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USRE49612E1 - System for generating the movement of a support plate in six degrees of freedom - Google Patents

System for generating the movement of a support plate in six degrees of freedom Download PDF

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Publication number
USRE49612E1
USRE49612E1 US17/411,973 US201617411973A USRE49612E US RE49612 E1 USRE49612 E1 US RE49612E1 US 201617411973 A US201617411973 A US 201617411973A US RE49612 E USRE49612 E US RE49612E
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United States
Prior art keywords
movement
generate
guide rail
auxiliary
upper plate
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US17/411,973
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English (en)
Inventor
Eric Durand
Bruno Rety
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Micro Controle Spectra Physics SAS
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Micro Controle Spectra Physics SAS
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Priority to US17/411,973 priority Critical patent/USRE49612E1/en
Assigned to MICRO-CONTRÔLE - SPECTRA-PHYSICS SAS reassignment MICRO-CONTRÔLE - SPECTRA-PHYSICS SAS NUNC PRO TUNC ASSIGNMENT (SEE DOCUMENT FOR DETAILS). Assignors: RETY, BRUNO, DURAND, ERIC
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    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/046—Allowing translations adapted to upward-downward translation movement
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/125—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for tilting and rolling
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2085—Undercarriages with or without wheels comprising means allowing sideward adjustment, i.e. left-right translation of the head relatively to the undercarriage
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12—Motion systems for aircraft simulators

