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1. 发明授权

US08984982B2 Parallel kinematic structure 有权
标题翻译：平行运动学结构
公开(公告)号：US08984982B2
公开(公告)日：2015-03-24
申请号：US12446491
申请日：2006-10-31
申请人： Patrick Helmer , Charles Baur, Jr. , Marc Weibel
发明人： Patrick Helmer , Charles Baur, Jr. , Marc Weibel
IPC分类号： B25J17/02
CPC分类号： B25J17/0266 , B25J9/0015 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A parallel kinematic structure comprises at least two kinematic chains being functionally arranged in parallel. Each of the two kinematic chains has, at a moveable end thereof, at least one degree of freedom, and comprising a passive anti-planar joint arrangement having a translational degree of freedom and two rotational degrees of freedom. Each anti-planar joint arrangement has an input section and an output section. At least one of the kinematic chains comprises a planar joint arrangement having at least one of at least one translational degree of freedom and a rotational degree of freedom, the planar joint arrangement having an output section. Further, the planar joint arrangement is adapted for active movements in at least one of its degrees of freedom. The input section of the anti-planar joint arrangement and the output section of the respective planar joint arrangement are coupled. The parallel kinematic structure further comprises a moveable end-effector section coupled with the output sections of the anti-planar joint arrangements.
摘要翻译：平行运动学结构包括至少两个在功能上并行布置的运动链。两个运动链中的每一个在其可移动端处具有至少一个自由度，并且包括具有平移自由度和两个旋转自由度的被动抗平面接合装置。每个反平面接合装置具有输入部分和输出部分。运动链中的至少一个包括具有至少一个平移自由度和旋转自由度中的至少一个的平面接合装置，该平面接头装置具有输出部分。此外，平面接头装置适于其至少一个自由度的主动运动。反平面接合装置的输入部分和相应的平面接头装置的输出部分相连接。平行运动学结构还包括与反平面接合装置的输出部分联接的可移动的端部执行器部分。

2. 发明申请

US20100192720A1 Parallel Kinematic Structure 有权
标题翻译：平行运动结构
公开(公告)号：US20100192720A1
公开(公告)日：2010-08-05
申请号：US12446491
申请日：2006-10-31
申请人： Patrick Helmer , Charles Baur , Marc Weibel
发明人： Patrick Helmer , Charles Baur , Marc Weibel
IPC分类号： B25J17/02
CPC分类号： B25J17/0266 , B25J9/0015 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A parallel kinematic structure comprises at least two kinematic chains being functionally arranged in parallel. Each of the two kinematic chains has, at a moveable end thereof, at least one degree of freedom, and comprising a passive anti-planar joint arrangement having a translational degree of freedom and two rotational degrees of freedom. Each anti-planar joint arrangement has an input section and an output section. At least one of the kinematic chains comprises a planar joint arrangement having at least one of at least one translational degree of freedom and a rotational degree of freedom, the planar joint arrangement having an output section. Further, the planar joint arrangement is adapted for active movements in at least one of its degrees of freedom. The input section of the anti-planar joint arrangement and the output section of the respective planar joint arrangement are coupled. The parallel kinematic structure further comprises a moveable end-effector section coupled with the output sections of the anti-planar joint arrangements.
摘要翻译：平行运动学结构包括至少两个在功能上并行布置的运动链。两个运动链中的每一个在其可移动端处具有至少一个自由度，并且包括具有平移自由度和两个旋转自由度的被动抗平面接合装置。每个反平面接合装置具有输入部分和输出部分。运动链中的至少一个包括具有至少一个平移自由度和旋转自由度中的至少一个的平面接合装置，该平面接头装置具有输出部分。此外，平面接头装置适于其至少一个自由度的主动运动。反平面接合装置的输入部分和相应的平面接头装置的输出部分相连接。平行运动学结构还包括与反平面接合装置的输出部分联接的可移动的端部执行器部分。

