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    Method of controlling a machine with redundant parallel actuation, associated control device and machine
    1.
    发明授权
    Method of controlling a machine with redundant parallel actuation, associated control device and machine 有权
    控制具有冗余并行驱动，相关控制装置和机器的机器的方法

    公开(公告)号：US09545718B2

    公开(公告)日：2017-01-17

    申请号：US14237927

    申请日：2012-08-08

    申请人： Francois Pierrot ,  Ahmed Chemori ,  Micaël Michelin

    发明人： Francois Pierrot ,  Ahmed Chemori ,  Micaël Michelin

    IPC分类号： G05B19/04 ,  G05B19/18 ,  B25J9/16

    CPC分类号： B25J9/1623

    摘要： A method of controlling a machine with redundant parallel actuation includes a frame and a mobile element driven by a plurality of mechanical transmissions parallel to one another and each being activated by an actuator (2) including a body fixed to the frame, an actuating member and a position sensor, in which an error signal is produced by comparing the position of each actuator with a setpoint signal, characterized in that the error signals are converted into a mobile element position error signal by applying data representative of the kinematics of the mechanical transmissions, the mobile element error signal is processed by a processing module which produces an effort signal to be applied to the mobile element, the effort signal is converted into signals controlling the actuators by applying data representative of the kinematics of the mechanical transmissions.

    摘要翻译： 控制具有冗余平行致动的机器的方法包括由彼此平行的多个机械传动装置驱动的框架和移动元件，并且每个由包括固定到框架的主体的致动器（2）启动，致动构件和 位置传感器，其中通过将每个致动器的位置与设定点信号进行比较而产生误差信号，其特征在于，通过应用表示机械传动的运动学的数据将误差信号转换成移动元件位置误差信号， 移动元件误差信号由产生要施加到移动元件的努力信号的处理模块处理，努力信号通过应用表示机械传动的运动学的数据被转换成控制致动器的信号。

    Parallel robot
    2.
    发明授权
    Parallel robot 失效
    平行机器人

    公开(公告)号：US5333514A

    公开(公告)日：1994-08-02

    申请号：US37594

    申请日：1993-03-26

    申请人： Osamu Toyama ,  Masaru Uchiyama ,  Francois Pierrot

    发明人： Osamu Toyama ,  Masaru Uchiyama ,  Francois Pierrot

    IPC分类号： B25J9/10 ,  B25J17/02 ,  B25J19/00 ,  G05G11/00

    CPC分类号： B25J9/107 ,  B25J17/0266 ,  B25J19/002 ,  B25J9/0039 ,  Y10T74/20317 ,  Y10T74/20335

    摘要： A parallel robot comprises a base, three set of arm assemblies disposed on the base at a predetermined spacing, and a bracket member which is supported by the arm assemblies and to which an end effector is attached. Each of the arm assemblies comprises a pair of motors mounted on the base to face each other with a predetermined clearance and a pair of arms which are supported by the motors to be swung, respectively. Each of the arms comprises a first arm portion and a second arm portion. The first arm portion and the second arm portion of each arm are connected with each other through a first joint means, and the second arm portion of each arm is connected with the bracket through a second joint means.

    摘要翻译： 平行机器人包括基座，以预定间隔设置在基座上的三组臂组件和由臂组件支撑并且末端执行器附接到该支架组件的支架构件。 每个臂组件包括一对电机，其安装在基座上以预定间隙彼此面对，并且一对臂分别由马达支撑以摆动。 每个臂包括第一臂部分和第二臂部分。 每个臂的第一臂部分和第二臂部分通过第一接合装置彼此连接，并且每个臂的第二臂部分通过第二接合装置与支架连接。

    Apparatus for and method of automatically identifying barrels
    3.
    发明授权
    Apparatus for and method of automatically identifying barrels 失效
    自动识别桶的装置和方法

