IT1402194B1 - Giunto rotante a rigidezza regolabile. - Google Patents

Giunto rotante a rigidezza regolabile.

Info

Publication number
IT1402194B1
IT1402194B1 ITTO2010A000779A ITTO20100779A IT1402194B1 IT 1402194 B1 IT1402194 B1 IT 1402194B1 IT TO2010A000779 A ITTO2010A000779 A IT TO2010A000779A IT TO20100779 A ITTO20100779 A IT TO20100779A IT 1402194 B1 IT1402194 B1 IT 1402194B1
Authority
IT
Italy
Prior art keywords
rotary joint
adjustable stiffness
stiffness
adjustable
rotary
Prior art date
Application number
ITTO2010A000779A
Other languages
English (en)
Inventor
Darwin G Caldwell
Nikos G Tsagarakis
Amir Jafari
Original Assignee
Fond Istituto Italiano Di Tecnologia
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 Fond Istituto Italiano Di Tecnologia filed Critical Fond Istituto Italiano Di Tecnologia
Priority to ITTO2010A000779A priority Critical patent/IT1402194B1/it
Priority to ITTO2011A000100A priority patent/IT1404523B1/it
Priority to US13/825,483 priority patent/US9157485B2/en
Priority to EP11781605.8A priority patent/EP2619469B1/en
Priority to PCT/IB2011/054193 priority patent/WO2012038931A1/en
Publication of ITTO20100779A1 publication Critical patent/ITTO20100779A1/it
Application granted granted Critical
Publication of IT1402194B1 publication Critical patent/IT1402194B1/it

Links

Classifications

    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
    • F16D3/64—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic elements arranged between substantially-radial walls of both coupling parts
    • F16D3/66—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic elements arranged between substantially-radial walls of both coupling parts the elements being metallic, e.g. in the form of coils
    • 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
    • B25J17/0241—One-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/068—Actuating means with variable stiffness
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
    • F16D3/56—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic metal lamellae, elastic rods, or the like, e.g. arranged radially or parallel to the axis, the members being shear-loaded collectively by the total load
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
    • F16D3/64—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic elements arranged between substantially-radial walls of both coupling parts

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Non-Disconnectible Joints And Screw-Threaded Joints (AREA)
ITTO2010A000779A 2010-09-23 2010-09-23 Giunto rotante a rigidezza regolabile. IT1402194B1 (it)

Priority Applications (5)

Application Number Priority Date Filing Date Title
ITTO2010A000779A IT1402194B1 (it) 2010-09-23 2010-09-23 Giunto rotante a rigidezza regolabile.
ITTO2011A000100A IT1404523B1 (it) 2010-09-23 2011-02-08 Giunto rotante a rigidezza regolabile
US13/825,483 US9157485B2 (en) 2010-09-23 2011-09-23 Stiffness adjustable rotary joint
EP11781605.8A EP2619469B1 (en) 2010-09-23 2011-09-23 Stiffness adjustable rotary joint
PCT/IB2011/054193 WO2012038931A1 (en) 2010-09-23 2011-09-23 Stiffness adjustable rotary joint

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITTO2010A000779A IT1402194B1 (it) 2010-09-23 2010-09-23 Giunto rotante a rigidezza regolabile.

Publications (2)

Publication Number Publication Date
ITTO20100779A1 ITTO20100779A1 (it) 2012-03-24
IT1402194B1 true IT1402194B1 (it) 2013-08-28

Family

ID=43739160

Family Applications (2)

Application Number Title Priority Date Filing Date
ITTO2010A000779A IT1402194B1 (it) 2010-09-23 2010-09-23 Giunto rotante a rigidezza regolabile.
ITTO2011A000100A IT1404523B1 (it) 2010-09-23 2011-02-08 Giunto rotante a rigidezza regolabile

Family Applications After (1)

Application Number Title Priority Date Filing Date
ITTO2011A000100A IT1404523B1 (it) 2010-09-23 2011-02-08 Giunto rotante a rigidezza regolabile

Country Status (4)

Country Link
US (1) US9157485B2 (it)
EP (1) EP2619469B1 (it)
IT (2) IT1402194B1 (it)
WO (1) WO2012038931A1 (it)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11654584B2 (en) 2021-06-18 2023-05-23 Industrial Technology Research Institute Actuator

