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AU2003299261A1 - Armilleye: a three degree- of-freedom spherical parallel mechanism - Google Patents

Armilleye: a three degree- of-freedom spherical parallel mechanism

Info

Publication number
AU2003299261A1
AU2003299261A1 AU2003299261A AU2003299261A AU2003299261A1 AU 2003299261 A1 AU2003299261 A1 AU 2003299261A1 AU 2003299261 A AU2003299261 A AU 2003299261A AU 2003299261 A AU2003299261 A AU 2003299261A AU 2003299261 A1 AU2003299261 A1 AU 2003299261A1
Authority
AU
Australia
Prior art keywords
armilleye
degree
parallel mechanism
freedom spherical
spherical 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.)
Abandoned
Application number
AU2003299261A
Inventor
Rezia Molfino
Matteo Zoppi
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
Publication of AU2003299261A1 publication Critical patent/AU2003299261A1/en
Abandoned 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
    • 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
    • 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
    • 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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
AU2003299261A 2003-05-30 2003-12-23 Armilleye: a three degree- of-freedom spherical parallel mechanism Abandoned AU2003299261A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ITGE2003A000040 2003-05-30
IT000040A ITGE20030040A1 (en) 2003-05-30 2003-05-30 ARMILLARY MECHANISM FOR SUPPORTING STEREOSCOPIC VISION IN SUBMARINE ENVIRONMENTS AND HIGH HYDRODYNAMIC RESISTANCE
PCT/EP2003/051097 WO2004106011A1 (en) 2003-05-30 2003-12-23 Armilleye: a three degree- of-freedom spherical parallel mechanism

Publications (1)

Publication Number Publication Date
AU2003299261A1 true AU2003299261A1 (en) 2005-01-21

Family

ID=33485508

Family Applications (1)

Application Number Title Priority Date Filing Date
AU2003299261A Abandoned AU2003299261A1 (en) 2003-05-30 2003-12-23 Armilleye: a three degree- of-freedom spherical parallel mechanism

Country Status (3)

Country Link
AU (1) AU2003299261A1 (en)
IT (1) ITGE20030040A1 (en)
WO (1) WO2004106011A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109848969A (en) * 2019-03-06 2019-06-07 上海工程技术大学 A kind of decoupling three-rotation freedom parallel mechanism for virtual axis machine and robot

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1690651A1 (en) * 2005-02-11 2006-08-16 Force Dimension S.à.r.l Kinematic chain with an arm comprising a curved portion and parallel kinematics transmission structure with such kinematic chains
CN100348376C (en) * 2005-12-06 2007-11-14 河北工业大学 Two-free-degree decoupling spherical parallel mechanism
CN100369718C (en) * 2005-12-09 2008-02-20 河北理工大学 Two degrees of freedom spherical space motion parallel mechanism
FR2900857B1 (en) * 2006-05-11 2008-10-17 Jean Marie Chenu MANIPULATOR ROBOT
CN102259269A (en) * 2011-07-08 2011-11-30 常州大学 Three-dimensional rotary spherical parallel mechanism
CN102566466A (en) * 2012-03-12 2012-07-11 上海大学 Closed-loop attitude control method of 3-DOF (degree of freedom) spherical parallel mechanism
CN104308830A (en) * 2014-08-06 2015-01-28 江南大学 LEMs (Lambert Eaton Myasthenic Syndrome) configuration synthesis method based on single hinge
CN104827463A (en) * 2015-05-07 2015-08-12 上海交通大学 Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair
CN104889976B (en) * 2015-05-28 2016-08-17 燕山大学 A kind of three rotate decoupling sphere parallel robot mechanism
CN105058371B (en) * 2015-09-07 2017-04-12 郑州大学 Five-axis parallel robot with quadrangular mechanism
CN105500365B (en) * 2016-01-26 2018-08-28 南京航空航天大学 A kind of six degree of freedom series-parallel robot
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
CN108638031B (en) * 2018-05-14 2020-09-22 西安工程大学 Parallel mechanism with two motion modes 2T1R and 3T
CN110434839B (en) * 2019-09-16 2024-01-12 河北工业大学 A four-degree-of-freedom generalized spherical parallel mechanism containing sub-closed loops
CN110434838B (en) * 2019-09-16 2024-04-16 河北工业大学 Five-degree-of-freedom generalized spherical parallel mechanism
CN110841207B (en) * 2019-12-18 2025-01-10 上海伽玛星科技发展有限公司 A stereotactic head radiotherapy device
CN115592649A (en) * 2022-10-24 2023-01-13 浙江理工大学（Cn） Motion redundancy spherical surface parallel mechanism
CN116749158B (en) * 2023-08-16 2023-10-13 国机重型装备集团股份有限公司 A spherical three-degree-of-freedom orientation device with a certain axis and two variable axes
CN117961866B (en) * 2024-03-12 2024-07-05 西安工程大学 Bionic spherical robot

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE517356C2 (en) * 2000-09-11 2002-05-28 Abb Ab Manipulator comprising at least three arms for moving a body in space
FR2835579B1 (en) * 2002-02-04 2004-05-21 Commissariat Energie Atomique SPHERIC ELEMENT DISPLACEMENT DEVICE

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109848969A (en) * 2019-03-06 2019-06-07 上海工程技术大学 A kind of decoupling three-rotation freedom parallel mechanism for virtual axis machine and robot
CN109848969B (en) * 2019-03-06 2022-03-29 上海工程技术大学 Decoupling three-rotational-freedom parallel mechanism for virtual-axis machine tool and robot

Also Published As

Publication number Publication date
WO2004106011A1 (en) 2004-12-09
ITGE20030040A1 (en) 2004-11-30

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Legal Events

Date Code Title Description
MK6 Application lapsed section 142(2)(f)/reg. 8.3(3) - pct applic. not entering national phase