• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Nacelle (55) for a parallel robot for acting on an object, comprising: - at least two armatures (80, 82) comprising at least two pairs of ball joints (96, 98, 100, 102, 108, 110, 112, 114 at least two bridges (84, 86) connected to each of the reinforcements respectively by four hinges (116, 118, 120, 122) substantially parallel to an axial direction (V), and defining a parallelogram (ABCD) in a plane (P) perpendicular to the axial direction, the parallelogram being movable between a plurality of configurations in which the two sides (AD, BC) corresponding to the two plates are substantially parallel to an orientation direction (DI), and - a base ( 88) mounted on the nacelle and intended to be connected to an effector (60) able to act on the object. The base is connected to each bridge respectively by at least one hinge (124, 126) oriented along a connecting axis substantially parallel to the axial direction, the two connection axes of the base defining in said plane a segment (EF) parallel to the orientation direction in all configurations of the parallelogram.
    公开号:FR3020977A1
    申请号:FR1454457
    申请日:2014-05-19
    公开日:2015-11-20
    发明作者:Sebastien Krut；Olivier Company；Francois Pierrot
    申请人:Centre National de la Recherche Scientifique CNRS；Universite de Montpellier II；
    IPC主号:
    专利说明:

    [0001] The present invention is in the field of industrial robotics. The invention more particularly relates to a nacelle for a parallel robot intended to act on an object, the nacelle comprising: at least two armatures, each armature comprising at least two pairs of ball joints, at least two bridges connected to each of the armatures respectively by four hinges oriented along four axes of hinge substantially parallel to an axial direction, the four hinge axes defining a parallelogram in a plane perpendicular to the axial direction, the parallelogram being movable between a plurality of configurations in which the two sides corresponding to both armatures are substantially parallel to an orientation direction (D1) substantially perpendicular to the axial direction, and - a base mounted on the nacelle and intended to be connected to an effector adapted to act on the object. The invention also relates to a parallel robot intended to act on a parallel object intended to act on an object, characterized in that it comprises: - a support, - at least four articulated arms rotatably mounted on the support, - at least one nacelle as defined above, each of the articulated arms being mounted respectively on one of the pairs of ball joint links of the nacelle, and - an effector connected to the base and intended to act on the object. The invention finally relates to a method using such a robot. The axial direction is generally substantially vertical.
    [0002] Such robots are intended to perform manipulations of objects (say pick-and-place in English) at high speed, for example four round trips and the second. These robots are used in particular in the food industry, pharmacy, cosmetics, electronics, etc. Their "parallel" architecture gives them remarkable dynamic performances. Indeed, the implementation of actuator arms directly on the nacelle, and the presence of particularly light moving parts allow high dynamics. The robot known as "Quattro" includes an articulated pod and four actuating arms. This robot has four degrees of freedom: three translations in space, and a rotation around the vertical to change the orientation of the manipulated object. The nacelle has the shape of a deformable parallelogram in a substantially horizontal plane. The rotation of the object is controlled by the deformation of the nacelle. However, for some applications, such as the handling of cylindrical objects, or the removal of objects in any position, it is not essential to control the orientation of the object. It then becomes interesting to physically constrain the rotation of the object to zero, that is to say to maintain an orientation of the predefined object around the axial direction. A first solution consists, through the control of the four articulated arms, to impose a given orientation to the base and thus the effector and the object. However, when the effector and the object are not perfectly centered relative to the nacelle, the accelerations printed on the object result in a torque exerted on the base around the axial direction. Such a torque is transmitted to the actuators of the robot, which reduces all the possibilities of printing efforts in translation, and thus to achieve high dynamic performance.
