WO2004056538A1 (en) 2002-12-20 2003-12-22 A parallel kinematic manipulator and a method of operating the same, including pairwise actuators

Publications (1)

Publication Number Publication Date
DE60331369D1 true DE60331369D1 (de) 2010-04-01

Family

ID=32682094

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60331369T Expired - Lifetime DE60331369D1 (de) 2002-12-20 2003-12-22 Manipulator mit paralleler kinematik und verfahren zu dessen betrieb mit paarweisen aktuatoren

Country Status (6)

Country Link
EP (1) EP1594661B1 (de)
AT (1) ATE457852T1 (de)
AU (1) AU2003290485A1 (de)
DE (1) DE60331369D1 (de)
ES (1) ES2339766T3 (de)
WO (1) WO2004056538A1 (de)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE602005025343D1 (de) * 2004-06-10 2011-01-27 Abb Ab Kinematischer parallelroboter und verfahren zur steuerung dieses roboters
US7331750B2 (en) * 2005-03-21 2008-02-19 Michael Merz Parallel robot
EP2008605A1 (de) * 2007-06-25 2008-12-31 Universite Catholique De Louvain Hybrid manuelles und robotergestütztes System zur Positionierung eines Instruments
US20120073738A1 (en) 2010-09-29 2012-03-29 The Boeing Company Method and apparatus for laying up barrel-shaped composite structures
EP2574428A1 (de) * 2011-09-30 2013-04-03 Güdel Group AG Parallelkinematischer Industrieroboter und Verfahren zur Steuerung dieses Industrieroboters
EP2999572B1 (de) * 2013-05-23 2018-04-18 ABB Schweiz AG Kompakter parallelkinematikroboter
US10272562B2 (en) 2014-06-09 2019-04-30 Abb Schweiz Ag Parallel kinematics robot with rotational degrees of freedom
DE102014223407A1 (de) * 2014-11-17 2016-05-19 Krones Aktiengesellschaft Vorrichtung und Verfahren zur Handhabung und/oder zum Manipulieren von Artikeln wie Gebinden oderStückgütern
CN113650000B (zh) * 2018-01-15 2024-04-23 康格尼博提克斯股份公司 工业机器人手臂

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19710171C2 (de) * 1997-03-12 2002-02-07 Juergen Hesselbach Manipulator mit Parallelstruktur
US6047610A (en) 1997-04-18 2000-04-11 Stocco; Leo J Hybrid serial/parallel manipulator
US20040013509A1 (en) * 1999-08-05 2004-01-22 Roy Shambhu Nath Parallel kinematics mechanism with a concentric spherical joint
DE60231437D1 (de) * 2002-01-16 2009-04-16 Abb Ab Industrieroboter

Also Published As

Publication number Publication date
EP1594661B1 (de) 2010-02-17
ATE457852T1 (de) 2010-03-15
WO2004056538A1 (en) 2004-07-08
ES2339766T3 (es) 2010-05-25
AU2003290485A1 (en) 2004-07-14
EP1594661A1 (de) 2005-11-16

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