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EP2444207B1 (en) * 2010-10-21 2014-05-28 Università di Pisa Variable stiffness actuator
ES2387228B2 (es) * 2012-06-29 2013-02-05 Universidad De Almería Actuador con mecanismo de rigidez variable y par umbral
ITTO20120743A1 (it) * 2012-08-28 2014-03-01 Fond Istituto Italiano Di Tecnologia Attuatore a rigidezza variabile con reiezione passiva dei disturbi
CN103846930B (zh) * 2012-12-27 2015-11-25 中国科学院合肥物质科学研究院 应用于服务机器人机械臂上的被动式顺应性阻抗机构
JP6076745B2 (ja) * 2013-01-09 2017-02-08 本田技研工業株式会社 リンク機構
JP6067379B2 (ja) * 2013-01-09 2017-01-25 本田技研工業株式会社 動力伝達装置
ES2526726B1 (es) 2013-06-13 2015-10-20 Consejo Superior De Investigaciones Científicas (Csic) Articulación con rigidez controlable y dispositivo de medición de fuerza
ITTO20130551A1 (it) * 2013-07-02 2015-01-03 Fond Istituto Italiano Di Tecnologia Giunto perfezionato con attuazione agonista - antagonista
CN103433933B (zh) * 2013-07-15 2015-06-10 北京理工大学 能够提供非线性可变刚度的弹性组件
EP3090194B1 (en) 2013-12-30 2017-10-04 Technische Universiteit Twente Variable stiffness actuator
LT6223B (lt) * 2014-02-05 2015-10-26 My Research, Uab Servomechanizmas su valdoma poveikio jėga
US9676104B2 (en) * 2014-05-19 2017-06-13 Yaskawa America, Inc. Variable spring constant torque coupler
JP6662020B2 (ja) * 2015-03-10 2020-03-11 株式会社ジェイテクト 揺動関節装置、歩行アシスト装置、搬送装置及びマニピュレータ
CN104647397B (zh) * 2015-03-17 2016-02-03 河北工业大学 一种可变刚度的柔性关节
CN105171770B (zh) * 2015-10-30 2017-03-22 四川大学 一种机械安全变刚度弹性关节
CN106363658B (zh) * 2016-10-26 2019-01-25 北京控制工程研究所 一种可级联扩展的变刚度机器人关节
CN106514701B (zh) * 2017-01-12 2018-11-02 哈尔滨工业大学 一种可变刚度的柔性关节
CN106737821B (zh) * 2017-01-12 2019-03-12 哈尔滨工业大学 一种基于几何特性的变刚度机构
CN106695870B (zh) * 2017-01-19 2019-01-25 哈尔滨工业大学 一种柔性关节变刚度机构
CN106584505B (zh) * 2017-01-19 2019-01-25 哈尔滨工业大学 一种模块化变刚度机器人关节
CN106863348B (zh) * 2017-03-17 2020-05-22 华南理工大学 一种机器人用的变刚度关节及其刚度调节方法
FR3070738B1 (fr) * 2017-09-01 2020-02-07 Centre National De La Recherche Scientifique Dispositif mecanique a compliance passive pour la transmission de mouvement rotatif
CN108247666B (zh) * 2017-12-28 2020-12-01 中国科学院沈阳自动化研究所 一种并联式轻型机器人关节变刚度执行器
CN109968399B (zh) * 2017-12-28 2021-05-11 中国科学院沈阳自动化研究所 一种单电机变刚度关节
JP6581235B1 (ja) * 2018-03-30 2019-09-25 本田技研工業株式会社 リンク機構
TWI653035B (zh) * 2018-05-04 2019-03-11 國立成功大學 關節外骨骼輔助驅動機構
DE102018008378B4 (de) * 2018-10-22 2020-07-23 Technische Universität Chemnitz Elastisches Gelenk
CN109465849B (zh) * 2018-11-30 2024-03-12 广东工业大学 一种可局部线性手动调节刚度值的机器人关节变刚度模块
CN109623871B (zh) * 2019-03-01 2023-05-23 河北工业大学 一种主-被动变刚度关节及其刚度调节方法
CN110936365B (zh) * 2019-12-18 2021-05-25 北京航空航天大学 基于重构可调长度导杆机构的可调刚度致动器
CN111958642B (zh) * 2020-08-11 2022-02-01 大连理工江苏研究院有限公司金坛分公司 一种机械零件制造用智能机械臂
CN112372626B (zh) * 2020-09-23 2022-03-11 天津大学 一种给定力矩变形规律的串联弹性驱动器及设计方法
DE102021000619B3 (de) * 2021-01-26 2021-12-30 Technische Universität Chemnitz Nichtlineares elastisches Gelenk mit einem elastischen Mechanismus und Antrieben
CN113334356B (zh) * 2021-06-16 2022-06-14 北京航空航天大学 一种被动变刚度串联弹性驱动器
CN113334425B (zh) * 2021-06-25 2023-03-03 北京航空航天大学 具有低能耗与大刚度调节范围特征的变刚度驱动器
CN113805617B (zh) * 2021-08-25 2024-06-14 重庆大学 一种可调恒力机构

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US858412A (en) * 1905-11-07 1907-07-02 Percy John Neate Spring-wheel.
US1707530A (en) * 1924-04-15 1929-04-02 Meseroll Augustus Stout Universal coupling
US1672400A (en) * 1924-05-09 1928-06-05 John B West Yielding motion-transmitting device
JPS57173620A (en) * 1981-04-20 1982-10-26 Daikin Mfg Co Ltd Clutch disc

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11654584B2 (en) 2021-06-18 2023-05-23 Industrial Technology Research Institute Actuator

Also Published As

Publication number Publication date
EP2619469B1 (en) 2014-10-29
US20130178297A1 (en) 2013-07-11
EP2619469A1 (en) 2013-07-31
IT1404523B1 (it) 2013-11-22
WO2012038931A1 (en) 2012-03-29
ITTO20100779A1 (it) 2012-03-24
ITTO20110100A1 (it) 2012-03-24
US9157485B2 (en) 2015-10-13

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