3. 发明申请

US20120090423A1 ACTIVE GRIPPER FOR HAPTIC DEVICES 有权
标题翻译：主动抓斗用于打嗝装置
公开(公告)号：US20120090423A1
公开(公告)日：2012-04-19
申请号：US12306825
申请日：2007-06-26
申请人： Patrick Helmer , Francois Conti , Sébastien Grange , Patrice Rouiller
发明人： Patrick Helmer , Francois Conti , Sébastien Grange , Patrice Rouiller
IPC分类号： B25J13/02 , G05G1/00 , G05G5/02
CPC分类号： G06F3/045 , B25J13/02 , B25J17/0266 , G05G1/02 , G05G5/03 , Y10T74/20305 , Y10T74/20396 , Y10T74/20732
摘要： An active gripper for a haptic device including a parallel kinematics structure providing at least three degrees of freedom including three translational degrees of freedom, wherein the gripper comprises a first contact surface being adapted for contact by a first portion of a hand of a user, a second contact surface being adapted for contact by a second portion of the user's hand, which hand's second portion being moveable in relation to the hand's first portion, and a moveable member arranged between the first contact surface and the second contact surface and being adapted to actively move the first contact surface and the second contact surface in relation to each other.
摘要翻译：用于触觉装置的主动夹持器，包括提供包括三个平移自由度的至少三个自由度的平行运动学结构，其中所述夹持器包括适于由用户的手的第一部分接触的第一接触表面，第二接触表面适于由用户的手的第二部分接触，该手的第二部分可相对于手的第一部分移动;以及可移动构件，其布置在第一接触表面和第二接触表面之间，并且适于主动地相对于彼此移动第一接触表面和第二接触表面。

4. 发明授权

US09895798B2 Device for movement between an input member and an output member 有权
公开(公告)号：US09895798B2
公开(公告)日：2018-02-20
申请号：US12738015
申请日：2007-10-22
申请人： Patrick Helmer
发明人： Patrick Helmer
IPC分类号： B25J9/00 , B25J9/10 , B25J17/02
CPC分类号： B25J9/106 , B25J9/0072 , B25J9/1065 , B25J17/0266 , Y10T74/20
摘要： A device for the relative movement between an input member and an output member, the device comprising an input member (100); an output member (108); an intermediate member (104) coupling the input member (100) and the output member (108); a first kinematics bond (102) coupling the intermediate member (104) and the input member (100); the first kinematics bond (102) providing at least two rotational degrees of freedom; and a second kinematics bond (106) coupling the intermediate member (104) and the output member (108), the second kinematics bond (106) being adapted to transmit rotational motions between the intermediate member (104) and the output member (108) and to offset rotation axes of at least two rotational degrees of freedom of the output member (108).

5. 发明授权

US06871548B2 High precision apparatus for imposing or measuring a position or a force 失效
标题翻译：用于施加或测量位置或力的高精度装置
公开(公告)号：US06871548B2
公开(公告)日：2005-03-29
申请号：US10669708
申请日：2003-09-25
申请人： Patrick Helmer , Yann Mabillard , Reymond Clavel , Stefano Bottinelli
发明人： Patrick Helmer , Yann Mabillard , Reymond Clavel , Stefano Bottinelli
IPC分类号： B23Q1/36 , F16C11/12 , F16H21/04 , G01B7/16
CPC分类号： F16C11/12 , B23Q1/36 , F16C2322/39 , F16H21/04
摘要： High precision apparatus is described which can be arranged and used in the form of manipulators, actuators, position transducers or force transducers, having four to six degrees of freedom. A movable platform (2), to which the object (3) subjected to movements or forces is fixed, is connected to a base (1) of the apparatus by six links in parallel. These links comprise articulated kinematic units (11-16) each comprising a deformable parallelogram and an articulated transmission device connecting the parallelogram to the platform (2). The parallelogram is associated with a position sensor and an electromagnetic transducer, such as a linear motor.
摘要翻译：描述了可以以具有四到六个自由度的操纵器，致动器，位置换能器或力换能器的形式布置和使用的高精度装置。受到运动或力的物体（3）固定到的可移动平台（2）通过六个连杆并联连接到设备的基座（1）。这些连杆包括各自包括可变形平行四边形的铰接运动单元（11-16）和将平行四边形连接到平台（2）的铰接传动装置。平行四边形与位置传感器和电磁换能器（例如线性马达）相关联。