    [0003] Another solution is to use an equilateral triangle-shaped nacelle, like that of the robot known as the "Delta", and adapted to be actuated by three articulated arms. It is understood that such a nacelle is not suitable for pre-existing installations with four articulated arms. Another solution is to replace the articulated basket of the robot called "Quattro" by a nacelle rigid, that is to say non-deformable in its plan. Such a rigid nacelle makes it possible to provide the three degrees of freedom in translation and to constrain the rotational movement of the effector, but has the disadvantage of over-constraining the four actuators. Indeed, since three actuators are sufficient to produce the three translational movements, the fourth actuator must be perfectly synchronized with the other actuators, under penalty of deformation, or even dislocation of the robot. Such a perfect synchronization is difficult to achieve because it requires control of the actuating forces and thus significant computing power to control the robot. An object of the invention is therefore to provide a nacelle adapted to a parallel robot with four articulated arms and to constrain the rotation of the object around the axial direction, while achieving high dynamic performance, and does not require too much computing power. For this purpose, the invention relates to a nacelle of the type described above, wherein the base is connected to each bridge respectively by at least one hinge oriented along a connecting axis substantially parallel to the axial direction, both connecting axes of the base defining in said plane a segment parallel to the direction of orientation in all configurations of the parallelogram. According to particular embodiments, the nacelle comprises one or more of the following features, taken individually or in any technically possible combination: the connection axes of the base are respectively located substantially in the middle of the sides of the parallelogram corresponding to the bridges; each segment of the parallelogram corresponding to one of the armatures has a length L1 and each segment of the parallelogram corresponding to one of the bridges has a length L2, the ratio L1 / L2 being greater than or equal to 2.0; and - the frames and the bridges of the nacelle came from matter, the hinges of the nacelle being realized by local thinning of the nacelle. The invention also relates to a parallel robot intended to act on an object, the robot comprising: - a support, - at least four articulated arms rotatably mounted on the support, - at least one nacelle as defined above, each of the arms articulated being respectively mounted on one of the pairs of ball joint connections of the nacelle, and - an effector connected to the base and intended to act on the object.
    [0004] According to particular embodiments, the robot comprises one or more of the following characteristics, taken individually or in any technically possible combination: the articulated arms are adapted to print a translation movement to the nacelle with respect to the support, and for deforming the parallelogram between the configurations of said plurality, the orientation direction remaining fixed relative to the support during the translational movement and in all configurations of said plurality; the axial direction is substantially vertical; and - each articulated arm comprises a proximal portion rotatably mounted on the support, and a distal portion connected to the proximal portion by two ball joints, and connected to the nacelle by one of the pairs of ball joints. The invention finally relates to a method implementing a robot as defined above, comprising the step of acting on the object using the effector. According to a particular embodiment, the method comprises the following steps: - printing a translation movement to the nacelle relative to the support with the aid of the articulated arms, the orientation direction remaining fixed relative to the support, and - deforming the parallelogram using the articulated arms of any one of said plurality to any of said plurality of configurations, the orientation direction remaining fixed relative to the support. The invention will be better understood on reading the description which follows, given solely by way of example and with reference to the appended drawings, in which: FIG. 1 is a schematic perspective view of a robot according to FIG. FIG. 2 is a diagrammatic view from above of the nacelle of the robot shown in FIG. 1, the nacelle being in an intermediate configuration in which the parallelogram is a rectangle, and FIGS. 3 and 4 are respectively views. similar to that of Figure 2, the nacelle being respectively in two symmetrical configurations of one another, wherein the parallelogram is respectively deformed in one direction or the other with respect to its rectangular shape shown in Figure 2 With reference to FIG. 1, a robot 1 according to the invention is described. The robot 1 is for example part of a production line (not shown) in the field of food, pharmaceuticals, cosmetics, electronics, etc. The robot 1 is adapted to move an object 5 (visible at the bottom of Figure 1) which is for example a foodstuff or a box of drugs. An axial direction V is defined which is, in the example shown in the figures, substantially vertical. An orientation direction D1 (FIG. 2) is also defined substantially perpendicular to the axial direction V and which materializes an orientation of the object 5 in space. Finally, a transverse direction T substantially perpendicular to the axial direction V and to the orientation direction D1 is defined. The direction of orientation D1 and the transverse direction T define a substantially horizontal plane P in the example shown. The robot 1 is called "parallel". The robot 1 is adapted to move the object 5 in translation along the three directions of space, for example the axial direction V, the transverse direction T and the direction of orientation D1, advantageously in rapid movements, for example the order of a few round trips to the second. The robot 1 comprises a support 10, four actuators 15, 20, 25, 30 fixed on the support, four articulated arms 35, 40, 45, 50 respectively mounted on the actuators, a nacelle 55 carried by the four articulated arms, and a effector 60 fixed on the platform and adapted to act on the object 5.
