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WO2007092973A1 - Élément cinématique - Google Patents

Élément cinématique Download PDF

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Publication number
WO2007092973A1
WO2007092973A1 PCT/AT2007/000044 AT2007000044W WO2007092973A1 WO 2007092973 A1 WO2007092973 A1 WO 2007092973A1 AT 2007000044 W AT2007000044 W AT 2007000044W WO 2007092973 A1 WO2007092973 A1 WO 2007092973A1
Authority
WO
WIPO (PCT)
Prior art keywords
kinematic
actuator
fixed platform
element according
axis
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.)
Ceased
Application number
PCT/AT2007/000044
Other languages
German (de)
English (en)
Inventor
Franz Ehrenleitner
Sabine BÜHRER
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 EP07701290A priority Critical patent/EP1998937A1/fr
Publication of WO2007092973A1 publication Critical patent/WO2007092973A1/fr
Anticipated expiration legal-status Critical
Ceased 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
    • 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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes

Definitions

  • the invention relates to a kinematic element with a fixed platform and a rotatable about an axis of rotation of the fixed platform component, wherein between the fixed platform and the component at least one variable-length actuator is provided, according to the introductory part of claim 1.
  • a kinematic element with a fixed platform and a rotatable about an axis of rotation of the fixed platform component, wherein between the fixed platform and the component at least one variable-length actuator is provided, according to the introductory part of claim 1.
  • Such an element can be used both in structures and devices of serial kinematics as well as in parallel kinematics.
  • planar kinematics occur variously, for example in jib cranes and cranes, in microphone carriers or headlamp carriers and the like. Often several such elements are "connected in series", for example, in mobile platforms or cranes, variously parallel to each other, then operated mostly simultaneously, for example, at work platforms.
  • the kinematic most interesting range of such elements is the "tip" of the rotatable component, since it either serves as a “fixed platform” for the next stage (serial kinematics) or, together with the tip of analogous elements, carries or in some circumstances forms a movable platform ( parallel kinematics).
  • Another problem is the need to use highly accurate and de facto always preloaded and therefore extremely expensive bearings in order to achieve the required comply with the accuracy of the movable platform with respect to the fixed platform. This is particularly a problem when, as in the 2-2-2 kinematics or the 3 -2-1 kinematic attack multiple rods or actuators in one point.
  • serial kinematics are clearly at a disadvantage, as they are equipped with up to 5 intermediate platforms arranged one behind the other like a chain, so that the first, naturally moving, intermediate platform following the fixed platform carries all the other intermediate platforms and the mobile end platform, the second movable intermediate platform carries around an intermediate platform less etc., etc.
  • the parallel kinematics almost to the same extent that the structure of the individual intermediate constructions is extremely massive and thus consumes a lot of energy during the movement.
  • Ends carry a movable platform.
  • the missing three degrees of freedom are determined by a parallel guide per articulated rod, the movable platform moves so always parallel to itself.
  • the six actuators only three degrees of freedom are served, because of the parallel guides, the individual elements are not free
  • US Pat. No. 6,047,610 A describes a rotation kinematics which combines parallel and serial elements but has no variable-length actuators.
  • the movable platform is held or guided via cardan joints and a servo motor at the end of one of the engaging rods. Bending moments are mandatory, singularities can occur when, for example, the bars engaging at a common point of the movable platform come in a stretched position.
  • EP 263 627 A This document discloses a kinematics similar to that described above, but the bases of the bars are movable along straight guides on the fixed platform. The rods are mandated to bending and torsion, singularities are possible in a flat position of the upper bars, it can then "break through” the device.
  • DE 197 01 830 A A kinematics similar to DE 196 11 130 A is disclosed, but the movable platform is connected differently with the couplings of the four-bar linkages. But there are the same problems as in the first-mentioned document.
  • the invention relates both to the serial and the parallel kinematics and has the particular object here of avoiding singularities and reducing the necessary mass of the elements of the kinematics. According to the invention this is done in an element of the type mentioned above and in accordance with the characterizing part of claim 1, characterized in that the arranged between the fixed platform and the component actuator not only variable in length but also with counselticianverschiebung on the fixed platform in a plane normal to the axis of rotation is trained.
  • any Singulartician can be avoided in an extremely wide range and it is optimally adapted by theticianverschiebung in a normal plane to the axis of rotation of the respective lever arm of the actuator to the respective angular position of the rotatable member relative to the fixed platform.
  • Such an element is on the one hand, for example, as a crane, as a lifting device, as a support device for a tool head, etc. use, the rotatable component as a movable platform (in the sense of parallel kinematics) is considered and performs a movement in a plane normal to the axis of rotation , With this property, an element according to the invention can also be used as part of a serial kinematics.
