WO2001051259A3 - Modular robot manipulator apparatus - Google Patents

Modular robot manipulator apparatus Download PDF

Info

Publication number
WO2001051259A3
WO2001051259A3 PCT/SG2000/000002 SG0000002W WO0151259A3 WO 2001051259 A3 WO2001051259 A3 WO 2001051259A3 SG 0000002 W SG0000002 W SG 0000002W WO 0151259 A3 WO0151259 A3 WO 0151259A3
Authority
WO
WIPO (PCT)
Prior art keywords
motion
enabling
series
motion transmission
flexible housing
Prior art date
Application number
PCT/SG2000/000002
Other languages
French (fr)
Other versions
WO2001051259B1 (en
WO2001051259A2 (en
Inventor
Hai Hong Zhu
Ming Xie
Mong King Lim
Original Assignee
Hai Hong Zhu
Ming Xie
Mong King Lim
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 Hai Hong Zhu, Ming Xie, Mong King Lim filed Critical Hai Hong Zhu
Priority to PCT/SG2000/000002 priority Critical patent/WO2001051259A2/en
Publication of WO2001051259A2 publication Critical patent/WO2001051259A2/en
Publication of WO2001051259A3 publication Critical patent/WO2001051259A3/en
Publication of WO2001051259B1 publication Critical patent/WO2001051259B1/en

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
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present invention provides an apparatus (1) for carrying various types of tools (12) for the purpose of undertaking welding, painting, manipulation, assembly, material handling, inspection and any desired motions. The apparatus includes a base system (2) having a standardized mechanical and electric interface and providing the output of motion with sufficient power (3), a series of serially connected flexible housing frames (4) enabling the apparatus to execute various configurations (ie, motions), a series of independent motion transmission units (5) enabling the transmission of the single motor"s motion along all the motion transmission units, and a series of serially connected motion distribution units (6) enabling the output of motion from a motion transmission unit to its corresponding link. Each flexible housing frame (4) has two degrees of freedom (DOF): one for twisting rotation (7) and the other for pivoting rotation (8). Each motion transmission unit includes two shafts (20 and 25) and a special bevel-gear mechanism (10). The triple (flexible housing frame, motion transmission unit, motion distribution unit) forms a modular entity (11) of the apparatus enabling the apparatus to be easily scaleable (ie, to add or remove modular entities according to the requirement of tasks).
PCT/SG2000/000002 2000-01-11 2000-01-11 Modular robot manipulator apparatus WO2001051259A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/SG2000/000002 WO2001051259A2 (en) 2000-01-11 2000-01-11 Modular robot manipulator apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SG2000/000002 WO2001051259A2 (en) 2000-01-11 2000-01-11 Modular robot manipulator apparatus

Publications (3)

Publication Number Publication Date
WO2001051259A2 WO2001051259A2 (en) 2001-07-19
WO2001051259A3 true WO2001051259A3 (en) 2001-11-08
WO2001051259B1 WO2001051259B1 (en) 2002-05-30

Family

ID=20428782

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SG2000/000002 WO2001051259A2 (en) 2000-01-11 2000-01-11 Modular robot manipulator apparatus

Country Status (1)

Country Link
WO (1) WO2001051259A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102166750A (en) * 2011-05-16 2011-08-31 机械科学研究总院先进制造技术研究中心 Positioning beam and robot linear motion unit with same

