IT1394602B1 - Meccanismi rotazionali in catena chiusa con attuazione disaccoppiata ed omocinetica. - Google Patents
Meccanismi rotazionali in catena chiusa con attuazione disaccoppiata ed omocinetica.Info
- Publication number
- IT1394602B1 IT1394602B1 ITRM2009A000250A ITRM20090250A IT1394602B1 IT 1394602 B1 IT1394602 B1 IT 1394602B1 IT RM2009A000250 A ITRM2009A000250 A IT RM2009A000250A IT RM20090250 A ITRM20090250 A IT RM20090250A IT 1394602 B1 IT1394602 B1 IT 1394602B1
- Authority
- IT
- Italy
- Prior art keywords
- homocinetic
- uncoupled
- implementation
- closed chain
- rotational mechanisms
- Prior art date
Links
Classifications
-
- 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
- Y10T74/20329—Joint between elements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
- Detergent Compositions (AREA)
- Medicines Containing Material From Animals Or Micro-Organisms (AREA)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ITRM2009A000250A IT1394602B1 (it) | 2009-05-19 | 2009-05-19 | Meccanismi rotazionali in catena chiusa con attuazione disaccoppiata ed omocinetica. |
PCT/IT2010/000224 WO2010134119A1 (en) | 2009-05-19 | 2010-05-19 | Closed-chain rotational mechanism having decoupled and homokinetic actuation |
EP10736820.1A EP2432626B1 (en) | 2009-05-19 | 2010-05-19 | Closed-chain rotational mechanism having decoupled and homokinetic actuation |
US13/321,466 US20120137816A1 (en) | 2009-05-19 | 2010-05-21 | Closed-chain rotational mechanism having decoupled and homokinetic actuation |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ITRM2009A000250A IT1394602B1 (it) | 2009-05-19 | 2009-05-19 | Meccanismi rotazionali in catena chiusa con attuazione disaccoppiata ed omocinetica. |
Publications (2)
Publication Number | Publication Date |
---|---|
ITRM20090250A1 ITRM20090250A1 (it) | 2010-11-20 |
IT1394602B1 true IT1394602B1 (it) | 2012-07-05 |
Family
ID=41566131
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ITRM2009A000250A IT1394602B1 (it) | 2009-05-19 | 2009-05-19 | Meccanismi rotazionali in catena chiusa con attuazione disaccoppiata ed omocinetica. |
Country Status (4)
Country | Link |
---|---|
US (1) | US20120137816A1 (it) |
EP (1) | EP2432626B1 (it) |
IT (1) | IT1394602B1 (it) |
WO (1) | WO2010134119A1 (it) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013070938A1 (en) * | 2011-11-08 | 2013-05-16 | Ross-Hime Designs, Incorporated | Robotic manipulator with spherical joints |
WO2014176334A1 (en) | 2013-04-23 | 2014-10-30 | Northwestern University | Translational parallel manipulators and methods of operating the same |
GB2520983A (en) * | 2013-12-06 | 2015-06-10 | Huber Diffraktionstechnik Gmbh & Co Kg | Redundant parallel positioning table |
US10955084B2 (en) | 2013-12-06 | 2021-03-23 | Huber Diffraktionstechnik Gmbh & Co. Kg | Redundant parallel positioning table device |
US11458579B2 (en) | 2013-12-06 | 2022-10-04 | Huber Diffraktionstechnik Gmbh & Co. Kg | Redundant parallel positioning table device |
GB2541369B (en) | 2015-07-22 | 2021-03-31 | Cmr Surgical Ltd | Drive mechanisms for robot arms |
GB2540756B (en) | 2015-07-22 | 2021-03-31 | Cmr Surgical Ltd | Gear packaging for robot arms |
EP3325223B1 (en) | 2015-07-22 | 2022-05-11 | CMR Surgical Limited | Gear packaging for robot arms |
CN106826776B (zh) * | 2017-04-07 | 2024-03-26 | 河南科技大学 | 一种各向同性空间二自由度转动并联机构 |
CN107139164B (zh) * | 2017-06-21 | 2023-03-10 | 东莞爱创机器人科技有限公司 | 一种球面并联机构 |
CN109747727A (zh) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | 一种电动缸驱动的模块化机器人运输平台 |
CN109108948B (zh) * | 2018-10-23 | 2021-07-27 | 西安工程大学 | 具有3r、2r1t和1r2t三种运动模式的并联机构 |
CN110450137B (zh) * | 2019-08-02 | 2024-02-02 | 天津大学 | 一种部分解耦的二自由度转动并联机构 |
CN110682323B (zh) * | 2019-09-03 | 2022-10-14 | 上海工程技术大学 | 一种具有可控刚度的机械臂关节 |
CN110434839B (zh) * | 2019-09-16 | 2024-01-12 | 河北工业大学 | 一种含子闭环的四自由度广义球面并联机构 |
CN110801238B (zh) * | 2019-11-20 | 2022-07-01 | 上海交通大学 | 一种下肢多关节等速训练测试装置 |
CN112701477B (zh) * | 2020-12-14 | 2023-04-07 | 兰州空间技术物理研究所 | 一种高精度、大负载、低功耗的稳定指向机构 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US96395A (en) | 1869-11-02 | Improvement in affakatdb for transmitting rotary motiow | ||
US3477249A (en) | 1968-07-08 | 1969-11-11 | Southwestern Ind Inc | Constant velocity universal joint |
DE2802572C2 (de) | 1978-01-21 | 1982-07-22 | Jean Walterscheid Gmbh, 5204 Lohmar | Homokinetisches Doppelgelenk für große Beugewinkel |
US4907937A (en) | 1985-07-08 | 1990-03-13 | Ford Motor Company | Non-singular industrial robot wrist |
US4951521A (en) * | 1989-06-30 | 1990-08-28 | Honeywell Inc. | Gimbal module |
ATE525687T1 (de) * | 2006-07-03 | 2011-10-15 | Force Dimension Technologies Sarl | Aktiver greifer für haptische vorrichtungen |
US8700213B2 (en) * | 2007-03-01 | 2014-04-15 | Tokyo Institute Of Technology | Maneuvering system having inner force sense presenting function |
US8245595B2 (en) * | 2009-04-30 | 2012-08-21 | Wisconsin Alumni Research Foundation | Two-axis non-singular robotic wrist |
-
2009
- 2009-05-19 IT ITRM2009A000250A patent/IT1394602B1/it active
-
2010
- 2010-05-19 EP EP10736820.1A patent/EP2432626B1/en not_active Not-in-force
- 2010-05-19 WO PCT/IT2010/000224 patent/WO2010134119A1/en active Application Filing
- 2010-05-21 US US13/321,466 patent/US20120137816A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
ITRM20090250A1 (it) | 2010-11-20 |
EP2432626B1 (en) | 2013-12-04 |
EP2432626A1 (en) | 2012-03-28 |
US20120137816A1 (en) | 2012-06-07 |
WO2010134119A1 (en) | 2010-11-25 |
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