  • the neutrticianticianbung takes place along a general involute.
  • the involute also called thread line, is the development of a length of constant length of a tangent of a backdrop (the evolute of the involute) on this.
  • a backdrop the evolute of the involute
  • the use of an involute in any case means that the actuator always occupies a position in which its axis forms a tangent to the backdrop (in particular the circle). If, for the sake of simplicity, the respective tangency point is regarded as the current base point, then one has to take into account the length of the actuator changed by the development, in addition to the actual change in length of the actuator.
  • two actuators are provided which lie in a common normal plane to the axis of rotation and whose mecanicezing is linked together, optionally as defined in the first embodiment. This makes it possible to design the two actuators in such a way that they are stressed exclusively by tension, as a result of which they can be made particularly low-mass.
  • Fig. 1 is a kinematic element in side view
  • Fig. 2 shows the element of Fig. 1 in a different angular position in side view
  • FIG. 4 shows an inventive element similar to that of FIG. 1 in perspective
  • FIG. 4 shows the element of FIG. 4 in a different angular position
  • FIG. 6 shows the element of FIG. 4 in a different angular position again
  • FIG. 7-9 shows an embodiment of the kinematic element of FIGS. 4-6 in three 10-13 an arrangement of two elements according to FIG. 7-9 with two different axes of rotation
  • Figs. 14-17 a variant of the kinematic element of Fig. 7-9 in different
  • Figs. 1-3 show in side view and plan view a simple kinematic element as it is widely used in the art. It consists of a fixed platform 2 and two articulated fixed rods of fixed length 4 whose free ends connect in a tip 3. At the top 3 also attacks a variable-length actuator 5, which is mounted at its base 7 articulated to the fixed platform 2. From the plan view of Fig. 2 and 3 it is apparent that the construction of the device takes place symmetrically, a measure that is practically used in practice because of the simpler calculation, the ability to almost halve the number of different parts and for the sake of better clarity ,
  • FIGS. 4-6 show a kinematic element according to the invention, which essentially corresponds in its external appearance to the kinematic element of FIGS. 1-3, but does not have its disadvantages.
  • like parts have been given the same reference numerals, newly added parts with new reference numerals and modified parts with a "'" at the same reference numerals.
  • the kinematic element 10 in turn consists of a fixed platform 2 and two fixed-length rods 4 fixed thereto at articulated base points 6, which are brought together in a point 3. Also in this element engages the tip 3 an actuator 5 with variable length, but in contrast to the example according to the prior art, the base point T of the actuator 5 is not fixedly provided on the fixed platform 2, but connected to a thrust element 9.
  • This thrust element 9 is, depending on the angular position of the kinematic element 10, over a different length range of its length to a gate 8 and extends over the remaining part of its length straight and in alignment with the actuator 5.
  • these elements form an actuator according to the invention 5 '. It should be noted that the change in length of the actuator 5 is sufficient to accomplish the change in the position of the foot point.
  • Push elements as they can be used for the component 9, are known in mechanics, it is only to DE 195 22 092 A, DE 43 08 181 A, the
  • the foot point T is designed such that it aligns the axis of the last pushing element with the axis of the actual actuator 5, or at least in parallel holds, it is thus a "stiff" foot and no more articulated as the foot 7 in the actuator 5 in the comparative example according to FIGS. 1-3.
  • FIGS. 4-6 shows, by actuation of the actuator 5, the plane spanned by the two rods of constant length 4 can also be pivoted about the axis 14 defined by the two base points 6 as in the prior art, but also has 4 horizontal bars of constant length this device has no singularity.
  • FIGS. 5 and 6 from which it can be seen that in this extreme angular position of the foot point T is either significantly above or significantly below the plane defined by the two bars fixed length 4 level and therefore always one of zero length having different lever arm, whereby the singularity is avoided.
  • the link 8 is circular and has its center on the axis of rotation, the geometry of the tip 3 does not change, regardless of the angular position of the structure.
  • a rigid construction can be chosen, through which the adjacent components can be made lighter and slimmer than before.
  • the gate 8 does not meet the above conditions, although you need a movable bearing at the top 3, but receives the advantage of being able to form the contour of the slide 8 so that the effective (momentary) lever arm of the actuator 5 'with respect to Rotary axis 14 in wide limits and relatively freely changed and can be adapted to the expected load.
  • FIGS. 4-6 show a further embodiment of the kinematic element of FIGS. 4-6, wherein the pusher 9 can be dispensed with insofar as it is reduced by a compound claimed only to train.
  • the invention enables a further important simplification of the mounting of the rods and actuators:
  • the foot bearing and the head bearing of the rod 4 are always subjected to pressure, a bias can thus be eliminated, the tension element 9 'is applied to the backdrop , this is to be regarded as rigid, the transitions in the actuators 5 are always claimed to train and aligned, therefore ask all these bearings are no problems, it remains only the base 6 of the rod 4 'as elaborately biased bearing over.