    [0005] According to a variant (not shown), the effector 60 comprises at least one motor capable of moving the object 5 in rotation about an axis parallel to the axial direction. By "act" means for example that the effector 60 is adapted to grasp the object 5, carry it during a translational movement of the nacelle 55 relative to the support 10, and to release the object 5. The support 10 is of substantially flat shape and substantially parallel to the plane P. The support 10 has for example a generally square shape in view in the axial direction V. The support 10 is intended to be fixed by any appropriate means on a supporting structure (not represented), such as a ceiling.
    [0006] According to variants not shown, the support 10 has a generally rectangular shape, or even non-planar. The actuators 15, 20, 25, 30 are fixed below the support 10, advantageously substantially at the four corners defined by a lower face 62 of the support. The actuators 15, 20, 25, 30 being substantially structurally similar to each other, only the actuator 15 will be described in detail below. The actuator 15 comprises an armature 64 fixed on the support 10, and a stator 66 secured to the armature 64. The actuator 15 is able to print on the articulated arm 35 a rotational movement with respect to the support 10 around a axis D1 substantially parallel to the plane P.
    [0007] The axis D1 forms, for example, an angle of approximately 45 ° with the direction of orientation D1 projected onto the plane P. In the example shown, the actuators 20, 25, 30 are deduced from the actuator 15 by successive rotations of 90 ° around a median axis M of the robot 1 (Figures 1 and 2), the median axis M being substantially parallel to the axial direction V.
    [0008] Thus, the actuator 20 is adapted to print the articulated arm 40 a rotational movement relative to the support 10 about an axis D2 substantially parallel to the plane P and substantially perpendicular to the axis Dl. Similarly, the actuator 25 is adapted to print a rotational movement to the articulated arm 45 relative to the support 10 about an axis D3 substantially parallel to the plane P and substantially perpendicular to the axis D2. Finally, the actuator 30 is able to rotate the articulated arm 50 relative to the support 10 about an axis D4 substantially parallel to the plane P and substantially perpendicular to the axis Dl. Each of the actuators 15, 20, 25, 30 is equipped with at least one motor adapted to control the rotation of the articulated arms 35, 40, 45, 50 relative to the reinforcements 64 respectively about the axes D1, D2, D3, D4.
    [0009] The articulated arms 35, 40, 45, 50 being structurally similar to each other, only the articulated arm 35 will be described in detail below. The articulated arm 35 has a proximal portion 68 forming a rear arm, and a distal portion 70 articulated on the proximal portion and forming a forearm.
    [0010] The proximal portion 68 is rotatably mounted relative to the stator 66 about the axis Di. The proximal portion 68 is of generally elongated shape, for example substantially perpendicular to the axis Dl. The proximal portion 68 has at its distal end two spheres 72, 74 fixed on two opposite faces of the proximal portion 68 along the axis Dl.
