公开(公告)号：US5301566A

公开(公告)日：1994-04-12

申请号：US110181

申请日：1993-08-20

申请人： Farhad Tahmasebi ,  Lung-Wen Tsai

发明人： Farhad Tahmasebi ,  Lung-Wen Tsai

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

CPC分类号： G05G9/04737 ,  B25J17/0266 ,  B25J9/0036 ,  B25J9/0048 ,  B25J9/106 ,  Y10T74/20 ,  Y10T74/20305

摘要： 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.

摘要翻译： 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：US20140311271A1

公开(公告)日：2014-10-23

申请号：US14259815

申请日：2014-04-23

申请人： NORTHWESTERN UNIVERSITY

发明人： Jian Cao ,  Kornel F. Ehmann ,  Qiang Zeng

IPC分类号： B25J18/00

CPC分类号： B25J9/0036 ,  B25J9/106 ,  B25J9/1623 ,  B25J17/025 ,  B25J17/0266 ,  Y10S901/19 ,  Y10T74/20329

摘要： In one aspect, a translational parallel manipulator is provided and includes a fixed platform including three guide members. The three guide members include first ends and second ends, and the first ends of the three guide members are all coupled to each other and the second ends of the three guide members are all spaced-apart from each other. The manipulator also includes a movable platform spaced-apart from the fixed platform and three serial subchains coupled between the three guide members and the movable platform. In one aspect, a translational parallel manipulator is provided and includes a fixed platform, a movable platform spaced-apart from the fixed platform, and a plurality of subchains coupled between the fixed platform and the movable platform. At least one of the plurality of subchains includes no more than four one degree-of-freedom joints.

摘要翻译： 在一个方面，提供了平移并行操纵器，并且包括具有三个引导构件的固定平台。 三个引导构件包括第一端和第二端，并且三个引导构件的第一端都彼此联接，并且三个引导构件的第二端彼此间隔开。 机械手还包括与固定平台间隔开的可移动平台和联接在三个引导构件和可移动平台之间的三个串联子链。 一方面，提供了一种平移并行机械手，包括固定平台，与固定平台间隔开的可移动平台以及耦合在固定平台与可移动平台之间的多个子链。 多个子链中的至少一个包括不超过四个自由度关节。

公开(公告)号：US08167873B2

公开(公告)日：2012-05-01

申请号：US11623310

申请日：2007-01-15

申请人： Bruce M. Schena

发明人： Bruce M. Schena

IPC分类号： A61B17/00

CPC分类号： B25J9/0036 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  B25J17/0266 ,  B25J18/007 ,  Y10T74/2036

摘要： A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. Two outboard links are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.

公开(公告)号：US20240359316A1

公开(公告)日：2024-10-31

申请号：US18760792

申请日：2024-07-01

申请人： TIANJIN UNIVERSITY

发明人： Haitao LIU ,  Xianlei SHAN ,  Hongye WU ,  Jiale HAN ,  Juliang XIAO ,  Tian HUANG

IPC分类号： B25J9/00 ,  B25J9/14

CPC分类号： B25J9/0036 ,  B25J9/0009 ,  B25J9/144

摘要： Disclosed is a three-degree-of-freedom parallel mechanism, a parallel robot and a machine tool. The parallel mechanism includes a fixed frame and a moving platform, and the fixed frame includes a fixed seat and a cylindrical body fixedly connected to the fixed seat; three identical limbs are uniformly distributed in the cylindrical body in a circumferential direction, and each limb includes a prismatic joint A, a hinge A, a swing arm, a hinge B and a hinge C which are sequentially connected; an axis of the hinge A is perpendicular to an axis of movement of the prismatic joint A; an axis of the hinge B is perpendicular to, but does not intersect with the axis of the hinge A, which rotates around the axis of the hinge A; the hinge C has two rotational degrees of freedom.

公开(公告)号：US20230339099A1

公开(公告)日：2023-10-26

申请号：US18215660

申请日：2023-06-28

申请人： COGNIBOTICS AB

发明人： Torgny Brogardh ,  Klas Nilsson ,  Adam Nilsson ,  Mattias Svahn ,  Edvin Malm ,  Carlos Sedglach

IPC分类号： B25J9/00 ,  B25J9/10 ,  B25J9/16

CPC分类号： B25J9/0036 ,  B25J9/106 ,  B25J9/1664

摘要： A parallel kinematic machine (PKM) includes a support platform and first, second, and third support linkages. The first, second, and third support linkages together include at least five support links. The PKM further includes a tool base having a shaft joint, a tool base shaft, and a tool platform. The tool base shaft is connected to the support platform via the shaft joint, rigidly connecting the tool platform and the tool base shaft. The PKM also includes one or more tool linkages, each including a tool link connected at one end, via a tool base joint, to the tool base, and at the other end connected, via a tool carriage joint, to a movable carriage. Each tool linkage is configured to rotate the tool base shaft around at least one axis relative to the support platform by transferring a movement of the respective tool linkage to the tool base shaft.