  • FIGS. 8 and 9 show the kinematic element 20 of FIG. 7 in two different angular positions, clearly the displacement of the base points T can be recognized. It is essential that the tension element 9 'can not slide along the link 8, this can be ensured by positive or non-positive fixation.
  • the activation of the actuators 5 must be coordinated with each other, but here is a fixed dependence, so that this vote can be set once and for all.
  • FIGS. 10-13 show the simple way in which a kinematic element 10 or 20 can be configured in such a way that it can not be pivoted about an axis but about a stationary point in space.
  • the elements of the embodiment according to FIGS. 7-9 have been each responsible for an imaginary "1" for the elements which are responsible for the movement in one direction, or for the elements for the movement in the other direction are provided with an imagined "2", on the one hand to make clear their analogy, and on the other hand their differences; the use of apostrophes has been dispensed with, matching parts are still given only with their single-digit reference number.
  • the kinematic device 30, which is provided between a fixed platform 2 and a top 3, which is a kind of movable platform, consists essentially of two kinematic elements 20 of Figs. 7-9 which are rotated by 90 ° to each other and also rotatable with each other, are fastened to the fixed platform. These fasteners or bearings provide the pivoting of the element 11 about an axis 12 on the one hand and the element 21 about an axis 22 on the other hand sure.
  • the axes 12, 22 are provided fixed in the fixed platform 2, yes, they define this downright. The two axes intersect each other at right angles.
  • the pivotable about the axis 12 kinematic element 11 consists of a link 18 around which a tension member 19 extends taut, which merges into actuators 15, the other end opens into a common tip 3.
  • the kinematic element 21 which is rotatable about the axis 22, constructed of a link 28, tensioned above tension element 29 and actuators 25, the tension element from the ends also open in the top 3.
  • the tip 3 again the same applies: If the scenes 18, 28 are circular and lie with their center on the respective axis of rotation, then the tip 3 is a rigid structure and all rods / actuators remain permanently and unchanged in their relative position to each other.
  • FIG. 13 shows the centerpiece of the device around the point of intersection of the axes 12, 22 on an enlarged scale and without the tension elements 19, 29 for clarifying the structure of this core device:
  • Fig. 13 shows the formation of the axes 12, 22 in a schematic view and also the formation of the scenes 18, 28, which are arranged pivotably about the axes 12, 22. Due to the formation of the scenes as two-fold tracks each symmetrical to the axes of rotation, one reaches with appropriate training of the tension elements as double bands or the like a centric load and in a way for a suitable storage of the base of the push rod 4.
  • the sliding block 13 is clearly visible, he is both between the matching Lanes of the scenes 18 and 28 as well as between the smaller radius having backdrop 18 on which he rests outside and a larger radius having gate 28, which he contacted from the inside.
  • the charging rod 4 is guided in the direction of the tip 3 (FIG. 10).
  • the scenes 18, 28 as a circular double tracks around the intersection of the two axes 12, 22 is achieved in this construction that the push rod 4 always occupies the direction between the tip 3 and the intersection of the two axes and therefore always exclusively on pressure is claimed.
  • a further embodiment is obtained on the one hand, that the scenes receive a deviating from the circular shape, this makes in the biaxial embodiment according to FIGS. 10-13 the provision of a separate storage for the base of the push rod 4 necessary and makes the top 3 a tip with variable geometry, but has the advantage that in knowledge of the expected load, a further improvement of the momentary lever arms is achieved.
  • an actuator is provided only on one side of the traction means and that on the other side a tension spring instead of the actuator is arranged.
  • This must be strong enough to keep the tension element always tense and can be used in conjunction with scenes that deviate from the circular shape to the first with the different but known characteristics of the spring, the actuator (hydraulic, pneumatic, spindle drive or designed as an electric linear drive) as the second and the lever arms provided by the link as a function of the angular position of the device as the third available size in wide ranges and adapted in each case in a specially adapted to the load manner, the device to the static and dynamic conditions ,
  • Fig. 14 shows such a kinematic device consisting of a fixed platform 2 and a movable platform forming tip 3.
  • This kinematic device 40 is similar to the kinematic device 20 of Fig. 7-9, but is instead of two actuators a Actuator 35 via a tension element 39, which runs over a permanently connected to the fixed platform 2 link 38, with a tension spring 36, located as a helical spring, but can also be used any other tension spring connected. Both elements, both the actuator 35 and the tension spring 36 are connected to the tip 3, in which due to the shape of the link 38, the rods or actuators converge with variable, dependent on the respective position geometry.
  • a push rod 4 is disposed between the tip 3 and the fixed platform 2 in the plane defined by the actuator 35 and the tension spring 36.
  • a rod of fixed length 4 ' is further provided. Its foot 6 and the base of the push rod 4, which is covered by the gate 38, define an axis 31 about which the tip 3 is pivoted.
  • Figs. 18-25 show in different views a kinematic device consisting of a combination of two kinematic devices 40, one of which is rotatable about an axis 23 (Fig. 20) with respect to the fixed platform 2, and one of the two rods 4 'is designed as an actuator so that a further degree of freedom can be operated and a total tripod arises.
