公开(公告)号：US20160051433A1

公开(公告)日：2016-02-25

申请号：US14783879

申请日：2014-04-11

Applicant: SABANCI ÜNIVERSITESI

Inventor： Volkan PATOGLU

IPC: A61H1/00

CPC classification number: A61H1/005 ,  B25J9/0048 ,  B25J9/1607 ,  B25J9/162 ,  B25J9/1623 ,  B25J9/1633 ,  B25J9/1694 ,  G05B2219/39186 ,  G05B2219/40279 ,  G05B2219/40587 ,  G05B2219/45109

Abstract: It is proposed a design and control of series elastic holonomic mobile platform, aimed to administer therapeutic table-top exercises to patients who have suffered injuries that affect the function of their upper extremities. The proposed mobile platform is a low-cost, portable, easy-to-use rehabilitation device for home use. It consists of four actuated Mecanum wheels and a compliant, low-cost, multi degree-of freedom Series Elastic Element as its force sensing unit. Thanks to its series elastic actuation, it is highly backdriveable and can provide assistance/resistance to patients, while performing omni-directional movements on plane. The device helps improving accuracy and effectiveness of repetitive movement therapies completed at home, while also providing quantitative measures of patient progress.

Abstract translation: 提出了系列弹性整体移动平台的设计和控制，旨在对患有上肢功能受伤的患者进行治疗性桌面练习。 提出的移动平台是一种低成本，便携式，易于使用的康复设备，适用于家庭使用。 它由四个致动的Mecanum车轮和一个兼容，低成本，多自由度的弹性元件作为其力感测单元组成。 由于其系列弹性驱动，它具有高度的可反向驱动性，并可在飞机上进行全方向移动时向患者提供帮助/抵抗。 该设备有助于提高在家完成的重复运动治疗的准确性和有效性，同时还提供患者进展的定量测量。

公开(公告)号：US09073204B2

公开(公告)日：2015-07-07

申请号：US13698446

申请日：2011-05-11

Applicant: Hiroshi Isobe ,  Takayoshi Ozaki

Inventor： Hiroshi Isobe ,  Takayoshi Ozaki

IPC: B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  B25J9/00 ,  F16C1/02 ,  B25J9/10 ,  F16D1/04

CPC classification number: B25J9/0048 ,  B25J9/104 ,  F16C1/02 ,  F16D1/04 ,  Y10T74/20323

Abstract: An output member is connected with an input member through three sets of link mechanisms for alteration in attitude. The link mechanism includes end portion link mechanisms on an input side and an output side, respectively, and an intermediate link member. The link mechanism is such that a geometric model of each of the link members expressed by lines represents such a shape as an input side portion and an output side portion relative to a center of the intermediate link member are symmetrical with each other. By actuating two or more sets of the link mechanisms by means of a link mechanism drive source, the attitude of the output member is controlled. Through the inside of an arrangement of the link mechanisms, a flexible wire is provided for transmitting a rotational force in a direction of arrangement of the input and output members.

Abstract translation: 输出构件通过三组连杆机构与输入构件连接，用于改变姿态。 连杆机构包括分别在输入侧和输出侧的端部连杆机构和中间连杆部件。 链接机构使得由线表示的每个连接构件的几何模型表示相对于中间连杆构件的中心的输入侧部分和输出侧部分的形状彼此对称。 通过借助于连杆机构驱动源致动两组或多组连杆机构，控制输出部件的姿态。 通过链接机构的布置的内部，提供柔性线，用于沿输入和输出构件的布置方向传递旋转力。

公开(公告)号：US20150088308A1

公开(公告)日：2015-03-26

申请号：US14385931

申请日：2013-03-14

Applicant: NTN CORPORATION

Inventor： Hiroshi Isobe ,  Yukihiro Nishio ,  Hiroyuki Yamada

IPC: B25J9/00 ,  B25J9/12 ,  B25J9/16

CPC classification number: B25J9/0048 ,  B25J9/12 ,  B25J9/1623 ,  B25J13/087 ,  G05B2219/39476 ,  G05B2219/40555