    [0011] The distal portion 70 is composed in the example shown of two uprights 76, 78 arranged substantially parallel to each other on the spheres 72, 74. Each upright 76, 78 has a complementary cup-shaped proximal end respectively of the spheres 72, 74, all forming a ball joint. Each upright 76, 78 further comprises a distal end also cup-shaped and adapted to cooperate with the nacelle 55. As shown in Figure 1, the nacelle 55 is located at the end of the articulated arms 35, 40, 45, 50. As can be seen in FIG. 2, the nacelle 55 has a general shape that extends substantially parallel to the plane P. The nacelle 55 comprises two armatures 80, 82, two bridges 84, 86 extending between the armatures 80, 82 transversely, and a base 88 adapted to serve as a support for the effector 60. The two plates 80, 82 are advantageously symmetrical to one another with respect to a plane of symmetry Si substantially perpendicular to the transverse direction T when the The nacelle 55 is in a symmetrical configuration shown in FIG. 2. The armature 80 comprises two heads 90, 92 opposite to each other in the direction of orientation D1 and separated by a median portion 94. The head 90 challenge Nit two spheres 96, 98 for example substantially oriented at 45 ° with respect to the direction of direction Dl and the transverse direction T and pointing in opposite directions. The spheres 96, 98 are adapted to cooperate with the articulated arm 35. The spheres 96, 98 respectively have complementary spherical shapes of the distal ends of the uprights 76, 78 of the articulated arm 35. According to variants (not shown), the spheres present other orientations with respect to the direction of orientation D1 and the transverse direction T, provided that these orientations are identical to those of the distal ends of the uprights 76, 78 of the articulated arm 35. Likewise, the head 92 of the armature 80 defines two spheres 100, 102 pointing in opposite directions and forming for example an angle of substantially 45 ° with the direction of direction D1 and the transverse direction T. The spheres 100, 102 are adapted to cooperate with the articulated arm 50, in the same way that the spheres 96, 98 are adapted to cooperate with the articulated arm 35.
    [0012] Similarly, the armature 82 comprises two heads 104, 106 separated in the direction of orientation D1 by a median portion 108. The heads 104, 106 respectively define spheres 108, 110, 112, 114. The spheres 108, 110 are adapted to cooperate with the articulated arm 40. The spheres 112, 114 are adapted to cooperate with the articulated arm 45.
    [0013] In the configuration shown in Figure 2, the bridges 84, 86 are symmetrical to each other with respect to a plane of symmetry S2 substantially perpendicular to the direction of direction Dl. The bridge 84 is articulated respectively on the frames 80, 82 by two hinges 116, 118.
    [0014] The bridge 86 is articulated respectively on the armatures 80, 82 by two hinges 120, 122. The hinges 116, 118, 120, 122 have hinge axes substantially parallel to the axial direction V and defining, in projection on the plane P, a parallelogram ABCD.
    [0015] The hinges 116, 118, 120, 122 are advantageously made by local thinning of the nacelle 55. The reinforcements 80, 82 and the bridges 84, 86 then came from material. In the configuration of FIG. 2, the sides AD and BC of the parallelogram ABCD are substantially parallel to the direction of orientation D1 and have the same length L1 along this same direction. Still in the configuration of FIG. 2, the sides AB and CD of the parallelogram ABCD are substantially oriented transversely and have the same length L2 in the transverse direction T. Advantageously, the ratio L1 / L2 is greater than or equal to 2.0.
    [0016] The base 88 has for example a generally annular shape, advantageously symmetrical with respect to the plane of symmetry Si and S2. The base 88 is mounted respectively on the bridges 84, 86 by two hinges 124, 126 defining two axes of hinges substantially parallel to the axial direction V and defining two points E, F in projection on the plane P. Advantageously, the base 88 is articulated only on the bridges 84, 86 and is not directly mechanically connected to the frames 80, 82. The hinges 124, 126 are advantageously of similar structure to the hinges 116, 118, 120, 122. The points E and F are located on the AB and CD sides of the ABCD parallelogram. The distance EB is substantially equal to the distance CF. The segment EF is substantially parallel to the sides AD and BC. Advantageously, the points E and F are respectively located substantially in the middle of segments AB and CD. The effector 60 is an element known per se to those skilled in the art. The effector 60 is fixed on the base 88 so as to be integral in rotation with the base 88 around the central axis M. The segment EF defines the orientation of the entire base 88.
