FR3004230B1 - Verin a cable permettant un debattement articulaire augmente - Google Patents

Verin a cable permettant un debattement articulaire augmente

Info

Publication number
FR3004230B1
FR3004230B1 FR1353089A FR1353089A FR3004230B1 FR 3004230 B1 FR3004230 B1 FR 3004230B1 FR 1353089 A FR1353089 A FR 1353089A FR 1353089 A FR1353089 A FR 1353089A FR 3004230 B1 FR3004230 B1 FR 3004230B1
Authority
FR
France
Prior art keywords
debatment
verin
cable
increased joint
joint
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.)
Active
Application number
FR1353089A
Other languages
English (en)
Other versions
FR3004230A1 (fr
Inventor
Fares Kfoury
Philippe Garrec
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
Commissariat a lEnergie Atomique et aux Energies Alternatives 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, Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR1353089A priority Critical patent/FR3004230B1/fr
Priority to US14/777,922 priority patent/US10035260B2/en
Priority to PCT/EP2014/056355 priority patent/WO2014161796A1/fr
Priority to EP14714678.1A priority patent/EP2981739A1/fr
Publication of FR3004230A1 publication Critical patent/FR3004230A1/fr
Application granted granted Critical
Publication of FR3004230B1 publication Critical patent/FR3004230B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • F16H19/0622—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member for converting reciprocating movement into oscillating movement and vice versa, the reciprocating movement is perpendicular to the axis of oscillation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • F16H2019/0695—Generating pivoting movement of a joint
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/204—Axial sliding means, i.e. for rotary support and axial guiding of nut or screw shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Transmission Devices (AREA)
FR1353089A 2013-04-05 2013-04-05 Verin a cable permettant un debattement articulaire augmente Active FR3004230B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR1353089A FR3004230B1 (fr) 2013-04-05 2013-04-05 Verin a cable permettant un debattement articulaire augmente
US14/777,922 US10035260B2 (en) 2013-04-05 2014-03-28 Cable actuator allowing increased joint clearance
PCT/EP2014/056355 WO2014161796A1 (fr) 2013-04-05 2014-03-28 Verin a cable permettant un debattement articulaire augmente
EP14714678.1A EP2981739A1 (fr) 2013-04-05 2014-03-28 Verin a cable permettant un debattement articulaire augmente

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1353089A FR3004230B1 (fr) 2013-04-05 2013-04-05 Verin a cable permettant un debattement articulaire augmente

Publications (2)

Publication Number Publication Date
FR3004230A1 FR3004230A1 (fr) 2014-10-10
FR3004230B1 true FR3004230B1 (fr) 2015-05-15

Family

ID=48656131

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1353089A Active FR3004230B1 (fr) 2013-04-05 2013-04-05 Verin a cable permettant un debattement articulaire augmente

Country Status (4)

Country Link
US (1) US10035260B2 (fr)
EP (1) EP2981739A1 (fr)
FR (1) FR3004230B1 (fr)
WO (1) WO2014161796A1 (fr)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015216640A1 (de) 2015-08-31 2017-03-02 Continental Automotive Gmbh Ventil
US10702441B2 (en) * 2016-05-04 2020-07-07 Ekso Bionics, Inc. Ball screw and tensile member exoskeleton joint actuation device
FR3063788B1 (fr) 2017-03-07 2019-03-15 Commissariat A L'energie Atomique Et Aux Energies Alternatives Dispositif de guidage a pseudo parallelogrammes flexibles a haute resistance a la fatigue
JP1607841S (fr) * 2017-07-12 2019-12-23
JP1605287S (fr) * 2017-07-18 2019-11-25
JP1605285S (fr) * 2017-07-18 2019-11-25
JP1605286S (fr) * 2017-07-18 2019-11-25
JP1605288S (fr) * 2017-07-18 2019-11-25
JP1605289S (fr) * 2017-07-18 2019-11-25
JP1615133S (fr) * 2018-03-29 2020-03-30
JP1615136S (fr) * 2018-03-29 2020-03-30
JP1615135S (fr) * 2018-03-29 2020-03-30
JP1615134S (fr) * 2018-03-29 2020-03-30
JP1623232S (fr) * 2018-04-18 2020-07-13
JP1623231S (fr) * 2018-04-18 2020-07-13
CN109176493A (zh) * 2018-09-18 2019-01-11 哈尔滨工业大学（深圳） 一种绳索驱动装置及绳驱并联机器人
CN109613824A (zh) * 2018-12-13 2019-04-12 广东工业大学 一种滚珠丝杠驱动的刚柔耦合运动平台及控制方法
FR3091325B1 (fr) * 2018-12-27 2021-03-05 Commissariat Energie Atomique Transmission pour vérin à câble à ancrage d’écrou décalés
FR3110476B1 (fr) 2020-05-21 2023-09-15 Robotiques 3 Dimensions Exosquelette amelioré pour assistance aux efforts verticaux
FR3110389A1 (fr) 2020-05-21 2021-11-26 Robotiques 3 Dimensions Structure déformable d’aide au mouvement d’articulation et procédé correspondant
FR3117912B1 (fr) 2020-12-18 2023-05-19 Commissariat Energie Atomique Robot de co-manipulation à loi de commande en effort mixte offrant une forte sensibilité de l’effecteur et permettant l’interaction avec le corps du robot.
CN113172597B (zh) * 2021-04-28 2022-10-11 清华大学 一种线绳驱动机构