Abstract: A link actuation device includes a distal end side link hub connected with a proximal end side link hub through three or more sets of link mechanisms for alteration in orientation. By means of an actuator provided in the two or more set of the link mechanism, the distal end orientation, which is the orientation of the distal end side link hub relative to the proximal end link hub, is changed arbitrarily. The operating device includes an orientation designating unit for designating the distal end orientation aimed at by means of a coordinate position on the orthogonal coordinate system by an artificial manipulation, an orientation acquiring unit for acquiring the distal end orientation that is expressed by an angular coordinate system through calculation, and an orientation information applying unit for applying information on the distal end orientation so acquired to a control device for controlling the actuator.

Abstract translation: 连杆致动装置包括通过三组或更多套连杆机构与近端侧连杆毂连接的远端侧连杆毂，用于改变定向。 通过设置在两组或更多组的连杆机构中的致动器，远端侧连接轮毂相对于近端连杆毂的定向的远端定向被任意改变。 操作装置包括：姿态指定单元，用于通过人工操作在正交坐标系上通过坐标位置来指定远端定向;姿态获取单元，用于获取由角坐标系统表示的远端取向 以及用于将如此获取的远端方向的信息应用于用于控制致动器的控制装置的定向信息应用单元。

公开(公告)号：US20140305244A1

公开(公告)日：2014-10-16

申请号：US14355093

申请日：2012-11-01

Applicant: NTN CORPORATION

Inventor： Hiroyuki Yamada ,  Hiroshi Isobe ,  Keisuke Sone

IPC: F16H21/46

CPC classification number: F16H21/46 ,  B25J9/0048 ,  B25J9/108 ,  B25J19/0062 ,  B25J19/0066 ,  F16C19/06 ,  F16C19/22 ,  F16C33/6625 ,  Y10T74/20207

Abstract: A bearing is interposed in the revolute pair between a proximal end side link hub (2) and each proximal side end link member (5). A control device controls an actuator, to perform work-time control for causing a determined work operation to be executed and to perform, while the work-time control is stopped, grease circulation control for circulating grease sealed in the bearing. The maximum value θmax of a bending angle in the work-time control does not exceed the maximum allowable bending angle θ′max being the maximum value of the bending angle allowable in the mechanism, and the maximum value of the bending angle in the grease circulation control is greater than the maximum value θmax of the bending angle in the work-time control and smaller than the maximum allowable bending angle θ′max.

Abstract translation: 轴承插入在近端侧连接轮毂（2）和每个近侧端连杆构件（5）之间的旋转对中。 控制装置控制致动器，进行工作时间控制，以进行确定的工作操作，并且在停止工作时间控制的同时执行润滑脂循环控制，以循环润滑脂密封在轴承中。 工作时间控制中弯曲角度的最大值和最大值不超过最大允许弯曲角度;最大值为机构允许的弯曲角度的最大值，弯曲角度的最大值为 润滑脂循环控制大于工作时间控制中弯曲角度的最大值和最大值，小于最大允许弯曲角度＆amp;最大值;

公开(公告)号：US20130319157A1

公开(公告)日：2013-12-05

申请号：US13812852

申请日：2012-06-04

Applicant: Guk Jin Yang

Inventor： Guk Jin Yang

IPC: B25J18/00

CPC classification number: B25J18/00 ,  B25J9/0048 ,  B25J17/0266 ,  Y10S901/27 ,  Y10T74/20317

Abstract: A parallel manipulator is provided. The parallel manipulator includes a base plate, a plurality of motor devices coupled to the base plate, arm modules coupled respectively to the plurality of motor devices, and a support member hinged to ends of the arm modules. Here, the motor device includes a motor and a gear module coupled to the motor, and each of the arm modules includes an elastic arm unit coupled to the gear module to absorb an external force so as to prevent a step-out error from taking place in the gear module, an upper arm unit hinged to the base plate and having the elastic arm unit hinged to one end thereof, and a lower arm unit having the other end of the upper arm unit hinged to one end thereof and the support member hinged to the other end thereof