Definitions

  • This invention relates to a system for generating movement of a support plate in several degrees of freedom.
  • This system has for purpose to allow for the relative movement between two plates, a support plate (or platform) which is able to carry an optical, mechanical or other device, in order to take measurements, processing, etc., and a lower plate which is placed on a support element, for example on a workstation.
  • a positioner of the hexapod type is known, which is a parallel robot constituted of six actuators forming legs.
  • the six legs are actuated in order to change the length and vary the orientation of the upper platform.
  • a set of unique leg lengths is associated to a given position of the upper platform.
  • Systems of the parallel robot type in particular hexapods, generally have disadvantages, and in particular a substantial encumbrance and/or a limited area of work.
  • a modular device for setting a charge into movement in at least three degrees of freedom comprising a triangular platform supporting a load.
  • the purpose of the present invention is to overcome these disadvantages. It relates to a system for generating movement of a support plate, the support plate being, in a so-called neutral position, substantially parallel to an XY plane defined by a so-called X direction and a so-called Y direction, said system being configured to be able to move said plate in at least some of the six degrees of freedom, said six degrees of freedom corresponding, respectively, to a so-called Xi translation along the X direction and a so-called ⁇ X rotation around this X direction, to a so-called Yi translation along the Y direction and a so-called ⁇ Y rotation around this Y direction, to a so-called Zi translation along a so-called Z direction and a so-called ⁇ Z rotation around this Z direction, with the Z direction being orthogonal to said X and Y directions.
  • said system for generating movement comprises at least two control stages superimposed in a direction Z and being secured to each other, at least one of said control stages comprises a control module, and said at least one control module comprises only movement units designed so as to each generate a translational movement in the XY plane, and this respectively in different directions.
  • the system for generating movement is of the modular type. Due to this modular architecture and the use of movement units designed to generate only translational movements, a very compact system for generating movement is obtained as specified hereinafter. In addition, the system for generating movement has an extended area of work. This makes it possible to overcome the aforementioned disadvantages.
  • the movement units are arranged in the XY plane and positioned in such a way as to have different directions of translation that form, respectively, an angle of 120° between them.
  • a first control module comprises:
  • the first control module is designed to generate Xi and Yi movements and it comprises two movement units and a straight auxiliary guide rail, the auxiliary guide rail being arranged in a direction different from the directions of movement of the two movement units and carrying a mobile carriage designed to be freely mobile, the mobile carriage being fixed to the lower face of the first upper plate.
  • the first control module is designed to generate Yi and ⁇ Z movements and it comprises two movement units and a straight auxiliary guide rail, the auxiliary guide rail being arranged in a direction different from the directions of movement of the two movement units and carrying a mobile carriage designed to be freely mobile, each one of said mobile carriages being provided with a rotation system designed to rotate freely in the XY plane, the three rotation systems being connected, each one, to the lower face of the first upper plate.
  • the system comprises an auxiliary control stage designed to generate an Xi movement of the so-called first control module.
  • the first control module is designed to generate Xi, Yi and ⁇ Z movements, and it comprises:
  • a second control module is designed to generate ⁇ x, ⁇ Y and Zi movements, and it comprises:
  • auxiliary control stages it additionally comprises, at least one, but preferably several of the following three auxiliary control stages:
  • the system for generating movement comprises only two control stages, of which a so-called first control stage comprises the so-called first control module designed to generate Xi, Yi and ⁇ Z movements, and of which a so-called second control stage comprises said second control module designed to generate ⁇ X, ⁇ Y and Zi movements.
  • FIG. 1 is a perspective view of a preferred embodiment of a system for generating movement.
  • FIG. 2 is a perspective view, in a mounted position, of a first control module of the system for generating movement of FIG. 1 , associated with an auxiliary control stage.
  • FIG. 3 is a partially exploded perspective view of the control module of FIG. 2 .
  • FIG. 4 is a perspective exploded view of the control module of FIG. 2 .
  • FIG. 5 is a perspective view of a second control module of the system for generating movement of FIG. 1 .
  • FIG. 6 is a perspective exploded view of the control module of FIG. 5 .
  • FIG. 7 is a perspective view of the control module of FIG. 5 , associated with two auxiliary control stages.
  • FIG. 8 is a perspective view of the control module of FIG. 5 , associated with three auxiliary control stages.
  • the system 1 shown in FIG. 1 and which illustrates the invention, is a system for generating a movement of a plate (or platform) 2 , preferably globally flat, with respect to a support (not shown) whereon is placed (and in particular fixed) the system 1 .
  • the plate 2 for example made of metal, is arranged substantially parallel to an XY plane defined by a so-called X direction (or longitudinal direction) and a so-called Y direction (or lateral direction), in a so-called neutral position of the plate 2 , i.e. in a base position without activation of the various means of movement of the system 1 specified below.
  • X and Y directions are part of a coordinate system R (or XYZ) which is shown in FIGS. 1 , 2 and 5 to 7 .
  • This coordinate system R intended to facilitate understanding comprises, in addition to the X and Y directions (or axes) forming the XY plane, a so-called Z direction (or axis) (or vertical) which is orthogonal to said XY plane.