    [0017] The nacelle 55 is movable between the configuration shown in FIG. 2 and a plurality of configurations, two of which are shown in FIGS. 3 and 4. The configuration of the nacelle 55 shown in FIG. 3 is such that the parallelogram ABCD is not plus a rectangle. The angle ABC is then an obtuse angle. Such a configuration results from the configuration shown in FIG. 2 by translating the armatures 80, 82 relative to one another in the direction of orientation D1. In FIG. 4, the nacelle 55 is in a configuration in which the parallelogram ABCD is such that the angle ABC is acute. Such a configuration is obtained from the configuration shown in Figure 2 by translating the armatures 80, 82 relative to each other in the direction of direction Dl, in a direction opposite to that which gives the configuration The configurations of the parallelogram ABCD are, for example, defined by an angle α formed by the segment AB with the transverse direction T. In the configuration of FIG. 2, the angle a is substantially zero. In the configuration of Figure 3, the angle is for example +5 degrees. In the configuration of Figure 4, the angle is for example -5 degrees. The angle a is for example in a range of -5 degrees to +5 degrees. The operation of the robot 1 will now be described.
    [0018] As can be seen in FIG. 1, the actuators 15, 20, 25, 30 respectively make it possible to rotate the proximal portions 68 of the articulated arms 35, 40, 45, 50 respectively about the axes D1, D2, D3, D4 relative to each other. This has the effect of moving the spheres 72, 74 along circular paths in planes substantially parallel to the axial direction V. In addition, thanks to the spherical connections 72, 74 of the proximal portions 68 and thanks to the spheres 96, 98, 100, 102, 108, 110, 112, 114 of the nacelle 55, the uprights 76, 78 of each distal portion 70 of each articulated arm 35, 40, 45, 50 remain parallel to each other. Thus, the nacelle 55 maintains its orientation in space with respect to the support 10. In the example shown, the nacelle 55 remains substantially parallel to the plane P and does not rotate relative to the support 10 around the axial direction V.
    [0019] The four articulated arms 35, 40, 45, 50 constitute four kinematic chains to which correspond three degrees of freedom in translation of the nacelle 55, and an additional degree of freedom corresponding to the deformations of the parallelogram ABCD defined by the nacelle 55. In other words, to the four angular positions of the proximal portions 68 of the articulated arms 35, 40, 45, 50 corresponds to a single position of the nacelle 55 in space relative to the support 10, and a configuration of the parallelogram ABCD formed by the nacelle, that is, ie a value of the angle a. The articulated arms 35, 40, 45, 50 deform the nacelle 55 so that the segments BC and AD remain substantially parallel to the direction of orientation D1. Since the distance BE is equal to the distance CF, the segment EF is itself parallel to the segments AD and BC. Thus, the orientation of the base 88 around the axial direction V does not change, whatever the configuration of the parallelogram ABCD, because the orientation of the base is determined by the orientation of the segment EF. Consequently, the orientation of the effector 60 around the axial direction V also does not change during translational movements of the nacelle 55 caused by the articulated arms 35, 40, 45, 50. It is thus possible to realize displacements in translation, said in English "pick-and-place" without rotation of the object 5. In addition, the force pairs possibly acting on the effector 60 around the axial direction V, for example because an unbalance effect, do not transmit to the articulated arms 35, 40, 45, 50, and therefore do not transmit to the actuators 15, 20, 25, 30. Thus, thanks to the characteristics described above, in particular the structure of the nacelle 55, the robot 1 is adapted to constrain the rotation of the object 5 around the axial direction V without this solicits the actuators and without it requires too much computing power. This achieves high dynamic performance and also increases the life of robot 1.