6. 发明授权

US08806974B2 Device for transmitting movements and components thereof 有权
标题翻译：用于发送动作及其部件的装置
公开(公告)号：US08806974B2
公开(公告)日：2014-08-19
申请号：US11815889
申请日：2006-02-10
申请人： Patrick Helmer , Francois Conti , Patrice Rouiller , Sebastien Grange
发明人： Patrick Helmer , Francois Conti , Patrice Rouiller , Sebastien Grange
IPC分类号： G05G1/00 , G05G9/047 , B25J17/00 , B25J17/02 , B25J18/00
CPC分类号： B25J17/0266 , Y10S901/15 , Y10T74/20 , Y10T74/20012 , Y10T74/20201 , Y10T74/20305
摘要： A device for transmitting movements comprising a parallel kinematics transmission structure adapted to provide at least one degree of freedom including three translational degrees of freedom, the parallel kinematics transmission structure further comprising a base member (2), a moveable member (4), and at least one parallel kinematics chain (6) coupling the base member (2) and the moveable member (4), each parallel kinematics chain (6) having a first arm (8) moveable in a movement plane wherein the movement planes are at a distance to a symmetry axis (40), and each parallel kinematics chain (6) comprising a second arm (10) coupled to the moveable member (4), wherein a first end (18) of the second arm (10) is adapted to be coupled to the first arm (8) and a second end (16) of the second arm (10) is adapted to be coupled to the moveable member (4).
摘要翻译：一种用于传送运动的装置，包括适于提供包括三个平移自由度的至少一个自由度的平行运动传递结构，所述平行运动传递结构还包括基部构件（2），可移动构件（4）至少一个平行运动链（6），其联接所述基部构件（2）和所述可移动构件（4），每个平行的运动学链（6）具有可在运动平面中移动的第一臂（8），其中所述运动平面处于距离并且每个平行的运动学链（6）包括联接到所述可移动构件（4）的第二臂（10），其中所述第二臂（10）的第一端（18）适于耦合到所述第一臂（8）并且所述第二臂（10）的第二端（16）适于联接到所述可移动构件（4）。

7. 发明申请

US20080223165A1 Device For Transmitting Movements and Components Thereof 有权
标题翻译：用于发射运动及其组件的装置
公开(公告)号：US20080223165A1
公开(公告)日：2008-09-18
申请号：US11815889
申请日：2006-02-10
申请人： Patrick Helmer , Francois Conti , Patrice Rouiller , Sebastien Grange
发明人： Patrick Helmer , Francois Conti , Patrice Rouiller , Sebastien Grange
IPC分类号： G05G9/047
CPC分类号： B25J17/0266 , Y10S901/15 , Y10T74/20 , Y10T74/20012 , Y10T74/20201 , Y10T74/20305
摘要： A device for transmitting movements comprising a parallel kinematics transmission structure adapted to provide at least one degree of freedom including three translational degrees of freedom, the parallel kinematics transmission structure further comprising a base member (2), a moveable member (4), and at least one parallel kinematics chain (6) coupling the base member (2) and the moveable member (4), each parallel kinematics chain (6) having a first arm (8) moveable in a movement plane wherein the movement planes are at a distance to a symmetry axis (40), and each parallel kinematics chain (6) comprising a second arm (10) coupled to the moveable member (4), wherein a first end (18) of the second arm (10) is adapted to be coupled to the first arm (8) and a second end (16) of the second arm (10) is adapted to be coupled to the moveable member (4).
摘要翻译：一种用于传送运动的装置，包括适于提供包括三个平移自由度的至少一个自由度的平行运动传递结构，所述平行运动传递结构还包括基部构件（2），可移动构件（4）至少一个平行运动链（6），其联接所述基部构件（2）和所述可移动构件（4），每个平行的运动学链（6）具有可在运动平面中移动的第一臂（8），其中所述运动平面处于距离并且每个平行的运动学链（6）包括联接到所述可移动构件（4）的第二臂（10），其中所述第二臂（10）的第一端（18）适于耦合到所述第一臂（8）并且所述第二臂（10）的第二端（16）适于联接到所述可移动构件（4）。

