[go: up one dir, main page]

SU1668784A1 - Three-dimensional mechanisn with six degrees of freedom - Google Patents

Three-dimensional mechanisn with six degrees of freedom Download PDF

Info

Publication number
SU1668784A1
SU1668784A1 SU894699716A SU4699716A SU1668784A1 SU 1668784 A1 SU1668784 A1 SU 1668784A1 SU 894699716 A SU894699716 A SU 894699716A SU 4699716 A SU4699716 A SU 4699716A SU 1668784 A1 SU1668784 A1 SU 1668784A1
Authority
SU
USSR - Soviet Union
Prior art keywords
base
freedom
degrees
rods
cylindrical
Prior art date
Application number
SU894699716A
Other languages
Russian (ru)
Inventor
Виктор Аркадьевич Глазунов
Александр Шулимович Колискор
Александр Филиппович Крайнев
Original Assignee
Институт Машиноведения Им.А.А.Благонравова
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 Институт Машиноведения Им.А.А.Благонравова filed Critical Институт Машиноведения Им.А.А.Благонравова
Priority to SU894699716A priority Critical patent/SU1668784A1/en
Application granted granted Critical
Publication of SU1668784A1 publication Critical patent/SU1668784A1/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

Landscapes

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

Abstract

Изобретение относитс  к машиностроению и может быть использовано в роботах и манипул торах. Цель изобретени  - расширение эксплуатационных возможностей за счет использовани  одинаковых приводов. При повороте стержней каждой кинематической цепи 3, 4 и 5 посредством приводов происходит соответствующее перемещение выходного звена 2. Выходное звено 2 механизма имеет шесть степеней свободы. 9 ил.The invention relates to mechanical engineering and can be used in robots and manipulator tori. The purpose of the invention is the expansion of operational capabilities through the use of identical drives. When the rods of each kinematic chain 3, 4 and 5 are rotated by means of drives, the corresponding displacement of the output link 2 takes place. The output link 2 of the mechanism has six degrees of freedom. 9 il.

Description

8eight

Фиг.ЗFig.Z

8eight

(pt/z.t(pt / z.t

Фиг. 6FIG. 6

(риг. 5(rig 5

Фиг. 7FIG. 7

Фиг.ЪFIG.

Фиг. 9FIG. 9

Claims (1)

Формула изобретенияClaim Пространственный механизм с шестью степенями свободы, содержащий основание, выходное звено, связывающие их три , кинематические цепи и установленные на 15 основании три вращательных привода, отл и- чающийся тем, что, с целью расширения эксплуатационных возможностей за счет использования одинаковых приводов, каждая кинематическая цепь выполнена в виде 20 двух, трех или четырех стержней, последовательно связанных между собой посредством цилиндрических или двухподвижных сферических шарниров, связь каждой кинематической цепи с основанием выполнена в 25 виде двухподвижного сферического шарнира, а с выходным звеном - в виде цилиндрического или двухподвижного сферического шарнира, причем оси цилиндрических шарниров непараллельны, механизм снабжен тремя, аналогичными основным, вращательными приводами, а каждый из трех Стержней, связанных с основанием, соединен с соответствующей парой вращательных приводов,; предназначенных для поворота стержней относительно двух взаимно перпендикулярных осей, лежащих в плоскости, параллельной основанию, и проходящих через центр соответствующего двухподвижного шарнира, связывающего стержень с основанием.A spatial mechanism with six degrees of freedom, containing a base, an output link, three connecting them, kinematic chains and three rotary drives mounted on the base 15, characterized in that, in order to expand operational capabilities by using the same drives, each kinematic chain made in the form of 20 two, three or four rods sequentially interconnected by means of cylindrical or bi-moving spherical joints, the connection of each kinematic chain with the base in it is completed in 25 in the form of a two-moving spherical hinge, and with the output link in the form of a cylindrical or two-moving spherical hinge, the axes of the cylindrical hinges being non-parallel, the mechanism is equipped with three similar main rotary drives, and each of the three Rods connected to the base is connected to the corresponding a pair of rotary drives; designed to rotate the rods relative to two mutually perpendicular axes lying in a plane parallel to the base and passing through the center of the corresponding two-movable hinge connecting the rod with the base. Фиг.ЗFig.Z Фиг.ЧFig. H Фиг. 8FIG. 8 Фиг. 9FIG. 9
SU894699716A 1989-04-25 1989-04-25 Three-dimensional mechanisn with six degrees of freedom SU1668784A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SU894699716A SU1668784A1 (en) 1989-04-25 1989-04-25 Three-dimensional mechanisn with six degrees of freedom

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SU894699716A SU1668784A1 (en) 1989-04-25 1989-04-25 Three-dimensional mechanisn with six degrees of freedom

Publications (1)

Publication Number Publication Date
SU1668784A1 true SU1668784A1 (en) 1991-08-07

Family

ID=21451560

Family Applications (1)

