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1. 发明公开

EP2629941A1 A SELF-RECONFIGURABLE MOBILE MANIPULATOR 有权
标题翻译：自我重新配置的移动机器人
公开(公告)号：EP2629941A1
公开(公告)日：2013-08-28
申请号：EP10774163.9
申请日：2010-10-18
申请人： Tecnalia France , Centre National de la Recherche Scientifique
发明人： BARADAT, Cédric , YANG, Hai , PIERROT, François , KRUT, Sébastien , SAENZ, Agustin
IPC分类号： B25J17/02
CPC分类号： B25J5/00 , B25J9/0045 , B25J9/08 , B25J17/0266
摘要： The manipulator comprises a mobile plate (1 ) for carrying an end-effector, connected to a plurality of legs, each of which comprises a distal end connected to the mobile plate (1 ) and a proximal end connected to a supporting object (6) by a clamping device (5a), a plurality of distal links (21 a, 22a), a plurality of intermediate links (23a, 24a, 25a, 26a) and a plurality of proximal links (27a, 28a, 29a), an actuator (31 a, 32a) connected between each pair of longitudinally adjacent intermediate links (23a-24a, 25a-26a), the distal links (21 a, 22a), connecting the intermediate links (23a-24a, 25a-26a) with the mobile plate (1 ) by a system of distal revolute joints (41 a, 7a, 8a) comprising a distal lockable joint (41 a), and the proximal links (27a, 28a, 29a), connecting the intermediate links (23a-24a, 25a-26a) with a system of proximal joints (42a, 43a, 44a, 45a) comprising lockable proximal joints (42a, 43a, 44a). The manipulator is able to achieve manipulation, self- reconfiguration and locomotion movements without needing actuators directly acting on each joint.
摘要翻译：该操纵器包括用于承载端部执行器的移动板（1），所述端部执行器连接到多个腿，每个腿包括连接到移动板（1）的远端和连接到支撑物体（6）的近端，通过夹紧装置5a将多个远侧连杆21a，22a，多个中间连杆23a，24a，25a，26a和多个近侧连杆27a，28a，29a，致动器（23a-24a，25a-26a）连接在一对纵向相邻的中间连杆（23a-24a，25a-26a）之间的中间连杆（31a，32a）通过包括远侧可锁定接头（41a）的远侧旋转接头系统（41a，7a，8a）和所述近侧连杆（27a，28a，29a）的系统连接所述中间连杆（23a-24a ，25a-26a）与包括可锁定的近侧关节（42a，43a，44a）的近侧关节系统（42a，43a，44a，45a）连接。操纵器能够实现操纵，自我重构和运动运动，而不需要致动器直接作用于每个关节。

2. 发明授权

EP2741893B1 PROCÉDÉ DE COMMANDE D'UN AUTOMATE À ACTIONNEMENT PARALLÈLE REDONDANT, DISPOSITIF DE COMMANDE ASSOCIÉ ET AUTOMATE 有权
标题翻译：一种用于控制机冗余并联运行，适当的控制设备与本机
公开(公告)号：EP2741893B1
公开(公告)日：2017-02-01
申请号：EP12758556.0
申请日：2012-08-08
申请人： Tecnalia France , Centre National de la Recherche Scientifique (C.N.R.S.)
发明人： PIERROT, François , CHEMORI, Ahmed , MICHELIN, Micaël
IPC分类号： B25J9/16
CPC分类号： B25J9/1623

3. 发明授权

EP2629941B1 A SELF-RECONFIGURABLE MOBILE MANIPULATOR 有权
标题翻译：自我重新配置的移动机器人
公开(公告)号：EP2629941B1
公开(公告)日：2015-04-08
申请号：EP10774163.9
申请日：2010-10-18
申请人： Tecnalia France , Centre National de la Recherche Scientifique
发明人： BARADAT, Cédric , YANG, Hai , PIERROT, François , KRUT, Sébastien , SAENZ, Agustin
IPC分类号： B25J17/02
CPC分类号： B25J5/00 , B25J9/0045 , B25J9/08 , B25J17/0266