  • the coordinate system R shown in detail in FIG. 1 is positioned outside of the system 1 .
  • the Z direction passes through a central vertical axis.
  • the support plate 2 is in the neutral position (not activated), substantially parallel to the XY plane.
  • the system 1 is designed to be able to move said plate 2 in at least some of the six degrees of freedom.
  • the plate 2 can support particular elements (not shown), which can be fixed on it, via fastening means, for example screws, passing through the holes 3 that can be seen in the plate 2 ( FIG. 1 ).
  • system 1 can be placed and fixed on a support element (not shown) via fastening means, for example screws, passing through the holes 4 that can be seen in a lower plate 5 of the system 1 ( FIG. 1 ).
  • the system 1 is part of a precise positioning device (or machine) for the semiconductor industry, in particular for processing or control applications in a standard atmosphere or in empty tanks, or for the optical and optoelectronics industry, for the positioning of optics, optoelectronic components, etc.
  • the system 1 comprises two control stages E 1 and E 2 superimposed in a direction Z and being secured to each other.
  • the system 1 is of the modular type, and each one of said control stages E 1 and E 2 comprises a control module M 1 and M 2 .
  • each one of said control modules M 1 and M 2 comprises movement units U 1 and U 2 designed to each generate only a translational movement in the XY plane.
  • These movement units U 1 and U 2 which each comprise for example an electric motor or a motor of another type, can be controlled, usually, by an operator (or by an automatic control system), by the intermediary of a control element not shown. In particular, the distance and the direction of translation (in the direction considered), and possibly the speed of translation, can be controlled. Each one of these movement units U 1 and U 2 therefore defines a motorised motorized axis (according to its direction (or axis) of translation).
  • Each movement unit (U1 and U2) includes a fixed portion and a movable portion. The fixed portion of each movement unit is configured to be fixed to a plate (e.g., the lower plate 5 for movement unit U1, or the lower plate 13 for movement unit U2).
  • the movable portion of each movement unit is capable of reciprocal movement along a reciprocating direction (e.g., L3 as shown in FIG. 6) relative to the fixed portion of the movement unit.
  • the movable portion of each movement unit is configured to carry a load (e.g., the straight guide rail 7 shown in FIG. 3, and the inclined guide rail 15) attached thereto.
  • the sought position of the plate 2 is obtained by a particular combination of controls (and therefore of positioning) of the various movement units U 1 and U 2 considered.
  • the movement units U 1 and U 2 are designed to generate, each one, a translational movement, respectively in different directions. More precisely, the movement units U 1 and U 2 are arranged in the XY plane and positioned in such a way as to have different directions of translation that form, respectively, preferably an angle of 120° between them.
  • the system 1 comprises only the two control stages E 1 and E 2 ;
  • control module M 1 comprises, as shown in FIGS. 2 to 4 :
  • Each one of the three guide rails 7 is mounted on one of the three movement units U 1 , to which it is associated.
  • control module M 1 comprises one guide rail 7 per movement unit U 1 and each movement unit U 1 is provided with a guide rail 7 .
  • Each one of the straight guide rails 7 is arranged orthogonally to the direction of movement of the associated movement unit U 1 , as shown for a straight guide rail 7 on the right portion of FIG. 3 , which comprises a longitudinal axis L 2 .
  • This longitudinal axis L 2 of the straight guide rail 7 is orthogonal to the longitudinal axis (or axis of movement) L 1 of the movement unit U 1 .
  • each one of the straight guide rails 7 has a sliding direction along the longitudinal axis L2, orthogonal to direction of movement of the associated movement unit U1.
  • Each one of the guide rails 7 is designed in such a way as to be moved (in the L 1 direction) under the action of the associated movement unit U 1 .
  • each one of the guide rails 7 carries a mobile carriage 8 .
  • This mobile carriage 8 is designed to be freely mobile in the direction L 2 , i.e. orthogonally to the direction of movement L 1 of the associated movement unit U 1 .
  • each one of the mobile carriages 8 is provided with a rotation system 9 comprising, preferably, a ball bearing 10 , which is designed to freely rotate in the plane of the upper plate 6 corresponding to the XY plane in the neutral position.
  • the three rotation systems 9 are each connected to the lower face 6 A of the upper plate 6 , by the intermediary of usual fastening elements 11 arranged in the upper plate 6 .
  • control module M 1 comprises a closed side wall 12 , which is integral with the lower plate 5 , as shown in FIG. 4 .
  • a command by an operator or an automatic control system of a movement unit U 1 generates the movement of the guide rail 7 .
  • the mobile carriage 8 can be moved freely and act on the position of the upper plate 6 .
  • the second control module M 2 comprises, as shown in FIGS. 5 to 7 :
  • Each one of the three guide rails 15 is mounted on one of the three movement units U 2 , to which it is associated.
  • the control module M 2 comprises one guide rail 15 per movement unit U 2 and each movement unit U 2 is provided with a guide rail 15 .
  • Each one of the movement units U 2 is fixed on the upper face 13 A in order to generate a movement in a given direction in the XY plane, as shown by the L 3 direction for the movement unit U 2 which can be seen on the right of FIG. 5 .
  • each one of the guide rails 15 is arranged longitudinally to the direction of movement L 3 of the associated movement unit U 2 .
  • it is designed in such a way as to be moved under the action of the associated movement unit U 2 .
  • each of the guide rails 15 has a sliding direction arranged longitudinally to the direction of movement L3 of the associated movement unit U2 and disposed at an angle relative to the XY plane.
  • each one of the guide rails 15 carries a mobile carriage 16 which is designed to be freely mobile.
