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FR2603512A1 - Generalised pantograph - Google Patents

Generalised pantograph

Info

Publication number
FR2603512A1
FR2603512A1 FR8612631A FR8612631A FR2603512A1 FR 2603512 A1 FR2603512 A1 FR 2603512A1 FR 8612631 A FR8612631 A FR 8612631A FR 8612631 A FR8612631 A FR 8612631A FR 2603512 A1 FR2603512 A1 FR 2603512A1
Authority
FR
France
Prior art keywords
pantograph
exhibited
bars
generalised
robot
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.)
Withdrawn
Application number
FR8612631A
Other languages
French (fr)
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
Priority to FR8612631A priority Critical patent/FR2603512A1/en
Publication of FR2603512A1 publication Critical patent/FR2603512A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/04—Guiding mechanisms, e.g. for straight-line guidance
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a mechanical structure with pivoting links, which can possibly be used on a robot and which makes it possible to uncouple the positioning and orienting functions of the end member completely. It generalises the principle of the pantograph. A three-bar system is firstly exhibited. Then, when the outer structure of the robot replaces one of them, a mechanism with just two bars is exhibited. An original guiding system is envisaged for these bars within the arm, and it is shown that no guiding system is required in the forearm. The problems posed by particular configurations lead to partial modifications of the structure.
FR8612631A 1986-09-05 1986-09-05 Generalised pantograph Withdrawn FR2603512A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR8612631A FR2603512A1 (en) 1986-09-05 1986-09-05 Generalised pantograph

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8612631A FR2603512A1 (en) 1986-09-05 1986-09-05 Generalised pantograph

Publications (1)

Publication Number Publication Date
FR2603512A1 true FR2603512A1 (en) 1988-03-11

Family

ID=9338811

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8612631A Withdrawn FR2603512A1 (en) 1986-09-05 1986-09-05 Generalised pantograph

Country Status (1)

Country Link
FR (1) FR2603512A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE220075C (en) *
FR1240873A (en) * 1958-11-12 1960-09-09 Vyzk A Zkusebni Letecky Ustav Remote motion transmission device for remote control
GB2061872A (en) * 1979-10-12 1981-05-20 Hitachi Ltd Industrial robots
EP0076432A1 (en) * 1981-09-25 1983-04-13 Matsushita Electric Industrial Co., Ltd. Handling apparatus

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE220075C (en) *
FR1240873A (en) * 1958-11-12 1960-09-09 Vyzk A Zkusebni Letecky Ustav Remote motion transmission device for remote control
GB2061872A (en) * 1979-10-12 1981-05-20 Hitachi Ltd Industrial robots
EP0076432A1 (en) * 1981-09-25 1983-04-13 Matsushita Electric Industrial Co., Ltd. Handling apparatus

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Legal Events

Date Code Title Description
RE Withdrawal of published application