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DE602005025343D1 - Kinematischer parallelroboter und verfahren zur steuerung dieses roboters - Google Patents

Kinematischer parallelroboter und verfahren zur steuerung dieses roboters

Info

Publication number
DE602005025343D1
DE602005025343D1 DE602005025343T DE602005025343T DE602005025343D1 DE 602005025343 D1 DE602005025343 D1 DE 602005025343D1 DE 602005025343 T DE602005025343 T DE 602005025343T DE 602005025343 T DE602005025343 T DE 602005025343T DE 602005025343 D1 DE602005025343 D1 DE 602005025343D1
Authority
DE
Germany
Prior art keywords
platform
robot
arm
actuator
controlling
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
DE602005025343T
Other languages
English (en)
Inventor
Torgny Brogardh
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB AB
Original Assignee
ABB AB
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 ABB AB filed Critical ABB AB
Publication of DE602005025343D1 publication Critical patent/DE602005025343D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
DE602005025343T 2004-06-10 2005-06-03 Kinematischer parallelroboter und verfahren zur steuerung dieses roboters Expired - Lifetime DE602005025343D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US57832204P 2004-06-10 2004-06-10
PCT/EP2005/052571 WO2005120780A1 (en) 2004-06-10 2005-06-03 Parallel kinematic robot and method for controlling this robot

Publications (1)

Publication Number Publication Date
DE602005025343D1 true DE602005025343D1 (de) 2011-01-27

Family

ID=34970092

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602005025343T Expired - Lifetime DE602005025343D1 (de) 2004-06-10 2005-06-03 Kinematischer parallelroboter und verfahren zur steuerung dieses roboters

Country Status (7)

Country Link
US (1) US8099188B2 (de)
EP (1) EP1755838B1 (de)
CN (1) CN100548590C (de)
AT (1) ATE491551T1 (de)
DE (1) DE602005025343D1 (de)
ES (1) ES2357655T3 (de)
WO (1) WO2005120780A1 (de)

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* Cited by examiner, † Cited by third party
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JP4960038B2 (ja) * 2006-08-09 2012-06-27 オークマ株式会社 パラレルメカニズム機械の制御方法及び制御装置
EP2082145A2 (de) * 2006-11-08 2009-07-29 Abb Ab Gelenk für industrieroboter
JP5402233B2 (ja) * 2009-05-19 2014-01-29 株式会社安川電機 ロボット及び物品搬送システム
EP2437914B1 (de) * 2009-06-02 2013-04-03 Bystronic Laser AG Werkzeugmaschine mit parallelkinematischem antrieb
US8285418B2 (en) * 2009-07-23 2012-10-09 Kla-Tencor Corporation Dual scanning stage
EP2574428A1 (de) 2011-09-30 2013-04-03 Güdel Group AG Parallelkinematischer Industrieroboter und Verfahren zur Steuerung dieses Industrieroboters
JP5930754B2 (ja) * 2012-02-13 2016-06-08 キヤノン株式会社 ロボット装置の制御方法及びロボット装置
RU2498895C2 (ru) * 2012-02-29 2013-11-20 Федеральное Государственное Бюджетное Учреждение Науки Институт Машиноведения Им. А.А. Благонравова Российской Академии Наук Механизм с тремя степенями свободы
EP2740563B1 (de) * 2012-12-05 2018-04-04 TRUMPF Werkzeugmaschinen GmbH & Co. KG Bearbeitungseinrichtung, Bearbeitungsmaschine und Verfahren zum Bewegen eines Bearbeitungskopfs
US9785911B2 (en) * 2013-07-25 2017-10-10 I AM Robotics, LLC System and method for piece-picking or put-away with a mobile manipulation robot
US11348066B2 (en) 2013-07-25 2022-05-31 IAM Robotics, LLC System and method for piece picking or put-away with a mobile manipulation robot
DE102014010917B4 (de) * 2014-07-28 2016-04-07 Sew-Eurodrive Gmbh & Co Kg Antriebsvorrichtung mit einem stationären Teil und mit N Linearachsen und Verfahren zum Betreiben der Antriebsvorrichtung
JP5969562B2 (ja) * 2014-09-16 2016-08-17 株式会社東芝 ノズル装置および積層造形装置
CN104972453B (zh) * 2015-05-26 2016-09-28 韩方元 一种多运动平台并联机器人构建方法及其并联机器人
DE102015116808B3 (de) * 2015-10-02 2017-01-19 Beckhoff Automation Gmbh Roboter, XY-Tisch für einen solchen Roboter und lineares Transportsystem
CN106346450B (zh) * 2016-10-17 2018-11-09 中国科学院深圳先进技术研究院 三支链三自由度并联机构
CN106429485A (zh) * 2016-12-27 2017-02-22 南宁学院 一种并联滑动微调式码垛机
CN106863326B (zh) * 2017-03-17 2023-03-24 中国东方电气集团有限公司 基于智能末端执行器的柔性装配系统
US12208481B2 (en) 2018-10-25 2025-01-28 3M Innovative Properties Company Multiple degree of freedom compliant actuator force control systems and methods used in robotic paint repair
KR102133109B1 (ko) * 2019-01-15 2020-07-10 경남대학교 산학협력단 확장된 작업영역을 갖는 병렬로봇
CA3136143A1 (en) 2019-04-05 2020-10-08 IAM Robotics, LLC Autonomous mobile robotic systems and methods for picking and put-away
CN110161850B (zh) * 2019-04-24 2020-04-07 南京航空航天大学 一种工业机器人变参数刚度辨识与建模方法
US12350824B2 (en) 2019-08-19 2025-07-08 Cognibotics Ab Parallel-kinematic machine with versatile tool orientation
KR102842610B1 (ko) * 2019-08-19 2025-08-05 코그니보틱스 에이비 다양한 도구 방향을 갖는 병렬 운동 머신
JP2021053767A (ja) * 2019-09-30 2021-04-08 ブラザー工業株式会社 工作機械
CN111300380B (zh) * 2019-11-27 2021-06-29 哈尔滨工业大学（深圳） 一种基于冗余驱动的六自由度并联机器人
CN113885316B (zh) * 2020-07-02 2023-04-25 中国科学院沈阳自动化研究所 一种七自由度协作机器人刚度建模与辨识方法
CN115890626B (zh) * 2022-11-29 2024-12-03 清华大学 可实现大范围移动的五自由度空间并联机构
CN118080994A (zh) * 2024-04-23 2024-05-28 顺达模具科技有限公司 一种汽车变速箱齿轮加工成型装置
CN119369369B (zh) * 2024-11-28 2025-09-16 武汉理工大学 兼具高法向刚度和高侧向刚度并联机构的设计方法