公开(公告)号：US5279176A

公开(公告)日：1994-01-18

申请号：US915567

申请日：1992-07-20

申请人： Farhad Tahmasebi ,  Lung-Wen Tsai

发明人： Farhad Tahmasebi ,  Lung-Wen Tsai

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

CPC分类号： G05G9/04737 ,  B25J17/0266 ,  B25J9/0036 ,  B25J9/0048 ,  B25J9/106 ,  Y10T74/20 ,  Y10T74/20305

摘要： 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.

摘要翻译： 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：US20190209264A1

公开(公告)日：2019-07-11

申请号：US16299587

申请日：2019-03-12

申请人： KOH YOUNG TECHNOLOGY INC. ,  INDUSTRY-UNIVERSITY COOPERATION FOUNDATION HANYANG UNIVERSITY ERICA CAMPUS

发明人： Jong Tae SEO ,  Byung Ju YI ,  Jae Hong WOO

IPC分类号： A61B90/50 ,  A61B50/26 ,  B25J9/00 ,  B25J9/10 ,  B25J19/00

CPC分类号： A61B90/50 ,  A61B1/00 ,  A61B17/16 ,  A61B50/26 ,  A61B90/00 ,  A61B2090/504 ,  A61F11/00 ,  B25J9/0036 ,  B25J9/1065 ,  B25J19/0016 ,  B25J19/002

摘要： A medical stand may include a first link, a second link parallel to the first link, a third link connected between one end of the first link and one end of the second link, a fourth link parallel to the third link and connected between the other end of the first link and the other end of the second link, a mounting arm extending from the other end of the first link, a variable balancing arm connected to at least one of the second link or the third link, a counterweight provided at a distal end of the variable balancing arm, a detector detecting a displacement of at least one of the first link, the second link, the third link, or the fourth link, and a controller generating the control signal to adjust the center-of-gravity position of the variable balancing arm in accordance with the displacement detected by the detector.

公开(公告)号：US09283671B2

公开(公告)日：2016-03-15

申请号：US14259815

申请日：2014-04-23

申请人： NORTHWESTERN UNIVERSITY

发明人： Jian Cao ,  Kornel F. Ehmann ,  Qiang Zeng

IPC分类号： B25J9/00 ,  B25J9/10 ,  B25J9/16 ,  B25J17/02

CPC分类号： B25J9/0036 ,  B25J9/106 ,  B25J9/1623 ,  B25J17/025 ,  B25J17/0266 ,  Y10S901/19 ,  Y10T74/20329

摘要： In one aspect, a translational parallel manipulator is provided and includes a fixed platform including three guide members. The three guide members include first ends and second ends, and the first ends of the three guide members are all coupled to each other and the second ends of the three guide members are all spaced-apart from each other. The manipulator also includes a movable platform spaced-apart from the fixed platform and three serial subchains coupled between the three guide members and the movable platform. In one aspect, a translational parallel manipulator is provided and includes a fixed platform, a movable platform spaced-apart from the fixed platform, and a plurality of subchains coupled between the fixed platform and the movable platform. At least one of the plurality of subchains includes no more than four one degree-of-freedom joints.

摘要翻译： 在一个方面，提供了平移并行操纵器，并且包括具有三个引导构件的固定平台。 三个引导构件包括第一端和第二端，并且三个引导构件的第一端都彼此联接，并且三个引导构件的第二端彼此间隔开。 机械手还包括与固定平台间隔开的可移动平台和联接在三个引导构件和可移动平台之间的三个串联子链。 一方面，提供了一种平移并行机械手，包括固定平台，与固定平台间隔开的可移动平台以及耦合在固定平台与可移动平台之间的多个子链。 多个子链中的至少一个包括不超过四个自由度关节。

