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GB2464147B - Three degree-of-freedom parallel spherical mechanism for payload orienting applications - Google Patents

Three degree-of-freedom parallel spherical mechanism for payload orienting applications

Info

Publication number
GB2464147B
GB2464147B GB0809746.1A GB0809746A GB2464147B GB 2464147 B GB2464147 B GB 2464147B GB 0809746 A GB0809746 A GB 0809746A GB 2464147 B GB2464147 B GB 2464147B
Authority
GB
United Kingdom
Prior art keywords
orienting
payload
applications
degree
freedom parallel
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 - Fee Related
Application number
GB0809746.1A
Other versions
GB0809746D0 (en
GB2464147A8 (en
GB2464147A (en
Inventor
Nathaniel Phillips
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to GB0809746.1A priority Critical patent/GB2464147B/en
Publication of GB0809746D0 publication Critical patent/GB0809746D0/en
Publication of GB2464147A8 publication Critical patent/GB2464147A8/en
Publication of GB2464147A publication Critical patent/GB2464147A/en
Application granted granted Critical
Publication of GB2464147B publication Critical patent/GB2464147B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B25J17/0283—Three-dimensional joints
    • 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
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
GB0809746.1A 2008-05-29 2008-05-29 Three degree-of-freedom parallel spherical mechanism for payload orienting applications Expired - Fee Related GB2464147B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB0809746.1A GB2464147B (en) 2008-05-29 2008-05-29 Three degree-of-freedom parallel spherical mechanism for payload orienting applications

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB0809746.1A GB2464147B (en) 2008-05-29 2008-05-29 Three degree-of-freedom parallel spherical mechanism for payload orienting applications

Publications (4)

Publication Number Publication Date
GB0809746D0 GB0809746D0 (en) 2008-07-09
GB2464147A8 GB2464147A8 (en) 2010-04-14
GB2464147A GB2464147A (en) 2010-04-14
GB2464147B true GB2464147B (en) 2013-01-09

Family

ID=39637768

Family Applications (1)

Application Number Title Priority Date Filing Date
GB0809746.1A Expired - Fee Related GB2464147B (en) 2008-05-29 2008-05-29 Three degree-of-freedom parallel spherical mechanism for payload orienting applications

Country Status (1)

Country Link
GB (1) GB2464147B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104889976A (en) * 2015-05-28 2015-09-09 燕山大学 Three rotating decoupling spherical surface parallel robot mechanism
WO2021223474A1 (en) * 2020-05-06 2021-11-11 仿翼（深圳）科技有限公司 Aircraft, aircraft control method, and computer readable storage medium

