WO2007088314A3 - Articulated structure - Google Patents

Articulated structure Download PDF

Info

Publication number
WO2007088314A3
WO2007088314A3 PCT/FR2007/050723 FR2007050723W WO2007088314A3 WO 2007088314 A3 WO2007088314 A3 WO 2007088314A3 FR 2007050723 W FR2007050723 W FR 2007050723W WO 2007088314 A3 WO2007088314 A3 WO 2007088314A3
Authority
WO
WIPO (PCT)
Prior art keywords
arms
articulated
mounting plate
articulated structure
mounting plates
Prior art date
Application number
PCT/FR2007/050723
Other languages
French (fr)
Other versions
WO2007088314A2 (en
Inventor
Guy Valembois
Original Assignee
Comat Concept Mecanique Et Ass
Guy Valembois
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 Comat Concept Mecanique Et Ass, Guy Valembois filed Critical Comat Concept Mecanique Et Ass
Publication of WO2007088314A2 publication Critical patent/WO2007088314A2/en
Publication of WO2007088314A3 publication Critical patent/WO2007088314A3/en

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0075—Truss
    • 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
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/046—Allowing translations adapted to upward-downward translation movement
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/125—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for tilting and rolling
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/061—Scissors arms

Landscapes

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

Abstract

Articulated structure intended to allow an object connected to it to be oriented in space. It comprises a fixed mounting plate (1) connected to a movable mounting plate (2) through three arms (3) in which each of the arms (3) comprises two elements (31, 32) articulated to one another by means of a spherical connection (30) and each articulated to one of the mounting plates (1, 2) by a pivot (21); for each of the mounting plates (1, 2) the three pivots have non-parallel axes. Each of the arms (3) is associated with a drive means (4) able to influence the pivoting of one element (31) of the arm (3) with respect to the mounting plate (1).
PCT/FR2007/050723 2006-02-02 2007-01-31 Articulated structure WO2007088314A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0650364 2006-02-02
FR0650364A FR2896847B3 (en) 2006-02-02 2006-02-02 ARTICULATED STRUCTURE

Publications (2)

Publication Number Publication Date
WO2007088314A2 WO2007088314A2 (en) 2007-08-09
WO2007088314A3 true WO2007088314A3 (en) 2007-10-04

Family

ID=38222531

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FR2007/050723 WO2007088314A2 (en) 2006-02-02 2007-01-31 Articulated structure

Country Status (2)

Country Link
FR (1) FR2896847B3 (en)
WO (1) WO2007088314A2 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102488557A (en) * 2011-11-25 2012-06-13 华东交通大学 Device capable of realizing combinatorial motion output of 3PUU (three-prismatic-universal-universal) mechanism and 3UPU (three-universal-prismatic- universal) mechanism
CN105397800A (en) * 2015-12-23 2016-03-16 北京工业大学 Asymmetric two-freedom-degree mobile multi-ting coupling mechanism
CN105538290A (en) * 2015-12-14 2016-05-04 北京工业大学 Symmetric coupling mechanism with one moving freedom degree
CN106393063A (en) * 2016-09-20 2017-02-15 北京工业大学 Single-freedom-degree moving dodecahedron foldable symmetric coupling mechanism

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010009447A1 (en) * 2010-02-24 2011-08-25 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 80686 joint
DE102012008559B4 (en) 2012-04-04 2021-10-07 Pi4_Robotics Gmbh Robot arm module for a robot arm or robot arm
CN103029120B (en) * 2012-12-11 2015-03-25 燕山大学 Folding static load balance adjusting parallel platform
NL2012160C2 (en) * 2014-01-28 2015-07-29 Adrianus Franciscus Geest ROBOT WITH DELTA CONNECTED IN SERIES.
CN104029197B (en) * 2014-06-26 2016-01-20 山东大学（威海） A kind of vector propulsion mechanism of underwater robot
WO2017015235A1 (en) * 2015-07-17 2017-01-26 The Johns Hopkins University Delta mechanism with enhanced torsional stiffness
CN105538295A (en) * 2016-02-22 2016-05-04 武汉需要智能技术有限公司 Desktop type parallel mechanical arm
JP2018004005A (en) * 2016-07-06 2018-01-11 ソニー株式会社 Expansion mechanism and tetrapodal robot

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2542419A1 (en) * 1983-03-08 1984-09-14 Michel Lambert RETRACTABLE POLYARTICLE MECHANISM
US4651589A (en) * 1983-03-08 1987-03-24 Societe Bauduin Becart S.A. Polyarticulated retractile mechanism
US5699695A (en) * 1996-05-01 1997-12-23 Virginia Tech Intellectual Properties, Inc. Spatial, parallel-architecture robotic carpal wrist
WO2001098039A1 (en) * 2000-06-20 2001-12-27 Meganic Aps Parallel manipulator provided with a truss structure

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2542419A1 (en) * 1983-03-08 1984-09-14 Michel Lambert RETRACTABLE POLYARTICLE MECHANISM
US4651589A (en) * 1983-03-08 1987-03-24 Societe Bauduin Becart S.A. Polyarticulated retractile mechanism
US5699695A (en) * 1996-05-01 1997-12-23 Virginia Tech Intellectual Properties, Inc. Spatial, parallel-architecture robotic carpal wrist
WO2001098039A1 (en) * 2000-06-20 2001-12-27 Meganic Aps Parallel manipulator provided with a truss structure

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102488557A (en) * 2011-11-25 2012-06-13 华东交通大学 Device capable of realizing combinatorial motion output of 3PUU (three-prismatic-universal-universal) mechanism and 3UPU (three-universal-prismatic- universal) mechanism
CN105538290A (en) * 2015-12-14 2016-05-04 北京工业大学 Symmetric coupling mechanism with one moving freedom degree
CN105397800A (en) * 2015-12-23 2016-03-16 北京工业大学 Asymmetric two-freedom-degree mobile multi-ting coupling mechanism
CN105397800B (en) * 2015-12-23 2017-04-05 北京工业大学 Asymmetric two-freedom moves multi-ring coupling mechanism
CN106393063A (en) * 2016-09-20 2017-02-15 北京工业大学 Single-freedom-degree moving dodecahedron foldable symmetric coupling mechanism

Also Published As

Publication number Publication date
FR2896847A1 (en) 2007-08-03
FR2896847B3 (en) 2008-05-09
WO2007088314A2 (en) 2007-08-09

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