Abstract translation: 提供并行机械手。 并联机械手包括基板，联接到基板的多个电动机装置，分别连接到多个电动机装置的臂模块和铰链到臂模块的端部的支撑构件。 这里，电动机装置包括电动机和耦合到电动机的齿轮模块，并且每个臂模块包括联接到齿轮模块的弹性臂单元，以吸收外力，从而防止出现失步错误 在齿轮模块中，上臂单元铰接到基板并且具有铰接到其一端的弹性臂单元，以及下臂单元，其具有上臂单元的另一端铰接到其一端并且支撑构件铰接 到另一端

公开(公告)号：US20120053701A1

公开(公告)日：2012-03-01

申请号：US13173433

申请日：2011-06-30

Applicant: Byung-Ju YI ,  Jaeheon CHUNG ,  Hyo-Jeong CHA

Inventor： Byung-Ju YI ,  Jaeheon CHUNG ,  Hyo-Jeong CHA

IPC: G05B15/00

CPC classification number: B25J13/025 ,  B25J9/0048 ,  B25J9/1689 ,  B25J13/04 ,  B25J17/0266

Abstract: A master-slave system using a 4-degree of freedom (DOF) parallel mechanism includes: a master device having a 4-DOF parallel mechanism which generates 1-DOF translation and 3-DOF rotation by the manipulation of a user; a slave device having a 4-DOF parallel mechanism which generates 1-DOF translation and 3-DOF rotation according to the movement of the master device; and a controller for receiving a behavior signal generated by the master device and outputting a driving signal to the slave device so that the slave device moves according to the movement of the master device. The master-slave system may be utilized as a remote needling robot with excellent manipulation and precision.

Abstract translation: 使用4自由度（DOF）并行机构的主从系统包括：具有4-DOF并行机构的主装置，其通过用户的操纵产生1-DOF平移和3-DOF旋转; 具有4-DOF并联机构的从设备，其根据主设备的移动产生1-DOF平移和3-DOF旋转; 以及控制器，用于接收由主设备产生的行为信号并将驱动信号输出到从设备，使得从设备根据主设备的移动而移动。 主从系统可以用作具有良好操作和精度的远程针刺机器人。

公开(公告)号：US20090095108A1

公开(公告)日：2009-04-16

申请号：US11792244

申请日：2005-12-12

Applicant: Shahram Payandeh ,  Hendrik Van Der Wal ,  Temei Li

Inventor： Shahram Payandeh ,  Hendrik Van Der Wal ,  Temei Li

IPC: G05G11/00

CPC classification number: G05G9/04737 ,  A61B34/30 ,  A61B34/70 ,  A61B34/74 ,  A61B34/76 ,  A61B2034/304 ,  A61B2090/506 ,  B25J9/0048 ,  B25J13/02 ,  B25J17/0266 ,  G05G2009/04766 ,  G06F3/016 ,  Y10T74/20 ,  Y10T74/20201 ,  Y10T74/20213

Abstract: A user interface system comprises a plurality of linkages connected between a platform and abase. The linkages permit motion of the platform over at least a portion of a spherical surface. A support assembly coupled between the platform and the base comprises a spherical joint having a centre of rotation substantially concentric with a centre of the spherical surface. The spherical joint constrains motion of the platform to the spherical surface. The system may include a sensor corresponding to each linkage. Each sensor may be coupled to sense a movement of its corresponding linkage in response to motion of the platform over the portion of the spherical surface. A user-manipulable handle may be coupled to the platform so that the user can move the platform.