8. 发明授权

US10001804B2 Force-feedback device and method 有权
公开(公告)号：US10001804B2
公开(公告)日：2018-06-19
申请号：US12228260
申请日：2008-08-11
申请人： Francois Conti , Sebastien Grange , Patrick Helmer , Patrice Rouiller
发明人： Francois Conti , Sebastien Grange , Patrick Helmer , Patrice Rouiller
IPC分类号： B60T13/04 , G05G9/047 , G05G5/03 , H02K49/00
CPC分类号： G05G9/047 , G05G5/03 , G05G2009/04766
摘要： A force-feedback device comprising a first member; a first kinematics bond being coupled with said first member; said first kinematics bond being constructed to provide at least one degree of freedom for movements of said first member; said first kinematics bond comprising a braking device being constructed to constrain movements of the said first member in at least one of said at least one degree of freedom; and a energy storing/release device being constructed to store energy in response to a movement of said first member in at least one of said at least one degree of freedom constrained by said braking device. A method of providing force-feedback including constraining a movement of a member of a haptic device in at least one degree of freedom; moving the member, by an externally applied force, in at least one of the at least one constraint degree of freedom; storing energy generated by the moving of the member; determining a force required to move the member in at least one of the at least one constraint degree of freedom; releasing at least a portion of the stored energy to generate at least a portion of the required force and transmitting the at least a portion of the required force to the member.

9. 发明授权

US08667860B2 Active gripper for haptic devices 有权
标题翻译：触觉装置的主动夹持器
公开(公告)号：US08667860B2
公开(公告)日：2014-03-11
申请号：US12306825
申请日：2007-06-26
申请人： Patrick Helmer , Francois Conti , Sébastien Grange , Patrice Rouiller
发明人： Patrick Helmer , Francois Conti , Sébastien Grange , Patrice Rouiller
IPC分类号： B25J3/02
CPC分类号： G06F3/045 , B25J13/02 , B25J17/0266 , G05G1/02 , G05G5/03 , Y10T74/20305 , Y10T74/20396 , Y10T74/20732
摘要： An active gripper for a haptic device including a parallel kinematics structure providing at least three degrees of freedom including three translational degrees of freedom, wherein the gripper comprises a first contact surface being adapted for contact by a first portion of a hand of a user, a second contact surface being adapted for contact by a second portion of the user's hand, which hand's second portion being moveable in relation to the hand's first portion, and a moveable member arranged between the first contact surface and the second contact surface and being adapted to actively move the first contact surface and the second contact surface in relation to each other.
摘要翻译：用于触觉装置的主动夹持器，包括提供包括三个平移自由度的至少三个自由度的平行运动学结构，其中所述夹持器包括适于由用户的手的第一部分接触的第一接触表面，第二接触表面适于由用户的手的第二部分接触，该手的第二部分可相对于手的第一部分移动;以及可移动构件，其布置在第一接触表面和第二接触表面之间，并且适于主动地相对于彼此移动第一接触表面和第二接触表面。

10. 发明授权

US08188843B2 Haptic device gravity compensation 有权
标题翻译：触觉装置重力补偿
公开(公告)号：US08188843B2
公开(公告)日：2012-05-29
申请号：US12306700
申请日：2007-06-26
申请人： Patrick Helmer , François Conti , Sebastian Grange , Patrice Rouiller
发明人： Patrick Helmer , François Conti , Sebastian Grange , Patrice Rouiller
IPC分类号： H04B3/36
CPC分类号： G05G9/047
摘要： A haptic device comprising a base member (4), an end-effector (6), a parallel kinematics structure arranged between the base plate and the end-effector and providing at least three degrees of freedom including at least three translational degrees of freedom in relation to the end-effector, and at least one passive gravity compensation means being adapted to exert forces and/or torques on the parallel kinematics structure for at least partial compensation of gravity related forces and/or torques acting in at least one of the three translational degrees of freedom.
摘要翻译：一种触觉装置，包括基部构件（4），端部执行器（6），平行运动学结构，布置在基板和端部执行器之间并且提供至少三个自由度，包括至少三个平移自由度并且至少一个被动重力补偿装置适于在平行运动学结构上施加力和/或扭矩，用于至少部分地补偿与三个中的至少一个作用的重力相关的力和/或扭矩翻译自由度。

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