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    • 1. 发明申请
    • MANIPULATOR
    • 操纵器
    • US20060229666A1
    • 2006-10-12
    • US11278786
    • 2006-04-05
    • Takashi SuzukiKazuo NakazawaYasuhide MorikawaMasaki Kitajima
    • Takashi SuzukiKazuo NakazawaYasuhide MorikawaMasaki Kitajima
    • A61B17/00
    • A61B17/29A61B17/28A61B2017/2902A61B2017/2927A61B2017/2939
    • There is provided a manipulator simplified in maintenance and operation thereof, the manipulator having the freedom of two-degree-of-freedom of rotation and gripping, and being capable of ensuring force feedback or force sensation with excellent operationability. A link mechanism 3 is provided between an operating part 1 and a working part 2. The link mechanism 3 comprises four driving rods 3a to 3d and first and second coupling members of the same structure, 41, 42 provided at opposite ends of the driving rods. First and second working members 2a, 2b move correspondingly to operations of first and second operating members 1a, 1b with the aid of the link mechanism 3. For example, provided that the first and second operating members 1a, 1b might be opened and closed, the first and second working members 2a, 2b might be opened and closed (gripping). And also, provided that the first and second operating members 1a, 1b are changed in their yaw angles, the working members 2a, 2b are also correspondingly changed in their yaw angle. Similarly, once the first and second operating members 1a, 1b are changed in their pitch angles, the working members 2a, 2b might be also correspondingly changed in their pitch angles.
    • 提供了简化维护和操作的操纵器,操纵器具有两自由度的旋转和夹紧的自由度,并且能够确保具有优异的可操作性的力反馈或力感觉。 连杆机构3设置在操作部件1和工作部件2之间。连杆机构3包括四个驱动杆3a至3d,以及设置在相对端部的相同结构的第一和第二连接部件41,42 驱动杆。 借助于连杆机构3,第一和第二工作构件2a,2b对应于第一和第二操作构件1a,1b的操作而移动。例如,如果第一和第二操作构件1a,1b 可以打开和关闭,第一和第二工作构件2a,2b可以被打开和关闭(夹紧)。 而且,如果第一和第二操作构件1a,1b在其偏航角度上改变,则工作构件2a,2b也在其偏航角度上相应地改变。 类似地,一旦第一和第二操作构件1a,1b以它们的俯仰角度改变,则工作构件2a,2b也可以在它们的俯仰角度上相应地改变。
    • 2. 发明授权
    • Manipulator
    • 机械手
    • US07717904B2
    • 2010-05-18
    • US11278786
    • 2006-04-05
    • Takashi SuzukiKazuo NakazawaYasuhide MorikawaMasaki Kitajima
    • Takashi SuzukiKazuo NakazawaYasuhide MorikawaMasaki Kitajima
    • A61B19/00
    • A61B17/29A61B17/28A61B2017/2902A61B2017/2927A61B2017/2939
    • The manipulator has two-degree-of-freedom of rotation and gripping, and is capable of ensuring force feedback or force sensation with excellent operationability. A link mechanism 3 is provided between an operation part 1 and a working part 2. The link mechanism 3 has four driving rods 3a to 3d and first and second coupling members of the sane structure, 41, 42 provided at opposite ends of the driving rods. First and second working members 2a, 2b move correspondingly to the operation of first and second operating members 1a, 1b with the aid of the link mechanism 3. The first and second working member can open and close, change the yaw angles and the pitch angles in response to the same action of the first and second operating member through the link mechanism.
    • 机械手具有旋转和夹紧的两度自由度,并且能够确保力反馈或力感觉,并且具有优异的可操作性。 连杆机构3设置在操作部件1和工作部件2之间。连杆机构3具有四个驱动杆3a至3d,以及设置在驱动杆的相对两端的正常结构41,42,42的第一和第二联接部件 。 第一和第二工作构件2a,2b借助于连杆机构3相应地移动到第一和第二操作构件1a,1b的操作。第一和第二工作构件可以打开和关闭,改变偏航角和俯仰角 响应于第一和第二操作构件通过连杆机构的相同动作。