  • Each one of the guide rails 15 is mounted inclined, in the Z vertical direction with respect to the associated guide rail.
  • the direction of movement L 4 of the freely mobile carriage 16 has an angle ⁇ , non-zero with respect to the direction of movement of the guide rail 15 (under the action of the movement unit U 2 ).
  • the guide rail 15 is connected to the movement unit U 2 via a bevelled support element 17 with a triangular shape in the vertical plane.
  • the mobile carriage 17 16 Due to its positioning on the movement unit U 2 , the mobile carriage 17 16 is moved in the XY plane in the L 3 direction. As shown in FIG. 5 , the projection L 4 A of the L 4 direction of movement in the XY plane, is parallel (or confounded) with the L 3 direction.
  • the mobile carriage 16 comprises a bevelled support element 18 , that cooperates with the bevelled support element 17 , and which is adapted to the latter so that the upper face of the support element 18 is substantially parallel to the lower face of the support element 17 .
  • each one of the carriages 18 is provided with a ball 19 designed to be freely rotating.
  • the three balls 19 are each mounted articulated to the lower face 14 A of the upper plate 14 .
  • the system 1 (for generating movement) such as described hereinabove is very compact, and in addition, it has an extended area of work, in particular in relation to the usual systems (in particular of the hexapod type).
  • said system 1 comprises two control stages E 1 and E 2 comprising, respectively, the control modules M 1 and M 2 such as described hereinabove.
  • control module M 1 is designed to generate only Xi and Yi movements.
  • control module M 1 comprises only two movement units U 1 , as well as a straight auxiliary guide rail.
  • This auxiliary guide rail replaces the third movement unit U 1 of the embodiments of FIGS. 2 to 4 .
  • the auxiliary guide rail is arranged in a direction different from the directions of movement of the two movement units and identical to that of the third movement unit of FIGS. 2 to 4 .
  • the guide rail carries a mobile carriage designed to be freely mobile, and the auxiliary guide rail is arranged in such a way that the mobile carriage can be moved, freely, in the direction of movement of said third replaced movement unit.
  • the three mobile carriages are directly fixed on the lower face 6 A of the upper plate 6 and are not provided with a rotation system.
  • the first control module M 1 is designed to generate only Yi and ⁇ Z movements.
  • control module M 1 comprises two movement units U 1 , as well as a straight auxiliary guide rail.
  • the auxiliary guide rail is arranged in a direction different from the directions of movement of the two movement units and identical to that of the third movement unit of FIGS. 2 to 4 .
  • auxiliary guide rail as well as the two movement units each carries a mobile carriage designed to be freely mobile.
  • each one of the three mobile carriages is provided with a rotation system designed to be freely rotating in the plane XY, such as the aforementioned rotation system 9 .
  • the three rotation systems are each connected to the lower face 6 A of the upper plate 6 A.
  • the system 1 can comprise, in a particular embodiment, an auxiliary control stage E 3 shown as a thin line (for the purpose of illustration) in FIG. 2 .
  • This auxiliary control stage E 3 is designed to generate an Xi movement of said control module M 1 .
  • This auxiliary control stage E 3 can comprise a movement element 20 in order to generate the Xi movement.
  • the movement element 20 is provided with a guide rail 21 carrying a mobile carriage 22 , and means for controlling the movement (not shown) of the mobile carriage 22 on the guide rail 21 , such as an electric motor for example.
  • the mobile carriage 22 is therefore mounted mobile on the guide rail 21 and it carries the control module M 1 in accordance with the second alternative embodiment.
  • the system for generating movement comprises, associated with the control module M 2 , instead of the control module M 1 , at least one (but preferably several) of the following three auxiliary control stages:
  • the system for generating movement comprises the two auxiliary control stages E 4 and E 5 , which are shown as a thin line in this FIG. 7 .
  • the auxiliary control stage E 4 can comprise a movement element 23 in order to generate the Yi movement.
  • the movement element 23 is provided with a guide rail 25 carrying a mobile carriage 26 , and means for controlling the movement (not shown) of the mobile carriage 26 on the guide rail 25 , such as an electric motor for example, which can be controlled, in a usual manner, by an operator or by an automatic control system.
  • the mobile carriage 26 is therefore mounted mobile on the guide rail 25 and it carries the auxiliary control stage E 5 .
  • the auxiliary control stage E 5 can comprise a movement element 24 in order to generate the Xi movement.
  • the movement element 24 is also provided with a guide rail 27 also carrying a mobile carriage 28 , and means for controlling the movement (not shown) of the mobile carriage 28 on the guide rail 27 , such as an electric motor for example, which can be controlled, usually, by an operator or by an automatic control system.
  • the mobile carriage 28 is therefore mobile on the guide rail 27 and it carries the control module M 2 .
  • the system for generating movement according to this first embodiment is therefore able to generate Xi, Yi, Zi, ⁇ X and ⁇ Y movements.
  • the system for generating movement comprises, associated with the control module M 2 , simultaneously the three auxiliary control stages E 4 , E 5 and E 6 , which are shown as a thin line in this FIG. 8 .
  • the auxiliary control stages E 4 and E 5 are similar to those of FIG. 7 .
  • the auxiliary control stage E 6 can comprise an element for driving a rotation 29 , for example a motor, in order to generate the ⁇ Z movement, i.e. in order to generate a rotation around the Z axis.
  • the element for driving a rotation 29 (which can usually be controlled by an operator or by an automatic control system), is mounted on the upper plate 14 of the control module M 2 .
  • the system for generating movement according to this second embodiment is therefore able to generate the Xi, Yi, Zi, ⁇ X, ⁇ Y and ⁇ Z movements (i.e. movements in six degrees of freedom).