  • the bearings for the push rods 44 and the associated actuators are simple and inexpensive, as always defined load cases occur. Only the bearings for the rod 4 'and the actuator 5 are more complex (of course it depends on the both last-mentioned bearings from the foreseeable load on whether changing forces can occur or not, this is not taken into account in principle here).
  • FIG. 18 A synopsis of Fig. 18 and Fig. 22 shows that the movable platform 3 'has a mobility which is unattainable with such simple means in the prior art.
  • Fig. 23 is still to be stated that in this view, the two sub-devices according to the invention are aligned, so that only in this view the viewer facing device 43-49 is visible, which is the device behind it exactly 53-59 is covered by her.
  • Figures 24 and 25 show the great mobility of the device while maintaining a constellation far from any singularity. No conventional parallel kinematics similar in construction to those shown could achieve such displacement of the movable platform 3 'with respect to the fixed platform 2 without coming close to a singularity.
  • the invention can be modified in various ways and can be used in a very wide range of applications, from micromanipulators to handling robots, production robots, to industrial production carrying devices.
  • a tension element optionally with a short-stroke spring (compensation of the thermal change in length, fatigue, etc. ) to use combined, which causes by rotating the circular backdrop with the center on the associated axis of rotation 14 and 31 relative to the fixed platform 2, a rotation of the kinematic device.
  • a generally shaped gate e.g., 48, 58
  • FIGS. 26-28 show a device according to the invention in three different positions, each in a perspective view
  • FIGS. 29-31 show the illustration of FIGS. 26-28 in a side view
  • FIGS. 32 and 33 show two of the positions shown in a manner Top view.
  • the illustrated embodiment is a development of the example according to FIGS. 14-17, the drive 35 is no longer provided directly on the actuator, but in the manner of a pulley the base 14 'of the actuator 5, which is now designed as a rod of fixed length, in its position.
  • the structure is as follows:
  • the kinematic device referred to collectively at 60, has in its core the structure of the devices discussed so far, i. it has a fixed platform 2, on which a pressure rod 64 is pivotally mounted and a lateral force-receiving rod of fixed length 4 '. Connected to the fixed platform 2, but not shown for reasons of clarity, is the axis of rotation 14 of a reel 65, which serves as a drive for the base point of the actuator 5.
  • the movable platform performing tip 3 At the head of the Drackstabes 64 is the movable platform performing tip 3, to which a spring 66 engages with one of its ends fitting.
  • the other end of the spring 66 is connected to a tension element 69, which is guided via a link 68, in the region of the base point of the actuator 5 around a roller whose axis of rotation 14 'geometrically defined the base point of the actuator, is looped and from there either directly (as shown) or via at least one attached to the fixed platform 2 guide roller to the reel 65 and rolled up there or can be unrolled.
  • Gate 68 is rotatable about an axis passing through the base of the push rod 64 and the
  • Base point of the stabilization bar 4 ' is defined.
  • the axis of rotation 14 'of the guide roller 67 moves in dependence on the length of the traction means 69 and the shape of the slide
  • FIG. 37 shows a side view of the device according to FIGS. 4-6, wherein Forai individual points the position of the foot 7 'in dependence on the length of the actuator 5, the rolling curve 16, is entered without the actuator in the respective layers also draw in order not to overload the presentation.
  • FIG. 38 shows a device according to FIG. 31 in side view with the (differently shaped) rolling curve 16 of its base 14 '.
  • the spring 66 it is also possible to give the backdrop 68 a shape that is favorable for the respective movement and load case, without a special length compensation or the like. necessary is.
  • Figs. 32 and 33 show plan views and give an impression of the compact and in particular slim shape of the device.
  • the stabilizing bar 4 ' for example, when the bearing of the push rod 4 and the push rod 4 are themselves formed so that they can derive lateral forces and the corresponding moments; it is also possible to form the stabilizing bar 4 'differently or two, symmetrically to Schwenlcebene lying stabilizer bars 4 '(similar to the embodiment of FIG. 2) to provide.
  • FIGS. 34-36 show a variant in which the reel 65 is arranged elsewhere on the fixed platform 2, which further increases the mobility of the movable platform 3, without substantially increasing the space requirement of the overall device.
  • the traction means 69 slides over itself over a portion of the link 68, this can be avoided, for example, by guide rollers which are suitably provided on the fixed platform 2.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention concerne un élément cinématique qui comprend une plateforme fixe (2) et un élément (3) tournant autour d'un axe de rotation (14) de la plateforme fixe (2), au moins un actionneur (5) de longueur variable étant placé entre la plateforme fixe (2) et l'élément rotatif (3). L'invention est caractérisée en ce que la base (7') de l'actionneur (5) au niveau de la plateforme fixe peut être déplacée dans un plan normal à l'axe de rotation (14). La base est déplacée, de préférence, le long d'une développante d'une coulisse (8) qui a, dans un mode de réalisation, la forme d'un cercle dont le centre se situe sur l'axe de rotation (14, 31).
PCT/AT2007/000044 2006-02-16 2007-01-31 Élément cinématique Ceased WO2007092973A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP07701290A EP1998937A1 (fr) 2006-02-16 2007-01-31 Élément cinématique