Abstract translation: 用户界面系统包括连接在平台和平台之间的多个连接。 连接件允许平台在球形表面的至少一部分上的运动。 联接在平台和基座之间的支撑组件包括具有与球面的中心大致同心的旋转中心的球形接头。 球形接头将平台的运动限制在球面上。 系统可以包括对应于每个连杆的传感器。 每个传感器可以被耦合以响应于平台在球形表面的部分上的运动来感测其对应的连杆机构的运动。 用户可操纵的把手可以联接到平台，使得用户可以移动平台。

公开(公告)号：US20060213308A1

公开(公告)日：2006-09-28

申请号：US11391765

申请日：2006-03-22

Applicant: Mark Rosheim

Inventor： Mark Rosheim

IPC: B25J17/00

CPC classification number: B25J17/0266 ,  B25J9/0048 ,  Y10T74/20305 ,  Y10T74/20317 ,  Y10T74/20329 ,  Y10T74/20335

Abstract: A controlled relative motion system comprising a base support, a pivot holder and a plurality of pivoting links with the pivoting links rotatably coupled to both the base support and to members of the pivot holder to rotate about axes which extend in different directions for each of these rotatable couplings in a link, typically in accord with specific geometrical arrangements, and in different directions from similar axes in another of such links. The foregoing various rotatable couplings are provided by insertable bearings or bushings in the supports and links. The pivoting links have larger portions thereof outside of the interior of the manipulator parts of which can extend outside in different directions. Such systems can incorporate a variety of force imparting members to control movements of various ones of the pivoting links or pivot holder members.

公开(公告)号：US5279176A

公开(公告)日：1994-01-18

申请号：US915567

申请日：1992-07-20

Applicant: Farhad Tahmasebi ,  Lung-Wen Tsai

Inventor： Farhad Tahmasebi ,  Lung-Wen Tsai

IPC: B25J9/10 ,  B25J17/02 ,  G05G9/047 ,  G05G11/00 ,  B25J11/00

CPC classification number: G05G9/04737 ,  B25J17/0266 ,  B25J9/0036 ,  B25J9/0048 ,  B25J9/106 ,  Y10T74/20 ,  Y10T74/20305

Abstract: A Six-Degree-of-Freedom Parallel-Manipulator having three inextensible limbs for manipulating a platform is described in which the three inextensible limbs are attached via universal joints to the platform at non-collinear points. Each of the inextensible limbs is also attached via universal joints to a two-degree-of-freedom parallel driver such as a five-bar lineage, a pantograph, or a bidirectional linear stepper motor. The drivers move the lower ends of the limbs parallel to a fixed base and thereby provide manipulation of the platform. The actuators are mounted on the fixed base without using any power transmission devices such as gears or belts.

Abstract translation: 描述了具有用于操纵平台的三个不可延伸的四肢的六自由度并联机械手，其中三个不可伸展的肢体通过万向接头以非共线点附接到平台。 每个不可伸展的肢体也通过万向接头连接到诸如五杆谱系，缩放仪或双向线性步进电机的两自由度并联驱动器。 司机将肢体的下端平行于固定的底座移动，从而提供对平台的操纵。 执行器安装在固定基座上，而不使用任何动力传动装置，如齿轮或皮带。

公开(公告)号：US11904465B2

公开(公告)日：2024-02-20

申请号：US17517965

申请日：2021-11-03

Applicant: Wen-Der Trui

Inventor： Wen-Der Trui ,  Shu-Ching Lin

IPC: B25J9/04 ,  B25J9/10 ,  B25J13/08 ,  B25J9/00

CPC classification number: B25J9/045 ,  B25J9/0048 ,  B25J9/102 ,  B25J9/104 ,  B25J9/108 ,  B25J13/088

Abstract: A mechanism is constructed by twelve-axis geometry and controlled by spherical coordinate, so that all torques in twelve axes can be parallelly integrated. Timing belts, pulleys, hollow shafts, and spur gears onto four arc-link sets are included. Via these transmission components, base arc-links can be indirectly but synchronously rotated by base driving modules and terminal arc-links can be indirectly but synchronously rotated by terminal driving modules. The final output torque can be integrated via serial linking and parallel cooperating by the twelve rotating modules. Therefore, four arc-link sets work cooperatively and effectively in group but bear no burden each other. The mechanism can be applied to a multi-axis composite machining center machine or a multi-time element detection measuring bed and shoulder joints or hip joints corresponding to robots.