Application Number Title Priority Date Filing Date
SU894699716A SU1668784A1 (en) 1989-04-25 1989-04-25 Three-dimensional mechanisn with six degrees of freedom

Country Status (1)

Country Link
SU (1) SU1668784A1 (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5333514A (en) * 1992-04-24 1994-08-02 Toyoda Koki Kabushiki Kaisha Parallel robot
US5585707A (en) * 1994-02-28 1996-12-17 Mcdonnell Douglas Corporation Tendon suspended platform robot
US5847528A (en) * 1995-05-19 1998-12-08 Canadian Space Agency Mechanism for control of position and orientation in three dimensions
US5954840A (en) * 1996-06-13 1999-09-21 Genmark Automation Universally tiltable Z axis drive arm
US6037733A (en) * 1996-03-22 2000-03-14 Genmark Automation Robot having multiple degrees of freedom
US6121743A (en) * 1996-03-22 2000-09-19 Genmark Automation, Inc. Dual robotic arm end effectors having independent yaw motion
WO2005088167A1 (en) * 2004-03-10 2005-09-22 Institut National Polytechnique De Grenoble Kinematic transformation device
RU170460U1 (en) * 2017-01-20 2017-04-25 Федеральное государственное бюджетное образовательное учреждение высшего образования "Поволжский государственный технологический университет" Linear drive unit
RU207790U1 (en) * 2021-05-31 2021-11-16 Юрий Витальевич Родионов Spatial mechanism with six degrees of freedom

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Kohtl D., Soo-Hunhee, Kao-Yuen Tsal, G.N.Sandor. Manipulator Conflgnratlon Based on Rotuoy-honear (R-L) Actuators and Their Direct and Inverse Kinematics. - J. of Mech. Trans, and Ant. In Design., Trans. ASME, 1988. Ns 1. p. 399, Fig. 5. *

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5333514A (en) * 1992-04-24 1994-08-02 Toyoda Koki Kabushiki Kaisha Parallel robot
US5585707A (en) * 1994-02-28 1996-12-17 Mcdonnell Douglas Corporation Tendon suspended platform robot
US5847528A (en) * 1995-05-19 1998-12-08 Canadian Space Agency Mechanism for control of position and orientation in three dimensions
US6037733A (en) * 1996-03-22 2000-03-14 Genmark Automation Robot having multiple degrees of freedom
US6121743A (en) * 1996-03-22 2000-09-19 Genmark Automation, Inc. Dual robotic arm end effectors having independent yaw motion
US5954840A (en) * 1996-06-13 1999-09-21 Genmark Automation Universally tiltable Z axis drive arm
WO2005088167A1 (en) * 2004-03-10 2005-09-22 Institut National Polytechnique De Grenoble Kinematic transformation device
RU170460U1 (en) * 2017-01-20 2017-04-25 Федеральное государственное бюджетное образовательное учреждение высшего образования "Поволжский государственный технологический университет" Linear drive unit
RU207790U1 (en) * 2021-05-31 2021-11-16 Юрий Витальевич Родионов Spatial mechanism with six degrees of freedom

Similar Documents

Publication Publication Date Title
SU1668784A1 (en) Three-dimensional mechanisn with six degrees of freedom
US5699695A (en) Spatial, parallel-architecture robotic carpal wrist
SE7700714L (en) FLEXIBLE ROBOT ARM
EA200300921A1 (en) KINEMATIC DEVICE FOR SUPPORTING SUPPORT AND PROGRAMMABLE MOVEMENT OF A TERMINAL ELEMENT IN A MACHINE OR DEVICE
RU2722165C1 (en) Spatial platform vip-manipulator
Parenti-Castelli et al. Workspace and optimal design of a pure translation parallel manipulator
EP0312119A3 (en) Three-dimensional measuring robot
SU1668786A1 (en) Spatial mechanism with four freedom degrees
RU2730345C1 (en) Spherical v-manipulator
SE8304786L (en) BUILDING ROBOT ARM
SU558788A1 (en) Manipulator
SU1530435A1 (en) Manipulator
RU2758377C1 (en) Spatial manipulator
SU1283076A1 (en) Mechanical arm of manipulator
SU932017A1 (en) Joint-lever differential mechanism
RU2753217C1 (en) Parallel manipulator with three degrees of freedom
SU1313709A1 (en) Manipulator gripping device link pin
RU2751778C1 (en) Platform robot
SU1657368A1 (en) Manipulator
SU1710333A1 (en) Manipulator arm
SU1312288A1 (en) Multiple-link spatial mechanism
SU1576302A1 (en) Manipulator
RU205104U1 (en) Manipulation spatial mechanism
RU2776578C1 (en) Symmetrical platform manipulator with three degrees of freedom
RU2753064C1 (en) Pivot mechanism