公开(公告)号：US06974297B2

公开(公告)日：2005-12-13

申请号：US10399763

申请日：2001-10-19

申请人： Torgny Brogårdh

发明人： Torgny Brogårdh

IPC分类号： B25J9/04 ,  B23Q1/54 ,  B25J11/00 ,  B25J17/00 ,  B25J17/02 ,  F16H21/46

CPC分类号： B23Q1/5462 ,  B25J9/0036 ,  B25J9/0042 ,  B25J9/0072 ,  B25J17/0266 ,  Y10T74/20335 ,  Y10T74/20341

摘要： An industrial robot for movement of an object in space comprising a platform arranged for carrying the object, a first arm arranged for influencing the platform in a first movement and comprising a first actuator and two links, each of which comprises an outer joint arranged in the platform and an inner joint arranged in the first actuator, a second arm arranged for influencing the platform in a second movement and comprising a second actuator and two links, each of which comprises an outer joint arranged in the platform and an inner joint arranged in the second actuator, and a third arm arranged for influencing the platform in a third movement and comprising a third actuator and a link, which comprises an outer joint arranged in the platform and an inner joint arranged in the third actuator. The first actuator comprises a first motor, a first path arranged in a first plane and a first carriage linearly movable along the first path, whereby the two inner joints are displaceable in parallel, the second actuator comprises a second motor, a second path arranged in a second plane and a second carriage linearly movable along the second path, whereby the two inner joints are displaceable in parallel, and the third actuator comprises a third motor, a third path arranged in a third plane and a third carriage linearly movable along the third path, whereby the inner joint is linearly displaceable.

摘要翻译： 一种用于空间中的物体的移动的工业机器人，包括布置成用于承载物体的平台，第一臂，布置成用于在第一运动中影响平台，并且包括第一致动器和两个连杆，每个链节包括布置在 平台和布置在第一致动器中的内接头，第二臂布置成用于在第二运动中影响平台，并且包括第二致动器和两个连杆，每个连杆包括布置在平台中的外接头和布置在该平台中的内接头 第二致动器和第三臂，其布置成用于在第三运动中影响平台，并且包括第三致动器和连杆，其包括布置在平台中的外接头和布置在第三致动器中的内接头。 第一致动器包括第一电动机，布置在第一平面中的第一路径和沿着第一路径线性移动的第一车架，由此两个内接头可平行移动，第二致动器包括第二电动机， 第二平面和第二托架可沿着第二路径线性移动，由此两个内接头可平行移动，并且第三致动器包括第三马达，布置在第三平面中的第三路径和沿着第三平面线性移动的第三托架 路径，从而内接头可线性移位。

公开(公告)号：US20040028516A1

公开(公告)日：2004-02-12

申请号：US10399763

申请日：2003-08-29

发明人： Torgny Brogardh

IPC分类号： B66C001/00

CPC分类号： B23Q1/5462 ,  B25J9/0036 ,  B25J9/0042 ,  B25J9/0072 ,  B25J17/0266 ,  Y10T74/20335 ,  Y10T74/20341

摘要： An indusurial robot for movement of an object in space comprising a platform arranged for carrying the object, a first arm arranged for influencing the platform in a first movement and comprising a first actuator and two links, each of which comprises an outer joint arranged in the platform and an inner joint arranged in the first actuator, a second arm arranged for influencing the platform in a second movement and comprising a second actuator and two links, each of which comprises an outerjoint arranged in the platform and an inner joint arranged in the second actuator, and a third arm arranged for influencing the platform in a third movement and comprising a third actuator and a link, which comprises an outer joint arranged in the platform and an inner joint arranged in the third actuator. The first actuator comprises a first motor, a first path arranged in a first plane and a first carriage linearly movable along the first path, whereby the two innerjoints are displaceable in parallel, the second actuator comprises a second motor, second path arranged in a second plane and a second carriage linearly movable along the second path, whereby the two innerjoints are displaccable in parallel, and the third actuator comprises a third motor, a third path arranged in a third plane and a third carriage linearly movable along the third path, whereby the inner joint is linearly displaceable.

摘要翻译： 一种用于空间中的物体移动的工业机器人，包括布置成承载物体的平台，布置成用于在第一运动中影响平台的第一臂，并且包括第一致动器和两个连杆，每个链节包括布置在 平台和布置在第一致动器中的内接头，第二臂布置成在第二运动中影响平台，并且包括第二致动器和两个连杆，每个连杆包括布置在平台中的外接头和布置在第二致动器中的内接头 致动器和第三臂，其布置成用于在第三运动中影响平台，并且包括第三致动器和连杆，其包括布置在平台中的外接头和布置在第三致动器中的内接头。 第一致动器包括第一电动机，布置在第一平面中的第一路径和沿着第一路径线性移动的第一车架，由此两个内接头可平行移动，第二致动器包括第二电动机， 平面和第二托架，其可沿着第二路径线性移动，由此两个内接点可平行移位，并且第三致动器包括第三马达，布置在第三平面中的第三路径和沿着第三路线线性移动的第三托架，由此 内关节可线性位移。