    公开(公告)号：US4193540A

    公开(公告)日：1980-03-18

    申请号：US889495

    申请日：1978-03-23

    申请人： Roland Dougados ,  Francois Pierrot ,  Remy Wagner

    发明人： Roland Dougados ,  Francois Pierrot ,  Remy Wagner

    IPC分类号： B65G47/49 ,  G06K7/10 ,  G06K19/06 ,  G01D21/04 ,  G06K9/00

    CPC分类号： G06K7/10871 ,  B65G47/493 ,  G06K19/06028 ,  G06K2019/06253

    摘要： An apparatus and method is provided for identifying beer barrels and the like by means of omnidirectional reading of coded labels affixed to the top end face of each barrel. The apparatus and method provides for machine readability of the coded labels and the subsequent systematic handling of the barrels through the use of a particular code label arrangement using multiple labels and multiple code scanners. In accordance with this method, four labels having identical codes are placed in such an array that pairs of labels are oriented at an angle of about 45.degree. relative to each other. A pair of spaced optical code readers scan the code bearing end faces of the barrels as they are conveyed through an identification region. The scanning beams are spaced by a distance greater than the diameter of the barrels and are arranged to converge at a location remote from the conveyor at an angle of about 45.degree.. This permits both omnidirectional reading and confirmatory secondary reading of the codes to assure error free handling of the individual barrels. The coded labels are of the bar code type and take the form of rectangular self-adhesive polyester supports resistant to conditions encountered in cleaning the barrels.

    摘要翻译： 提供了一种装置和方法，用于通过全方位读取固定在每个桶的顶端面上的编码标签来识别啤酒桶等。 该装置和方法通过使用使用多个标签和多个代码扫描器的特定代码标签布置来提供编码标签的机器可读性和随后的桶的系统处理。 根据该方法，具有相同代码的四个标签被放置成这样的阵列，使得成对的标签相对于彼此以大约45度的角度定向。 一对间隔开的光学代码读取器在被输送通过识别区域时扫描出筒的代码轴承端面。 扫描光束的距离大于桶的直径，并且被布置成以约45°的角度会聚在远离输送机的位置处。 这允许全方位读取和确认代码的二次读取，以确保单个桶的无错误处理。 编码标签是条码类型，采用矩形自粘聚酯支架的形式，可以抵抗在清洁桶子时遇到的条件。

    Four-degree-of-freedom parallel robot
    5.
    发明授权
    Four-degree-of-freedom parallel robot 有权
    四自由度并联机器人

    公开(公告)号：US06516681B1

    公开(公告)日：2003-02-11

    申请号：US09662743

    申请日：2000-09-15

    申请人： Francois Pierrot ,  Olivier Company ,  Tetsuro Shibukawa ,  Koji Morita

    发明人： Francois Pierrot ,  Olivier Company ,  Tetsuro Shibukawa ,  Koji Morita

    IPC分类号： B25J906

    CPC分类号： B25J17/0266 ,  A61B2034/304 ,  B25J9/0051 ,  Y10T74/20305 ,  Y10T74/20317

    摘要： A four-degree-of-freedom parallel robot capable of displacing a traveling plate with four degrees of freedom at a high speed and a high acceleration and positioning the traveling plate with high rigidity and high precision. The four-degree-of-freedom parallel robot has four actuators fixed to a base, four parallel linkages each of which is coupled at its upper end to a tip end of an arm of each of the actuators through a kinematic element such as a universal joint, and a traveling plate whose four corners are coupled to lower ends of the parallel linkages through kinematic elements. By controlling the actuators, a main member of the traveling plate is displaced with four degrees of freedom, i.e., translated in all directions and rotated around a predetermined axis. Only axial forces are applied to rods constituting the parallel linkages. Thus, the traveling plate can be positioned at a high speed and with high rigidity as well as high precision.

    摘要翻译： 一种四自由度平行机器人，能够以高速和高加速度的四自由度移动行驶板，并且以高刚性和高精度定位行进板。 四自由度并联机器人具有固定在基座上的四个致动器，四个平行连杆，每个致动器的上端通过诸如通用的运动元件联接到每个致动器的臂的末端 接头和行星板，其四个角通过运动元件联接到平行连杆的下端。 通过控制致动器，行进板的主要构件以四个自由度移位，即在所有方向上平移并围绕预定轴线旋转。 只有轴向力施加到构成平行连杆的杆上。 因此，移动板可以高速，高刚性和高精度地定位。