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT2482006A AT503312B1 (de) 2006-02-16 2006-02-16 Kinematische vorrichtung mit aktuator und fusspunktverschiebung
ATA248/2006 2006-02-16

Publications (1)

Publication Number Publication Date
WO2007092973A1 true WO2007092973A1 (fr) 2007-08-23

Family

ID=38220557

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AT2007/000044 Ceased WO2007092973A1 (fr) 2006-02-16 2007-01-31 Élément cinématique

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EP (1) EP1998937A1 (fr)
AT (1) AT503312B1 (fr)
WO (1) WO2007092973A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003172418A (ja) * 2001-12-07 2003-06-20 Koji Kondo パラレルメカニズムロボットアーム（３）
DE10323581A1 (de) * 2003-05-21 2004-12-09 Tremmel, Dieter, Prof. Dr. Schwenkvorrichtung für Teleskopausleger
WO2007012093A1 (fr) * 2005-07-29 2007-02-01 Franz Ehrenleitner Dispositif a cinematique parallele

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4806068A (en) * 1986-09-30 1989-02-21 Dilip Kohli Rotary linear actuator for use in robotic manipulators
FR2670424B1 (fr) * 1990-12-18 1993-04-09 Onera (Off Nat Aerospatiale) Dispositif manipulateur pour deplacer un objet, dans l'espace, parallelement a lui-meme.
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.
DE19701830C2 (de) * 1996-02-07 1999-10-21 Vdw Ev Vorrichtung zur Bewegung eines Körpers im Raum
DE19611130A1 (de) * 1996-03-21 1997-09-25 Vdw Verein Deutscher Werkzeugm Vorrichtung zur Erzeugung einer definierten Positionierung und Orientierung mindestens einer Plattform
US6047610A (en) * 1997-04-18 2000-04-11 Stocco; Leo J Hybrid serial/parallel manipulator

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003172418A (ja) * 2001-12-07 2003-06-20 Koji Kondo パラレルメカニズムロボットアーム（３）
DE10323581A1 (de) * 2003-05-21 2004-12-09 Tremmel, Dieter, Prof. Dr. Schwenkvorrichtung für Teleskopausleger
WO2007012093A1 (fr) * 2005-07-29 2007-02-01 Franz Ehrenleitner Dispositif a cinematique parallele

Also Published As

Publication number Publication date
AT503312B1 (de) 2008-05-15
AT503312A1 (de) 2007-09-15
EP1998937A1 (fr) 2008-12-10

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