    [0020] In addition, the pod 55 makes it possible to use a standard control with independent axes typical of robots with four articulated arms. This makes it possible to increase the gains of the servo loops, and therefore to improve the performance of the robot 1. Moreover, compared to a triangular nacelle robot such as the "Delta" robot with only three kinematic chains, the fourth channel kinematic represented by the fourth articulated arm homogenizes the performance of the robot 1, that is to say that they do not degrade so quickly along the edge of the working space of the robot 1. The use of the degree of internal mobility of the nacelle 55 constituted by the plurality of configurations of the parallelogram ABCD in the plane P does not affect the transmission of the mechanical forces of the actuators 15, 20, 25, 30 to the effector 60. This degree of mobility internal of the nacelle 55 allows movements, advantageously infinitesimal, to compensate for possible errors of the command control models and the engine beats of the actuators 15, 20, 25, 30. Cett internal mobility also releases the internal stresses of actuation of the robot 1. The service life of the robot 1 is increased, in particular that of expensive elements of the actuators 15, 20, 25, 30 such as the motors, the reducers and power amplifiers. Thanks to its four articulated arms 15, 20, 25, 30 equitably distributed in space, the robot 1 has more homogeneous performances than those of a robot with three articulated arms for the same work space, that is to say ie, the displacement zone of the object 5. When the ratio L1 / L2 is greater than or equal to 2.0, the hinges of the nacelle 55 are advantageously mechanically stressed.
    [0021] A pair of external forces possibly acting on the effector 60 around the axial direction V does not solicit the motors of the articulated arms 35, 40, 45, 50 contrary to what occurs in a robot with four conventional articulated arms. Unlike a robot with four articulated arms and rigid nacelle, the four articulated arms 35, 40, 45, 50 are controlled independently and slaved in position. The robot 1 has a kinematic redundancy, instead of an actuation redundancy. It is thus possible to use a conventional industrial control system, whose minimum sampling period is only 1200 ms. The robot 1 is also more efficient than a rigid nacelle robot type "Delta" in terms of its acceleration capacity and its resistance to external forces.
    [0022] The robot 1 is hyper static of degree 1, which is an advantage in terms of rigidity, thanks to a better distribution of the forces in the uprights 76, 78 of the articulated arms 35, 40, 45, 50. Advantageously, the hinges 116, 118, 120, 122, 124, 126 are made by thinning material. The nacelle 25 is achievable by molding. It is of course possible to resort to more conventional joints between the various elements of the pod 55.10
    权利要求:
    Claims (10)
    [0001]
    CLAIMS- Nacelle (55) for robot (1) parallel intended to act on an object (5), the nacelle (55) comprising: - at least two armatures (80, 82), each armature (80, 82) having at minus two pairs of ball joints (96, 98, 100, 102, 108, 110, 112, 114), - at least two bridges (84, 86) connected to each of the reinforcements (80, 82) respectively by four hinges (116 , 118, 120, 122) oriented along four hinge axes substantially parallel to an axial direction (V), the four hinge axes defining a parallelogram (ABCD) in a plane (P) perpendicular to the axial direction (V), the parallelogram (ABCD) being movable between a plurality of configurations in which the two sides (AD, BC) corresponding to the two armatures (80, 82) are substantially parallel to an orientation direction (D1) substantially perpendicular to the axial direction (V ), and - a base (88) mounted on the nacelle (55) and intended to be connected an effector (60) adapted to act on the object (5), characterized in that the base (88) is connected to each bridge (84, 86) respectively by at least one hinge (124, 126) oriented according to a link axis substantially parallel to the axial direction (V), the two connecting axes of the base (88) defining in said plane (P) a segment (EF) parallel to the direction of orientation (D1) in all Parallelogram configurations (ABCD).
    [0002]
    2. Nacelle according to claim 1, characterized in that the connection axes of the base (88) are respectively located substantially in the middle of the sides (AB, CD) of the parallelogram (ABCD) corresponding to the bridges (84, 86) .