4. 发明公开

EP2741893A2 PROCÉDÉ DE COMMANDE D'UN AUTOMATE À ACTIONNEMENT PARALLÈLE REDONDANT, DISPOSITIF DE COMMANDE ASSOCIÉ ET AUTOMATE 有权
标题翻译：一种用于控制机冗余并联运行，适当的控制设备与本机
公开(公告)号：EP2741893A2
公开(公告)日：2014-06-18
申请号：EP12758556.0
申请日：2012-08-08
申请人： Tecnalia France , Centre National de la Recherche Scientifique (CNRS)
发明人： PIERROT, François , CHEMORI, Ahmed , MICHELIN, Micaël
IPC分类号： B25J9/16
CPC分类号： B25J9/1623
摘要： The invention concerns a method of controlling a machine with redundant parallel actuation comprising a frame and a mobile element driven by a plurality of mechanical transmissions parallel to one another and each being activated by an actuator (2) comprising a body fixed to the frame, an actuating member and a position sensor, in which an error signal is produced by comparing the position of each actuator with a setpoint signal, characterised in that the error signals are converted into a mobile element position error signal by applying data representative of the kinematics of the mechanical transmissions, the mobile element error signal is processed by a processing module which produces an effort signal to be applied to the mobile element, the effort signal is converted into signals controlling the actuators by applying data representative of the kinematics of the mechanical transmissions.

5. 发明授权

EP3233390B1 PLANAR MOTION DEVICE 失效
公开(公告)号：EP3233390B1
公开(公告)日：2019-02-20
申请号：EP14821638.5
申请日：2014-12-19
申请人： Fundación Tecnalia Research & Innovation , Centre National de la Recherche Scientifique (C.N.R.S.)
发明人： YANG, Hai , IZARD, Jean-Baptiste , BARADAT, Cédric , KRUT, Sébastien , PIERROT, François , GOUTTEFARDE-TANICH, Marc , COMPANY, Olivier
IPC分类号： B25J9/00

6. 发明公开

EP3145680A1 NACELLE POUR ROBOT PARALLÈLE DESTINÉ À AGIR SUR UN OBJET 无效
标题翻译： GONDELFÜREINEN平行机器人ZUR STEUERUNG EINES OBJEKTES
公开(公告)号：EP3145680A1
公开(公告)日：2017-03-29
申请号：EP15725552.2
申请日：2015-05-19
申请人： Université de Montpellier , Centre National de la Recherche Scientifique (C.N.R.S.)
发明人： KRUT, Sébastien , COMPANY, Olivier , PIERROT, François
IPC分类号： B25J9/00
CPC分类号： B25J9/0051 , B25J9/0015 , B25J17/0216
摘要： The present invention relates to a pod (55) for a parallel robot, for controlling an object, including: at least two frames (80, 82) comprising at least two pairs of swivels (96, 98, 100, 102, 108, 110, 112, 114); at least two bridges (84, 86) that are connected to each of the frames respectively by four hinges (116, 118, 120, 122) which are substantially parallel to an axial direction (V) and define 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 frames are substantially parallel to an orientation direction (DI); and a base (88) which is mounted on the pod and is intended to be connected to an effector (60) which is suitable for controlling the object. The base is connected to each bridge respectively by at least one hinge (124, 126) which is oriented along a connection axis which is substantially parallel to the axial direction, the two connection axes of the base defining, in said plane, a segment (EF) which is parallel to the orientation direction in all the configurations of the parallelogram.
摘要翻译：基座分别通过至少一个铰链连接到每个桥，该铰链沿着基本上平行于轴向方向的连接轴定向。

7. 发明授权

EP2252437B1 TWO DEGREE-OF-FREEDOM PARALLEL MANIPULATOR 有权
标题翻译：带双自由度并联机器人
公开(公告)号：EP2252437B1
公开(公告)日：2011-08-24
申请号：EP08707994.3
申请日：2008-01-18
申请人： FUNDACION FATRONIK , Centre National de la Recherche Scientifique (CNRS)
发明人： PIERROT, François , KRUT, Sebastien , COMPANY, Olivier , NABAT, Vincent , BARADAT, Cedric , SAENZ FERNANDEZ, Agustín, Javier
IPC分类号： B25J17/02
CPC分类号： B25J17/0266 , B25J9/0048 , Y10T74/20329
摘要： The invention refers to a two degree-of-freedom parallel manipulator that comprises a frame (1), four frame arms (3, 3', 4, 4' ), four platform arms (5, 5', 5'', 5'''), each frame and platform arm (3, 3', 4, 4', 5, 5', 5'', 5''') with a first end and a second end, a platform (6) and a end-effector, being the first end of each frame arm (3, 3', 4, 4') linked to the frame (1) and being the second end of each frame arm (3, 3', 4, 4') linked to a first end of a platform arm (5, 5', 5'', 5'''), being the second end of each platform arm (5, 5', 5'', 5''') linked to the platform (6), and being the platform (6) linked to the end-effector. In said manipulator a first platform arm (3) and a second frame arm (3') are actuated independently one from the other and a third frame arm (4) and a fourth frame arm (4') are linked to the frame (1) with revolute joints (8), being the rotation of the third and fourth frame arms (4, 4') coupled. Said first and second frame arms (3, 3') and third and fourth frame arm (4, 4' ) are contained in two different planes, being said planes orthogonal.

