WO2010143192A3 - Dynamic platform unit - Google Patents

Dynamic platform unit Download PDF

Info

Publication number
WO2010143192A3
WO2010143192A3 PCT/IL2010/000463 IL2010000463W WO2010143192A3 WO 2010143192 A3 WO2010143192 A3 WO 2010143192A3 IL 2010000463 W IL2010000463 W IL 2010000463W WO 2010143192 A3 WO2010143192 A3 WO 2010143192A3
Authority
WO
WIPO (PCT)
Prior art keywords
platform
attached
anchoring point
platform unit
utility
Prior art date
Application number
PCT/IL2010/000463
Other languages
French (fr)
Other versions
WO2010143192A2 (en
Inventor
Offer Shai
Original Assignee
Ramot At Tel-Aviv University Ltd.
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 Ramot At Tel-Aviv University Ltd. filed Critical Ramot At Tel-Aviv University Ltd.
Publication of WO2010143192A2 publication Critical patent/WO2010143192A2/en
Publication of WO2010143192A3 publication Critical patent/WO2010143192A3/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
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
    • B08B9/045—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes the cleaning devices being rotated while moved, e.g. flexible rotating shaft or "snake"
    • 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
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
    • 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
    • B25J9/0075—Truss
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1625—Truss-manipulator for snake-like motion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40234—Snake arm, flexi-digit robotic manipulator, a hand at each end
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40277—Hybrid, connect parallel manipulators in series, Stewart truss
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50162—Stewart platform, hexapod construction

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Bridges Or Land Bridges (AREA)
  • Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
  • Tents Or Canopies (AREA)

Abstract

According to the present invention there is provided a platform unit comprising: a reference platform and a utility platform, a set of extendable members, each configured between the reference platform and a set of tension elements, each configured between the reference platform and the utility platform. Each of the extendable members has a first end thereof attached to a member anchoring point of the reference platform and a second end attached to a member anchoring point of the utility platform. Each tension element has a first end thereof attached to an element anchoring point of the reference platform and a second end thereof attached to an element anchoring point of the utility platform. The arrangement is such that an extendable member and a tension element do not share the same two anchoring points.
PCT/IL2010/000463 2009-06-10 2010-06-10 Dynamic platform unit WO2010143192A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US18579509P 2009-06-10 2009-06-10
US61/185,795 2009-06-10

Publications (2)

Publication Number Publication Date
WO2010143192A2 WO2010143192A2 (en) 2010-12-16
WO2010143192A3 true WO2010143192A3 (en) 2011-02-03

Family

ID=43131865

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL2010/000463 WO2010143192A2 (en) 2009-06-10 2010-06-10 Dynamic platform unit

Country Status (1)

Country Link
WO (1) WO2010143192A2 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5114300A (en) * 1989-03-02 1992-05-19 Wovenwire Corporation Robotic apparatus
JPH11347970A (en) * 1998-06-09 1999-12-21 Mitsubishi Heavy Ind Ltd Multi-joint robot
US20040149065A1 (en) * 2003-02-05 2004-08-05 Moran Michael Julius Tendon link mechanism with six degrees of freedom
DE102006059537B3 (en) * 2006-12-13 2007-12-13 Technische Universität Ilmenau Translational movement e.g. creeping movement, producing method, involves inducing translational movement by non-symmetric friction between flexible structural parts and medium that surrounds flexible structural parts

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002097211A2 (en) 2001-05-29 2002-12-05 Board Of Regents, The University Of Texas System Tensegrity unit, structure and method for construction

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5114300A (en) * 1989-03-02 1992-05-19 Wovenwire Corporation Robotic apparatus
JPH11347970A (en) * 1998-06-09 1999-12-21 Mitsubishi Heavy Ind Ltd Multi-joint robot
US20040149065A1 (en) * 2003-02-05 2004-08-05 Moran Michael Julius Tendon link mechanism with six degrees of freedom
DE102006059537B3 (en) * 2006-12-13 2007-12-13 Technische Universität Ilmenau Translational movement e.g. creeping movement, producing method, involves inducing translational movement by non-symmetric friction between flexible structural parts and medium that surrounds flexible structural parts

Also Published As

Publication number Publication date
WO2010143192A2 (en) 2010-12-16

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