    [0003]
    3. Nacelle (55) according to claim 1 or 2, characterized in that each segment (AD, BC) of the parallelogram (ABCD) corresponding to one of the armatures (80, 82) has a length L1 and each segment (AB, CD) of the parallelogram (ABCD) corresponding to one of the bridges (84, 86) has a length L2, the ratio L1 / L2 being greater than or equal to 2.0.
    [0004]
    4. Nacelle (55) according to any one of claims 1 to 3, characterized in that the armatures (80, 82) and bridges (84, 86) of the nacelle (55) are material, the hinges (116, 118, 120, 122, 124, 126) of the nacelle (55) being made by local thinning of the nacelle (55).
    [0005]
    5.- robot (1) parallel for acting on an object (5), characterized in that it comprises: - a support (10), - at least four arms (35, 40, 45, 50) articulated rotatably mounted on the support (10), - at least one nacelle (55) according to any one of the preceding claims, each of the articulated arms (35, 40, 45, 50) being mounted respectively on one of the pairs of ball joints ( 96, 98, 100, 102, 108, 110, 112, 114) of the nacelle, and - an effector (60) connected to the base (88) and intended to act on the object (5).
    [0006]
    6. Robot (1) according to claim 5, characterized in that the articulated arms (35, 40, 45, 50) are adapted to print a translational movement to the nacelle (55) relative to the support (10), and for deforming the parallelogram (ABCD) between the configurations of said plurality, the orientation direction (D1) remaining fixed relative to the support (10) during the translational movement and in all configurations of said plurality.
    [0007]
    7. Robot (1) according to claim 5 or 6, characterized in that the axial direction (V) is substantially vertical.
    [0008]
    8. Robot (1) according to any one of claims 5 to 7, characterized in that each articulated arm (35, 40, 45, 50) comprises: - a proximal portion (68) rotatably mounted on the support (10 ), and - a distal portion (70) connected to the proximal portion (68) by two ball joints (72, 74), and connected to the pod (55) by one of the pairs of ball joints (96, 98, 100, 102, 108, 110, 112, 114).
    [0009]
    9. A method using a robot (1) according to any one of claims 5 to 8, comprising the step of acting on the object (5) using the effector (60).
    [0010]
    The method of claim 9, further comprising the steps of: - translating a translational movement to the nacelle (55) relative to the support (10) by means of the articulated arms (35, 40, 45, 50 ), the orientation direction (D1) remaining fixed relative to the support (10), and - deforming the parallelogram (ABCD) with the articulated arms (35, 40, 45, 50) of any one of the configurations of said plurality to any one of said plurality of configurations, the orientation direction (D1) remaining fixed relative to the support (10).
    类似技术:
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    同族专利:
    公开号 | 公开日
    CN106660202B|2019-12-10|
    EP3145680A1|2017-03-29|
    JP2017515695A|2017-06-15|
    FR3020977B1|2017-07-28|
    US20170080560A1|2017-03-23|
    JP6636950B2|2020-01-29|
    US10414041B2|2019-09-17|
    CN106660202A|2017-05-10|
    WO2015177154A1|2015-11-26|
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    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1454457A|FR3020977B1|2014-05-19|2014-05-19|NACELLE FOR PARALLEL ROBOT FOR ACTING ON AN OBJECT|FR1454457A| FR3020977B1|2014-05-19|2014-05-19|NACELLE FOR PARALLEL ROBOT FOR ACTING ON AN OBJECT|
    US15/312,248| US10414041B2|2014-05-19|2015-05-19|Platform for a parallel robot for acting on an object|
    CN201580032716.2A| CN106660202B|2014-05-19|2015-05-19|Platform of parallel robot for controlling object|
    EP15725552.2A| EP3145680A1|2014-05-19|2015-05-19|Pod for a parallel robot for controlling an object|
    JP2016568528A| JP6636950B2|2014-05-19|2015-05-19|Parallel robot acting on an object and method of implementing the same|
    PCT/EP2015/061003| WO2015177154A1|2014-05-19|2015-05-19|Pod for a parallel robot for controlling an object|
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