8. 发明公开

EP2252437A1 TWO DEGREE-OF-FREEDOM PARALLEL MANIPULATOR 有权
标题翻译：带双自由度并联机器人
公开(公告)号：EP2252437A1
公开(公告)日：2010-11-24
申请号：EP08707994.3
申请日：2008-01-18
申请人： FUNDACION FATRONIK , Centre National de la Recherche Scientifique (CNRS)
发明人： PIERROT, François , KRUT, Sebastien , COMPANY, Olivier , NABAT, Vincent , BARADAT, Cedric , SAENZ FERNANDEZ, Agustín, Javier
IPC分类号： B25J17/02
CPC分类号： B25J17/0266 , B25J9/0048 , Y10T74/20329
摘要： The invention refers to a two degree-of-freedom parallel manipulator that comprises a frame (1), four frame arms (3, 3', 4, 4' ), four platform arms (5, 5', 5'', 5'''), each frame and platform arm (3, 3', 4, 4', 5, 5', 5'', 5''') with a first end and a second end, a platform (6) and a end-effector, being the first end of each frame arm (3, 3', 4, 4') linked to the frame (1) and being the second end of each frame arm (3, 3', 4, 4') linked to a first end of a platform arm (5, 5', 5'', 5'''), being the second end of each platform arm (5, 5', 5'', 5''') linked to the platform (6), and being the platform (6) linked to the end-effector. In said manipulator a first platform arm (3) and a second frame arm (3') are actuated independently one from the other and a third frame arm (4) and a fourth frame arm (4') are linked to the frame (1) with revolute joints (8), being the rotation of the third and fourth frame arms (4, 4') coupled. Said first and second frame arms (3, 3') and third and fourth frame arm (4, 4' ) are contained in two different planes, being said planes orthogonal.

9. 发明公开

EP3233390A1 PLANAR MOTION DEVICE 失效
标题翻译：平面运动装置
公开(公告)号：EP3233390A1
公开(公告)日：2017-10-25
申请号：EP14821638.5
申请日：2014-12-19
申请人： Fundación Tecnalia Research & Innovation , Centre National de la Recherche Scientifique (C.N.R.S.)
发明人： YANG, Hai , IZARD, Jean-Baptiste , BARADAT, Cédric , KRUT, Sébastien , PIERROT, François , GOUTTEFARDE-TANICH, Marc , COMPANY, Olivier
IPC分类号： B25J9/00
CPC分类号： B25J9/0078
摘要： A positioning device includes a planar surface, a mobile platform configured to slide along the planar surface and cables for positioning and moving the mobile platform along the planar surface. The mobile platform includes a planar bearing system located at the side of the mobile platform configured to slide along the planar surface. The planar bearing system includes a component for pushing the mobile platform against the planar surface; and a component for allowing sliding of the planar bearing system with respect to the planar surface.
摘要翻译： 1。一种定位装置（1），包括平面表面（3），构造成沿所述平面表面（3）滑动的移动平台（4,24,34）和用于定位和移动所述移动平台（4,24 ，34）沿着所述平坦表面（3）。所述移动平台（4,24,34）包括位于所述移动平台（4,24,34）侧面的平面轴承系统（5,25,35），所述平面轴承系统被配置为沿着所述平坦表面（3）滑动，所述平面（5,25,35），包括：用于将所述移动平台（4,24,34）推靠在所述平坦表面（3）上的装置; 以及用于允许所述平面轴承系统（5,25,35）相对于所述平坦表面（3）滑动的装置。

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