发明名称 |
BEDIENELEMENT MIT DREI PARALLELEN ARMEN |
摘要 |
This controller, between a fixed base ( 1 ) and a control handle ( 4 ), comprises three similar arms ( 2 ) of which each comprises three links ( 5,6,7 ) jointed between the base and the handle platform by a pivot ( 8 ), two rotation joints ( 9 and 10 ) and a ball-joint ( 11 ). This controller with six degrees of freedom includes force feedback motors at the first and second joints ( 8 and 9 ) of which the first is fixed to the base ( 1 ) and the second to the first link ( 5 ), so that the first is immobile and the other has scarce movement; the third joint ( 10 ) is free. The resulting structure is simple and light not requiring any parallelogram, and kinematic singularities are greatly reduced. |
申请公布号 |
DE60307594(T2) |
申请公布日期 |
2007.08.16 |
申请号 |
DE2003607594T |
申请日期 |
2003.01.20 |
申请人 |
COMMISSARIAT A L'ENERGIE ATOMIQUE |
发明人 |
GOSSELIN, FLORIAN;VILLEDIEU, ERIC;FRICONNEAU, JEAN-PIERRE |
分类号 |
B25J9/06;G05G9/047;B25J13/02;B25J17/02;F16H21/52;G06F3/00;G06F3/01;G06F3/0346 |
主分类号 |
B25J9/06 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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