申请(专利)号： | 仪容是什么意思 FR20160059660 | 申请日： | 2016-10-06 | |
专利号： | FR3057192B1 | 公开公告日： | 2018-11-16 | |
主分类号： | B25J9 | 分类号： | 关于科技 B25J9; B25J17/02 | |
大别山脉申请权利人： | ECOLE NATIONALE SUPERIEURE DE MECANIQUE ET DES MICROTECHNIQUES; 什么是渐冻人UNIVERSITE DE FRANCHE-COMTE | 发明设计人： | GUILLAUME LAURENT; REDWAN DAHMOUCHE;间多音字 WISSEM HAOUAS; NADINE PIAT | |
公开国代码： | FR | 申请国代码： | FR | |
优先权国家： | FR | 优先权： | it认证20161006 FR 1659660 | |
摘 要： 商夏周 | 摘 要 附 图：努力奋斗的名人名言 | |||
The device allows the movement of a first movable element (5) about a point with three degrees of rotational freedom and the rotation of a cond movable element (6) about the first movable element (5) with one degree of freedom, in order to orient and actuate a working element (7) for gripping or cutting. The device includes at least one ba element (1), two movable elements (5) and (6), and four actuators (23) each including a stationary portion (2) and a movable portion (3). The stationary portion of each actuator is rigidly connected to the ba element (1), the movable portion of each of same being curely attached to a linking element (4) by means of a ball-and-socket joint (3a). The linking elements (4) are connected to one of the movable elements (5) and (6) via a ball-and-socket joint (5a) or (6a). At least one of the linking elements (4) is connected via a ball-and-socket joint (5a) to the first movable element (5). At least one of the linking elements (4) is connected via a ball-and-socket joint (6a) to the cond movable element (6). The first movable element (5) is connected to the ba element (1) via a ball-and-socket joint (5b). The movable elements (5) and (6) are connected to one another by a pivot joint (6b). The joints (3a), (5a) and (6a) are arranged so that the rotation of the first movable element (5) with three degrees of freedom as well as the rotation between the movable elements (5) and (6) can thus be controlled by the movement of the movable portions (3) of the actuators controlled by a management computer (12). | ||||
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