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FR2628670B1 (fr) * 1988-03-21 1990-08-17 Inst Nat Rech Inf Automat Dispositif articule, notamment utilisable dans le domaine de la robotique
US5028180A (en) * 1989-09-01 1991-07-02 Sheldon Paul C Six-axis machine tool
FR2716400B1 (fr) * 1994-02-22 1996-04-26 Onera (Off Nat Aerospatiale) Dispositif manipulateur, à structure parallèle, pour déplacer un objet dans un espace de travail cylindrique.
US6723174B2 (en) * 1996-03-26 2004-04-20 Semitool, Inc. Automated semiconductor processing system
WO1999010137A1 (en) * 1997-08-28 1999-03-04 Microdexterity Systems Parallel mechanism
CN1112282C (zh) * 2000-04-21 2003-06-25 清华大学 一种空间三自由度并联机器人机构
SE0003912D0 (sv) 2000-10-24 2000-10-24 Abb Ab Industrirobot
EP1234632A1 (de) 2001-02-23 2002-08-28 Willemin Machines S.A. Kinematische Einrichtung für die programmierbare Halterung und Positionierung eines Endelementes in einer Maschine oder einem Instrument
US20030005786A1 (en) * 2001-07-05 2003-01-09 Microdexterity Systems, Inc. Parallel mechanism
US6671975B2 (en) * 2001-12-10 2004-01-06 C. William Hennessey Parallel kinematic micromanipulator
AU2002226827A1 (en) * 2002-01-16 2003-07-30 Abb Ab Industrial robot
SE524747C2 (sv) * 2002-02-06 2004-09-28 Abb Ab Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden
ATE457852T1 (de) 2002-12-20 2010-03-15 Abb Ab Manipulator mit paralleler kinematik und verfahren zu dessen betrieb mit paarweisen aktuatoren
AU2005211244B2 (en) * 2004-02-04 2010-02-04 Mazor Robotics Ltd Verification system for robot pose

Also Published As

Publication number Publication date
CN100548590C (zh) 2009-10-14
US8099188B2 (en) 2012-01-17
US20070255453A1 (en) 2007-11-01
EP1755838A1 (de) 2007-02-28
ATE491551T1 (de) 2011-01-15
WO2005120780A1 (en) 2005-12-22
EP1755838B1 (de) 2010-12-15
CN1964823A (zh) 2007-05-16
ES2357655T3 (es) 2011-04-28

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