公开(公告)号：US07172385B2

公开(公告)日：2007-02-06

申请号：US10615595

申请日：2003-07-09

申请人： Amir Khajepour ,  Saeed Behzadipour ,  Robert Dekker ,  Edmon Chan

发明人： Amir Khajepour ,  Saeed Behzadipour ,  Robert Dekker ,  Edmon Chan

IPC分类号： B66C1/00

CPC分类号： B25J17/0266 ,  B25J9/0078 ,  Y10S414/13 ,  Y10T74/20317 ,  Y10T74/20323 ,  Y10T74/20335

摘要： The present invention provides parallel, cable based robotic manipulators, for use in different applications such as ultra high-speed robots or positioning devices with between three to six degrees of freedom. The manipulators provide more options for the number of degrees of freedom and also more simplicity compared to the current cable-based robots. The general structure of these manipulators includes a base platform, a moving platform or end effector, an extensible or telescoping central post connecting the base to moving platform to apply a pushing force to the platforms. The central post can apply the force by an actuator (active), or spring or air pressure (passive) using telescoping cylinders. The robotic manipulators use a combination of active and passive tensile (cable) members, and collapsible and rigid links to maximize the benefits of both pure cable and conventional parallel mechanisms. Different embodiments of the robotic manipulators use either active cables only, passive cables only, or combinations of active and passive cables. An active cable is one whose length is varied by means of a winch. A passive cable is one whose length is constant and which is used to provide a mechanical constraint. These mechanisms reduce the moving inertia significantly to enhance the operational speed of the robots. They also provide a simpler, more cost effective way to manufacture parallel mechanisms for use in robotic applications.

摘要翻译： 本发明提供了用于不同应用的平行的，基于电缆的机器人操纵器，例如具有三到六个自由度的超高速机器人或定位装置。 与目前的基于电缆的机器人相比，操纵器为自由度的数量提供了更多的选择，并且更简单。 这些操纵器的一般结构包括基座平台，移动平台或端部执行器，将基座连接到移动平台的可伸缩或可伸缩的中心柱，以向平台施加推力。 中心柱可以通过执行器（有效）或弹簧或空气压力（无源）使用伸缩缸施加力。 机器人操纵器使用主动和被动拉伸（电缆）构件以及可折叠和刚性连接的组合，以最大化纯电缆和常规并联机构的优点。 机器人操纵器的不同实施例仅使用有源电缆，仅使用无源电缆，或主动和无源电缆的组合。 主动电缆是通过绞盘改变其长度的电缆。 无源电缆是长度恒定的电缆，用于提供机械约束。 这些机构显着降低了运动惯性，提高了机器人的运行速度。 它们还提供了一种更简单，更具成本效益的方法来制造用于机器人应用的并行机制。

公开(公告)号：US20070113700A1

公开(公告)日：2007-05-24

申请号：US11656426

申请日：2007-01-23

申请人： Amir Khajepour ,  Saeed Behzadipour ,  Robert Dekker ,  Edmon Chan

发明人： Amir Khajepour ,  Saeed Behzadipour ,  Robert Dekker ,  Edmon Chan

IPC分类号： B25J18/00 ,  B66C3/00

CPC分类号： B25J17/0266 ,  B25J9/0078 ,  Y10S414/13 ,  Y10T74/20317 ,  Y10T74/20323 ,  Y10T74/20335

摘要： The present invention provides parallel, cable based robotic manipulators, for use in different applications such as ultra high-speed robots or positioning devices with between three to six degrees of freedom. The manipulators provide more options for the number of degrees of freedom and also more simplicity compared to the current cable-based robots. The general structure of these manipulators includes a base platform, a moving platform or end effector, an extensible or telescoping central post connecting the base to moving platform to apply a pushing force to the platforms. The central post can apply the force by an actuator (active), or spring or air pressure (passive) using telescoping cylinders. The robotic manipulators use a combination of active and passive tensile (cable) members, and collapsible and rigid links to maximize the benefits of both pure cable and conventional parallel mechanisms. Different embodiments of the robotic manipulators use either active cables only, passive cables only, or combinations of active and passive cables. An active cable is one whose length is varied by means of a winch. A passive cable is one whose length is constant and which is used to provide a mechanical constraint. These mechanisms reduce the moving inertia significantly to enhance the operational speed of the robots. They also provide a simpler, more cost effective way to manufacture parallel mechanisms for use in robotic applications.

摘要翻译： 本发明提供了用于不同应用的平行的，基于电缆的机器人操纵器，例如具有三到六个自由度的超高速机器人或定位装置。 与目前的基于电缆的机器人相比，操纵器为自由度的数量提供了更多的选择，并且更简单。 这些操纵器的一般结构包括基座平台，移动平台或端部执行器，将基座连接到移动平台的可伸缩或可伸缩的中心柱，以向平台施加推力。 中心柱可以通过执行器（有效）或弹簧或空气压力（无源）使用伸缩缸施加力。 机器人操纵器使用主动和被动拉伸（电缆）构件以及可折叠和刚性连接的组合，以最大化纯电缆和常规并联机构的优点。 机器人操纵器的不同实施例仅使用有源电缆，仅使用无源电缆，或主动和无源电缆的组合。 主动电缆是通过绞盘改变其长度的电缆。 无源电缆是长度恒定的电缆，用于提供机械约束。 这些机构显着降低了运动惯性，提高了机器人的运行速度。 它们还提供了一种更简单，更具成本效益的方法来制造用于机器人应用的并行机制。