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* Cited by examiner, † Cited by third party
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JP3952955B2 (en) 2003-01-17 2007-08-01 トヨタ自動車株式会社 Articulated robot
US7747352B2 (en) * 2004-04-20 2010-06-29 Massachusetts Institute Of Technology Physical modeling system for constructing and controlling articulated forms with motorized joints
CN100348380C (en) * 2005-06-30 2007-11-14 上海交通大学 Self-reconstructed self-repair robot basic analogue space transmission
JP5004020B2 (en) * 2005-09-27 2012-08-22 株式会社安川電機 Articulated manipulator and robot system
WO2011003451A1 (en) * 2009-07-09 2011-01-13 Abb Research Ltd A robot arm system and a robot arm
IT1400536B1 (en) * 2010-05-26 2013-06-11 Oto Melara Spa ROBOT ARM FOR A VEHICLE.
CN102528806A (en) * 2010-12-20 2012-07-04 财团法人精密机械研究发展中心 Server capable of being serially connected with other servers and switching structure of server
ITMI20111920A1 (en) * 2011-10-24 2013-04-25 Milano Politecnico ROBOT ARCHITECTURE ARTICULATED FOR MEDICAL USE.
CN102431038A (en) * 2011-10-28 2012-05-02 武汉需要智能技术有限公司 Modular joint combination of mechanical arm with multiple degrees of freedom
DE102013013114A1 (en) * 2012-08-17 2014-02-20 Liebherr-Verzahntechnik Gmbh Device for the automated removal of workpieces arranged in a container
CN103884484B (en) * 2012-12-21 2016-08-10 中国直升机设计研究所 A kind of automatic release device
CN103144102A (en) * 2013-03-28 2013-06-12 南京妙手机电科技有限公司 Mechanical arm with connecting module with two degrees of freedom
CN103286775A (en) * 2013-05-21 2013-09-11 华南理工大学 Nondestructive testing robot for excavator
GB201504843D0 (en) 2015-03-23 2015-05-06 Rolls Royce Plc Flexible tools and apparatus for machining objects
CN105171722B (en) * 2015-10-26 2017-08-25 冯亿坤 Imitative eel multi-freedom robot under water
CN106926227A (en) * 2015-12-31 2017-07-07 中国科学院沈阳自动化研究所 A kind of open-ended modularity mechanical arm
WO2018021171A1 (en) * 2016-07-26 2018-02-01 Ｇｒｏｏｖｅ Ｘ株式会社 Articulated robot
CN106272387B (en) * 2016-09-27 2017-07-25 安徽大学 Modularized reconfigurable robot
CN106737627A (en) * 2017-01-12 2017-05-31 河海大学常州校区 A kind of imitative trunk mechanical arm
CN108312140A (en) * 2018-03-28 2018-07-24 陕西蓝智机器人有限公司 A kind of single machine axis connection formula multi-freedom joint mechanical arm
CN113968482B (en) * 2021-09-29 2022-05-17 四川大学华西医院 Gear and belt wheel coupled passive clamping mechanism
DE102022102347A1 (en) * 2022-02-01 2023-08-03 Neura Robotics GmbH Arm section for a robotic arm and robotic arm

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4531884A (en) * 1982-11-15 1985-07-30 Russell Richard H Automated machine
EP0153884A1 (en) * 1984-02-07 1985-09-04 Maurice Gabillet Modular manipulator arm
US4856178A (en) * 1987-06-09 1989-08-15 Sz S.R.L. Machine tool for turning, milling, boring, drilling, and washing with independent means for clamping the part to be machined
US5355743A (en) * 1991-12-19 1994-10-18 The University Of Texas At Austin Robot and robot actuator module therefor

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4531884A (en) * 1982-11-15 1985-07-30 Russell Richard H Automated machine
EP0153884A1 (en) * 1984-02-07 1985-09-04 Maurice Gabillet Modular manipulator arm
US4856178A (en) * 1987-06-09 1989-08-15 Sz S.R.L. Machine tool for turning, milling, boring, drilling, and washing with independent means for clamping the part to be machined
US5355743A (en) * 1991-12-19 1994-10-18 The University Of Texas At Austin Robot and robot actuator module therefor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102166750A (en) * 2011-05-16 2011-08-31 机械科学研究总院先进制造技术研究中心 Positioning beam and robot linear motion unit with same

Also Published As

Publication number Publication date
WO2001051259B1 (en) 2002-05-30
WO2001051259A2 (en) 2001-07-19

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