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4613798A (en) * 1985-04-01 1986-09-23 Baumann Peter H Electric-powered spring-return actuating device
FR2809464B1 (fr) 2000-05-26 2002-10-11 Commissariat Energie Atomique Transmission a vis, ecrou et cable attache a la vis
KR20110026935A (ko) * 2009-09-09 2011-03-16 삼성전자주식회사 로봇 관절 구동장치 및 이를 포함하는 로봇
KR101706094B1 (ko) * 2010-01-14 2017-02-14 삼성전자주식회사 로봇용 관절 구동장치 및 이를 포함하는 로봇, 로봇용 관절 구동장치의 케이블 연결방법
US9097325B2 (en) * 2011-08-05 2015-08-04 Ohio University Motorized drive system and method for articulating a joint
WO2015013501A1 (fr) * 2013-07-25 2015-01-29 Liftwave, Inc. Dba Rise Robotics Organe d'entraînement différentiel

Also Published As

Publication number Publication date
EP2981739A1 (fr) 2016-02-10
FR3004230A1 (fr) 2014-10-10
US10035260B2 (en) 2018-07-31
US20160288319A1 (en) 2016-10-06
WO2014161796A1 (fr) 2014-10-09

Similar Documents

Publication Publication Date Title
FR3004230B1 (fr) Verin a cable permettant un debattement articulaire augmente
ES1148433Y (es) Conjunto de montaje de cable
DK2950760T4 (da) Stomiudstyr
DK3004155T3 (da) Peptidforbindelse
DK3084085T3 (da) En hybridvandindretning
FR3009447B1 (fr) Connecteur
IL243256A0 (en) Connection configuration device
DK2981715T3 (da) Rotorvinge på et vindenergianlæg
DK3047188T3 (da) Rørforbindelse
PL3033745T3 (pl) Urządzenie oświetleniowe
FR3009137B1 (fr) Connecteur
SG11201506691PA (en) Offshore facility
EP2984712A4 (fr) Conduite
FR3005294B1 (fr) Servofrein electrohydraulique
DE112014001602A5 (de) Implantierbare Kabelverbindungseinrichtung
FR3009138B1 (fr) Connecteur
FR3002607B1 (fr) Verin a cables tolerant aux desalignements
BR112015032639A2 (pt) Guindaste
NO346766B1 (no) Undervannskobling
FI10636U1 (fi) Aita
GB2513201B (en) A Wiring Connection
FI20135464A (fi) Putkiliitos
FI20135236A (fi) Haudutin
DK3071509T3 (da) En donkraft
TH1501003087A (th) ท่อแบบมีร่อง

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 4

PLFP Fee payment

Year of fee payment: 5

PLFP Fee payment

Year of fee payment: 6

PLFP Fee payment

Year of fee payment: 7

PLFP Fee payment

Year of fee payment: 8

PLFP Fee payment

Year of fee payment: 9

PLFP Fee payment

Year of fee payment: 10

PLFP Fee payment

Year of fee payment: 11

PLFP Fee payment

Year of fee payment: 12