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FR2807959B1 - Actionneur concu pour des structures articulees, telles que des membres de robot marcheur - Google Patents

Actionneur concu pour des structures articulees, telles que des membres de robot marcheur

Info

Publication number
FR2807959B1
FR2807959B1 FR0005169A FR0005169A FR2807959B1 FR 2807959 B1 FR2807959 B1 FR 2807959B1 FR 0005169 A FR0005169 A FR 0005169A FR 0005169 A FR0005169 A FR 0005169A FR 2807959 B1 FR2807959 B1 FR 2807959B1
Authority
FR
France
Prior art keywords
walking robot
actuator designed
articulated structures
robot members
members
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Fee Related
Application number
FR0005169A
Other languages
English (en)
Other versions
FR2807959A1 (fr
Inventor
Philippe Sardain
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Centre National de la Recherche Scientifique CNRS
Original Assignee
Centre National de la Recherche Scientifique CNRS
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 Centre National de la Recherche Scientifique CNRS filed Critical Centre National de la Recherche Scientifique CNRS
Priority to FR0005169A priority Critical patent/FR2807959B1/fr
Priority to PCT/FR2001/001211 priority patent/WO2001081791A1/fr
Publication of FR2807959A1 publication Critical patent/FR2807959A1/fr
Application granted granted Critical
Publication of FR2807959B1 publication Critical patent/FR2807959B1/fr
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • 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
    • B25J17/0241—One-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/204—Axial sliding means, i.e. for rotary support and axial guiding of nut or screw shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
    • F16H2025/2445—Supports or other means for compensating misalignment or offset between screw and nut

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
FR0005169A 2000-04-21 2000-04-21 Actionneur concu pour des structures articulees, telles que des membres de robot marcheur Expired - Fee Related FR2807959B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR0005169A FR2807959B1 (fr) 2000-04-21 2000-04-21 Actionneur concu pour des structures articulees, telles que des membres de robot marcheur
PCT/FR2001/001211 WO2001081791A1 (fr) 2000-04-21 2001-04-19 Actionneur conçu pour des structures articulées, telles que des membres de robot marcheur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0005169A FR2807959B1 (fr) 2000-04-21 2000-04-21 Actionneur concu pour des structures articulees, telles que des membres de robot marcheur

Publications (2)

Publication Number Publication Date
FR2807959A1 FR2807959A1 (fr) 2001-10-26
FR2807959B1 true FR2807959B1 (fr) 2002-06-14

Family

ID=8849505

Family Applications (1)

Application Number Title Priority Date Filing Date
FR0005169A Expired - Fee Related FR2807959B1 (fr) 2000-04-21 2000-04-21 Actionneur concu pour des structures articulees, telles que des membres de robot marcheur

Country Status (2)

Country Link
FR (1) FR2807959B1 (fr)
WO (1) WO2001081791A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3554771A1 (fr) * 2016-12-15 2019-10-23 Boston Dynamics, Inc. Actionneur à vis pour robot marcheur

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3435666B2 (ja) * 1999-09-07 2003-08-11 ソニー株式会社 ロボット
KR100541433B1 (ko) * 2002-12-23 2006-01-11 삼성전자주식회사 ２족보행로봇
FR2852265B1 (fr) * 2003-03-14 2006-02-24 Commissariat Energie Atomique Segment intermediaire de bras articule contenant une transmission a vis et ecrou
FR2852373B1 (fr) 2003-03-14 2005-04-15 Commissariat Energie Atomique Transmission a vis, ecrou et cable
FR2858669B1 (fr) * 2003-08-08 2006-11-03 Commissariat Energie Atomique Segment de structure articulee
FR2949451B1 (fr) * 2009-09-02 2011-08-26 Commissariat Energie Atomique Verin a cable et dispositif d'assistance aux personnes integrant un tel verin
CN102211628A (zh) * 2011-04-29 2011-10-12 燕山大学 一种双腿步行器
JP5872846B2 (ja) * 2011-10-27 2016-03-01 Thk株式会社 ロボットの関節構造及びこの関節構造が組み込まれた人間型ロボット
CN102556200B (zh) * 2012-01-13 2013-07-31 燕山大学 一种四足步行器
CN104511783B (zh) * 2013-09-30 2016-09-07 上银科技股份有限公司 用于加工机的机械手臂
JP2017104968A (ja) * 2015-12-03 2017-06-15 並木精密宝石株式会社 マニピュレーターおよび多指ハンド装置
CN107097213A (zh) * 2017-05-19 2017-08-29 沃奇（北京）智能科技有限公司 机器人下肢
FR3079270A1 (fr) * 2018-03-21 2019-09-27 Cybedroid Ensemble de liaisons mecaniques pour hanche de robot
CN109178139A (zh) * 2018-11-19 2019-01-11 东莞深圳清华大学研究院创新中心 一种髋关节增强的小型仿人机器人六自由度腿结构
CN109436125B (zh) * 2019-01-09 2020-12-29 安徽工业大学 一种十二自由度的四足机器人
CN110509258B (zh) * 2019-07-31 2021-06-29 清华大学 一种并联吸附式加工机器人
CN111591371A (zh) * 2020-05-27 2020-08-28 贵州航天天马机电科技有限公司 一种四足仿生机器人单腿机构
CN111891250B (zh) * 2020-08-03 2021-07-09 常州大学 一种具有迈步前进功能的仿人机器腿
CN112377585B (zh) * 2020-11-09 2021-11-30 江苏电子信息职业学院 一种用于增加滚珠丝杠稳定的安装台
CN112720424B (zh) * 2021-01-12 2022-03-25 山东理工大学 一种含平行四边形的双层三段导轨式平面机器人
CN112720423B (zh) * 2021-01-12 2022-03-25 山东理工大学 一种含双平行四边形的单层三段导轨式平面机器人
CN114212163A (zh) * 2021-11-17 2022-03-22 深圳市优必选科技股份有限公司 腿部结构及人形机器人
CN114435506B (zh) * 2022-02-21 2024-01-26 复旦大学 一种部分耦合的六自由度广义并联机械腿机构

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4441376A (en) * 1982-04-30 1984-04-10 Martin Marietta Corporation Motor driven hinge assembly
JP2545711B2 (ja) * 1988-02-09 1996-10-23 工業技術院長 関節機構
JP2659866B2 (ja) * 1990-12-14 1997-09-30 茂男 広瀬 歩行ロボット装置
JPH10217158A (ja) * 1997-01-30 1998-08-18 Sony Corp ロボツト装置
JP3899617B2 (ja) * 1997-10-20 2007-03-28 Ｓｍｃ株式会社 アクチュエータ

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3554771A1 (fr) * 2016-12-15 2019-10-23 Boston Dynamics, Inc. Actionneur à vis pour robot marcheur
US11754155B2 (en) 2016-12-15 2023-09-12 Boston Dynamics, Inc. Screw actuator for a legged robot
US12123481B2 (en) 2016-12-15 2024-10-22 Boston Dynamics, Inc. Screw actuator for a legged robot

Also Published As

Publication number Publication date
WO2001081791A1 (fr) 2001-11-01
FR2807959A1 (fr) 2001-10-26

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Legal Events

Date Code Title Description
ST Notification of lapse

Effective date: 20141231