WO2004004986A3 - Light weight parallel manipulators using active/passive cables - Google Patents

Light weight parallel manipulators using active/passive cables Download PDF

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Publication number
WO2004004986A3
WO2004004986A3 PCT/CA2003/000987 CA0300987W WO2004004986A3 WO 2004004986 A3 WO2004004986 A3 WO 2004004986A3 CA 0300987 W CA0300987 W CA 0300987W WO 2004004986 A3 WO2004004986 A3 WO 2004004986A3
Authority
WO
WIPO (PCT)
Prior art keywords
active
cable
passive
manipulators
cables
Prior art date
Application number
PCT/CA2003/000987
Other languages
French (fr)
Other versions
WO2004004986A2 (en
Inventor
Amir Khajepour
Saeed Behzadipour
Robert Dekker
Edmon Chan
Original Assignee
Amir Khajepour
Saeed Behzadipour
Robert Dekker
Edmon Chan
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 Amir Khajepour, Saeed Behzadipour, Robert Dekker, Edmon Chan filed Critical Amir Khajepour
Priority to AU2003281217A priority Critical patent/AU2003281217A1/en
Priority to CA002492147A priority patent/CA2492147A1/en
Publication of WO2004004986A2 publication Critical patent/WO2004004986A2/en
Publication of WO2004004986A3 publication Critical patent/WO2004004986A3/en

Links

Classifications

    • 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
    • B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/13—Handlers utilizing parallel links
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20323—Robotic arm including flaccid drive element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist

Abstract

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 (24), a moving platform or end effector (22), an extensible or telescoping central post (26) connecting the base (24) to moving platform (22) to apply a pushing force to the platforms. The central post (26) 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 (28) 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 (30). 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.
PCT/CA2003/000987 2002-07-09 2003-07-09 Light weight parallel manipulators using active/passive cables WO2004004986A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU2003281217A AU2003281217A1 (en) 2002-07-09 2003-07-09 Light weight parallel manipulators using active/passive cables
CA002492147A CA2492147A1 (en) 2002-07-09 2003-07-09 Light weight parallel manipulators using active/passive cables

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US39427202P 2002-07-09 2002-07-09
US60/394,272 2002-07-09

Publications (2)

Publication Number Publication Date
WO2004004986A2 WO2004004986A2 (en) 2004-01-15
WO2004004986A3 true WO2004004986A3 (en) 2004-06-03

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA2003/000987 WO2004004986A2 (en) 2002-07-09 2003-07-09 Light weight parallel manipulators using active/passive cables

Country Status (4)

Country Link
US (3) US7172385B2 (en)
AU (1) AU2003281217A1 (en)
CA (1) CA2492147A1 (en)
WO (1) WO2004004986A2 (en)

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