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013033954A1 (en) 2011-09-09 2013-03-14 深圳市大疆创新科技有限公司 Gyroscopic dynamic auto-balancing ball head
KR101749996B1 (en) * 2011-09-09 2017-06-22 에스지 디제이아이 테크놀러지 코., 엘티디 Dual-axis platform for use in an unmanned aerial vehicle, triple-axis platform for use in unmanned aerial vehicle, and multi-rotor aerial vehicle
DE102012018533B4 (en) * 2012-09-19 2022-12-01 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Manipulator for minimally invasive surgery
CN103029119B (en) * 2012-12-04 2015-04-01 天津大学 Three-RDOF (rotational degree of freedom) parallel mechanism
GB201305984D0 (en) * 2013-04-03 2013-05-15 Moog Bv Mechanical linkage
US8903568B1 (en) 2013-07-31 2014-12-02 SZ DJI Technology Co., Ltd Remote control method and terminal
CN103406908A (en) * 2013-07-31 2013-11-27 北京邮电大学 Force feedback hand controller with three degrees of freedom rotation
TWI574722B (en) * 2014-05-15 2017-03-21 崔文德 Spherical coordinates orientating mechanism
US9579786B2 (en) * 2013-09-26 2017-02-28 Wen-Der TRUI Spherical coordinates manipulating mechanism
EP3764157B1 (en) 2013-10-08 2025-06-25 SZ DJI Osmo Technology Co., Ltd. Apparatus and method for stabilization and vibration reduction
GB2531994B (en) * 2014-10-15 2020-06-24 Cmr Surgical Ltd Surgical articulation
CN104842343B (en) * 2015-05-25 2020-08-07 山东理工大学 Direct-drive type one-rotation three-translation micro-operation robot
JP6228680B1 (en) 2015-08-14 2017-11-08 エスゼット ディージェイアイ オスモ テクノロジー カンパニー リミテッドＳＺ ＤＪＩ Ｏｓｍｏ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．， Ｌｔｄ． Gimbal mechanism
US10455158B2 (en) * 2015-09-17 2019-10-22 IJK Controls LLC Stabilized gimbal system with unlimited field of regard
CN105965538A (en) * 2016-07-19 2016-09-28 张选琪 Three-freedom-degree spherical drive unit
CN107160365A (en) * 2017-06-09 2017-09-15 深圳先进技术研究院 A kind of three freedom decoupling sphere parallel mechanism
KR101983563B1 (en) * 2017-11-23 2019-05-29 (주)한국미래기술 Parallel type integrated actuator
CN110091311A (en) * 2019-04-16 2019-08-06 西安理工大学 A kind of driving change born of the same parents' rotating mechanism
DE102019005650B4 (en) * 2019-08-12 2023-08-31 Mbda Deutschland Gmbh Pointing platform for a sensor device, sensor system and aircraft
CN114055436A (en) * 2021-11-19 2022-02-18 苏州大学 Portable full-coupling parallel connection type continuum mechanical arm
CN114426089B (en) * 2022-02-14 2023-03-31 北京航空航天大学 Vector propeller with adjustable propeller pitch
GB202203245D0 (en) * 2022-03-09 2022-04-20 Queens Univ Of Belfast Apparatus for positioning a tool
CN117484478A (en) * 2023-12-14 2024-02-02 浙江大学 A four-degree-of-freedom robotic arm based on a spherical parallel mechanism

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4878393A (en) * 1988-05-27 1989-11-07 Oprea Duta Dextrous spherical robot wrist
US5898599A (en) * 1993-10-01 1999-04-27 Massachusetts Institute Of Technology Force reflecting haptic interface
US5966991A (en) * 1997-04-23 1999-10-19 Universite Laval Two degree-of-freedom spherical orienting device
DE19900528A1 (en) * 1999-01-10 2000-09-21 Axel Holle Spatial movements device for treating severely disabled people and training of pilots, includes at least one device for generating a spherical movement

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4878393A (en) * 1988-05-27 1989-11-07 Oprea Duta Dextrous spherical robot wrist
US5898599A (en) * 1993-10-01 1999-04-27 Massachusetts Institute Of Technology Force reflecting haptic interface
US5966991A (en) * 1997-04-23 1999-10-19 Universite Laval Two degree-of-freedom spherical orienting device
DE19900528A1 (en) * 1999-01-10 2000-09-21 Axel Holle Spatial movements device for treating severely disabled people and training of pilots, includes at least one device for generating a spherical movement

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104889976A (en) * 2015-05-28 2015-09-09 燕山大学 Three rotating decoupling spherical surface parallel robot mechanism
CN104889976B (en) * 2015-05-28 2016-08-17 燕山大学 A kind of three rotate decoupling sphere parallel robot mechanism
WO2021223474A1 (en) * 2020-05-06 2021-11-11 仿翼（深圳）科技有限公司 Aircraft, aircraft control method, and computer readable storage medium

Also Published As

Publication number Publication date
GB0809746D0 (en) 2008-07-09
GB2464147A8 (en) 2010-04-14
GB2464147A (en) 2010-04-14

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Legal Events

Date Code Title Description
R108 Alteration of time limits (patents rules 1995)

Free format text: EXTENSION ALLOWED

Effective date: 20090727

Free format text: EXTENSION APPLICATION

Effective date: 20090723

PCNP Patent ceased through non-payment of renewal fee

Effective date: 20200529