KR101069380B1 - 다목적 하이브리드 매니퓰레이터 - Google Patents
다목적 하이브리드 매니퓰레이터 Download PDFInfo
- Publication number
- KR101069380B1 KR101069380B1 KR1020090016190A KR20090016190A KR101069380B1 KR 101069380 B1 KR101069380 B1 KR 101069380B1 KR 1020090016190 A KR1020090016190 A KR 1020090016190A KR 20090016190 A KR20090016190 A KR 20090016190A KR 101069380 B1 KR101069380 B1 KR 101069380B1
- Authority
- KR
- South Korea
- Prior art keywords
- elbow
- connector
- freedom
- degrees
- manipulator
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
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- 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
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
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- 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
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- 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
- B25J9/041—Cylindrical coordinate type
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- 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
- B25J9/046—Revolute coordinate type
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- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/14—Arm movement, spatial
- Y10S901/15—Jointed arm
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (3)
- 삭제
- 페럴렐메카니즘을 가지는 상박부(310)와 시리얼메카니즘을 가지는 하박부(320)로 구성되어 6자유도를 구현하는 다관절 매니퓰레이터로서,상기 상박부는,본체(100)와 고정 연결되는 고정브라켓(311)과;일단부는 하박부(320)와 연결되고 타단부는 상기 고정브라켓과 십자조인트(J)로 연결되는 커넥터(312)와;두개가 평행을 이루도록 설치되되 일단부는 상기 고정브라켓에 결합되고 타단부는 상기 커넥터에 연결되어 고정브라켓에 대해 커넥터가 상하 또는 좌우로 움직일 수 있도록 하는 한쌍의 제1액츄에이터(313)와;일단부는 상기 커넥터에 연결되고 타단부는 하박부를 이루는 제1엘보(321)와 연결되어 상박부에 대해 제1엘보가 회동되게 하는 제2액츄에이터(314);를 포함하고,상기 하박부는,커넥터와 연결되어 수평축(HA)을 기준으로 상하로 회동되는 제1엘보(321)와;상기 제1엘보와 연결되어 수평축을 기준으로 상하로 회동되는 제2엘보(322)와;상기 제2엘보와 연결되어 수직축(VA)을 기준으로 좌우로 회동되는 제3엘보(323)와;상기 제3엘보와 연결되어 센터축(CA)을 기준으로 회전되며 물건을 집을 수 있는 핑거(324);로 구성됨을 특징으로 하는 다목적 하이브리드 매니퓰레이터.
- 제2항에 있어서,상기 커넥터(312)는,한쌍의 제1액츄에이터(313)가 동일한 방향으로 작동되는 경우에는 상하로 움직이고, 다른 방향으로 작동되는 경우에는 좌우로 움직이게 되는 것을 특징으로 하는 다목적 하이브리드 매니퓰레이터.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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KR1020090016190A KR101069380B1 (ko) | 2009-02-26 | 2009-02-26 | 다목적 하이브리드 매니퓰레이터 |
Applications Claiming Priority (1)
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KR1020090016190A KR101069380B1 (ko) | 2009-02-26 | 2009-02-26 | 다목적 하이브리드 매니퓰레이터 |
Publications (2)
Publication Number | Publication Date |
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KR20100097312A KR20100097312A (ko) | 2010-09-03 |
KR101069380B1 true KR101069380B1 (ko) | 2011-09-30 |
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KR1020090016190A KR101069380B1 (ko) | 2009-02-26 | 2009-02-26 | 다목적 하이브리드 매니퓰레이터 |
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Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN102431031A (zh) * | 2011-12-28 | 2012-05-02 | 广西大学 | 六活动度抓取机器人机构 |
ES2842078T3 (es) * | 2013-06-07 | 2021-07-12 | Francesco Autelli | Aparato para transferir personas y/o mercancías hacia o desde un buque |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0760679A (ja) * | 1993-08-31 | 1995-03-07 | Takenaka Komuten Co Ltd | マニピュレータ |
JPH09314305A (ja) * | 1996-05-31 | 1997-12-09 | Ube Ind Ltd | 金型スプレイロボット |
KR100588811B1 (ko) * | 2004-11-10 | 2006-06-12 | 재단법인서울대학교산학협력재단 | 다목적 하이브리드 로봇 시스템 |
KR100780126B1 (ko) | 2005-08-31 | 2007-11-27 | 가부시끼가이샤 도시바 | 아암 기구를 구비하는 이동 로봇 |
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2009
- 2009-02-26 KR KR1020090016190A patent/KR101069380B1/ko active IP Right Grant
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0760679A (ja) * | 1993-08-31 | 1995-03-07 | Takenaka Komuten Co Ltd | マニピュレータ |
JPH09314305A (ja) * | 1996-05-31 | 1997-12-09 | Ube Ind Ltd | 金型スプレイロボット |
KR100588811B1 (ko) * | 2004-11-10 | 2006-06-12 | 재단법인서울대학교산학협력재단 | 다목적 하이브리드 로봇 시스템 |
KR100780126B1 (ko) | 2005-08-31 | 2007-11-27 | 가부시끼가이샤 도시바 | 아암 기구를 구비하는 이동 로봇 |
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KR20100097312A (ko) | 2010-09-03 |
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