公开(公告)号：US07367772B2

公开(公告)日：2008-05-06

申请号：US11656426

申请日：2007-01-23

申请人： Amir Khajepour ,  Saeed Behzadipour ,  Robert Dekker ,  Edmon Chan

发明人： Amir Khajepour ,  Saeed Behzadipour ,  Robert Dekker ,  Edmon Chan

IPC分类号： B25J9/00

CPC分类号： B25J17/0266 ,  B25J9/0078 ,  Y10S414/13 ,  Y10T74/20317 ,  Y10T74/20323 ,  Y10T74/20335

摘要： The present invention provides parallel, cable based robotic manipulators, for use in different applications such as ultra high-speed robots or positioning devices with between three to six degrees of freedom. The manipulators provide more options for the number of degrees of freedom and also more simplicity compared to the current cable-based robots. The general structure of these manipulators includes a base platform, a moving platform or end effector, an extensible or telescoping central post connecting the base to moving platform to apply a pushing force to the platforms. The central post can apply the force by an actuator (active), or spring or air pressure (passive) using telescoping cylinders. The robotic manipulators use a combination of active and passive tensile (cable) members, and collapsible and rigid links to maximize the benefits of both pure cable and conventional parallel mechanisms. Different embodiments of the robotic manipulators use either active cables only, passive cables only, or combinations of active and passive cables. An active cable is one whose length is varied by means of a winch. A passive cable is one whose length is constant and which is used to provide a mechanical constraint. These mechanisms reduce the moving inertia significantly to enhance the operational speed of the robots. They also provide a simpler, more cost effective way to manufacture parallel mechanisms for use in robotic applications.

公开(公告)号：US07367771B2

公开(公告)日：2008-05-06

申请号：US11656425

申请日：2007-01-23

申请人： Amir Khajepour ,  Saeed Behzadipour ,  Robert Dekker ,  Edmon Chan

发明人： Amir Khajepour ,  Saeed Behzadipour ,  Robert Dekker ,  Edmon Chan

IPC分类号： B25J9/00

CPC分类号： B25J17/0266 ,  B25J9/0078 ,  Y10S414/13 ,  Y10T74/20317 ,  Y10T74/20323 ,  Y10T74/20335

摘要： The present invention provides parallel, cable based robotic manipulators, for use in different applications such as ultra high-speed robots or positioning devices with between three to six degrees of freedom. The manipulators provide more options for the number of degrees of freedom and also more simplicity compared to the current cable-based robots. The general structure of these manipulators includes a base platform, a moving platform or end effector, an extensible or telescoping central post connecting the base to moving platform to apply a pushing force to the platforms. The central post can apply the force by an actuator (active), or spring or air pressure (passive) using telescoping cylinders. The robotic manipulators use a combination of active and passive tensile (cable) members, and collapsible and rigid links to maximize the benefits of both pure cable and conventional parallel mechanisms. Different embodiments of the robotic manipulators use either active cables only, passive cables only, or combinations of active and passive cables. An active cable is one whose length is varied by means of a winch. A passive cable is one whose length is constant and which is used to provide a mechanical constraint. These mechanisms reduce the moving inertia significantly to enhance the operational speed of the robots. They also provide a simpler, more cost effective way to manufacture parallel mechanisms for use in robotic applications.

摘要翻译： 本发明提供了用于不同应用的平行的，基于电缆的机器人操纵器，例如具有三到六个自由度的超高速机器人或定位装置。 与目前的基于电缆的机器人相比，操纵器为自由度的数量提供了更多的选择，并且更简单。 这些操纵器的一般结构包括基座平台，移动平台或端部执行器，将基座连接到移动平台的可伸缩或可伸缩的中心柱，以向平台施加推力。 中心柱可以通过执行器（有效）或弹簧或空气压力（无源）使用伸缩缸施加力。 机器人操纵器使用主动和被动拉伸（电缆）构件以及可折叠和刚性连接的组合，以最大化纯电缆和常规并联机构的优点。 机器人操纵器的不同实施例仅使用有源电缆，仅使用无源电缆，或主动和无源电缆的组合。 主动电缆是通过绞盘改变其长度的电缆。 无源电缆是长度恒定的电缆，用于提供机械约束。 这些机构显着降低了运动惯性，提高了机器人的运行速度。 它们还提供了一种更简单，更具成本效益的方法来制造用于机器人应用的并行机制。

公开(公告)号：US20070113699A1

公开(公告)日：2007-05-24

申请号：US11656425

申请日：2007-01-23

申请人： Amir Khajepour ,  Saeed Behzadipour ,  Robert Dekker ,  Edmon Chan

发明人： Amir Khajepour ,  Saeed Behzadipour ,  Robert Dekker ,  Edmon Chan

IPC分类号： B25J18/00 ,  B66C3/00

CPC分类号： B25J17/0266 ,  B25J9/0078 ,  Y10S414/13 ,  Y10T74/20317 ,  Y10T74/20323 ,  Y10T74/20335

摘要： The present invention provides parallel, cable based robotic manipulators, for use in different applications such as ultra high-speed robots or positioning devices with between three to six degrees of freedom. The manipulators provide more options for the number of degrees of freedom and also more simplicity compared to the current cable-based robots. The general structure of these manipulators includes a base platform, a moving platform or end effector, an extensible or telescoping central post connecting the base to moving platform to apply a pushing force to the platforms. The central post can apply the force by an actuator (active), or spring or air pressure (passive) using telescoping cylinders. The robotic manipulators use a combination of active and passive tensile (cable) members, and collapsible and rigid links to maximize the benefits of both pure cable and conventional parallel mechanisms. Different embodiments of the robotic manipulators use either active cables only, passive cables only, or combinations of active and passive cables. An active cable is one whose length is varied by means of a winch. A passive cable is one whose length is constant and which is used to provide a mechanical constraint. These mechanisms reduce the moving inertia significantly to enhance the operational speed of the robots. They also provide a simpler, more cost effective way to manufacture parallel mechanisms for use in robotic applications.