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Machine Tool Units (AREA)
  • Apparatus Associated With Microorganisms And Enzymes (AREA)
  • Control Of Position Or Direction (AREA)
US17/411,973 2016-01-06 2016-12-30 System for generating the movement of a support plate in six degrees of freedom Active USRE49612E1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/411,973 USRE49612E1 (en) 2016-01-06 2016-12-30 System for generating the movement of a support plate in six degrees of freedom

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
FR1650094A FR3046451B1 (fr) 2016-01-06 2016-01-06 Systeme de generation de deplacement d'une plaque de support selon six degres de liberte.
FR1650094 2016-01-06
US16/067,810 US10393308B2 (en) 2016-01-06 2016-12-30 System for generating the movement of a support plate in six degrees of freedom
US17/411,973 USRE49612E1 (en) 2016-01-06 2016-12-30 System for generating the movement of a support plate in six degrees of freedom
PCT/FR2016/053686 WO2017118797A1 (fr) 2016-01-06 2016-12-30 Système de génération de déplacement d'une plaque de support selon six degrés de liberté

Publications (1)

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USRE49612E1 true USRE49612E1 (en) 2023-08-15

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US17/411,973 Active USRE49612E1 (en) 2016-01-06 2016-12-30 System for generating the movement of a support plate in six degrees of freedom
US16/067,810 Ceased US10393308B2 (en) 2016-01-06 2016-12-30 System for generating the movement of a support plate in six degrees of freedom

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US16/067,810 Ceased US10393308B2 (en) 2016-01-06 2016-12-30 System for generating the movement of a support plate in six degrees of freedom

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US (2) USRE49612E1 (de)
EP (1) EP3400399B1 (de)
JP (1) JP6795602B2 (de)
KR (1) KR102585916B1 (de)
CN (1) CN109073137B (de)
FR (1) FR3046451B1 (de)
SG (1) SG11201805748XA (de)
WO (1) WO2017118797A1 (de)

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Publication number Priority date Publication date Assignee Title
FR3046451B1 (fr) * 2016-01-06 2018-07-06 Micro-Controle - Spectra-Physics Systeme de generation de deplacement d'une plaque de support selon six degres de liberte.
CN107504895B (zh) * 2017-08-03 2019-11-15 山东大学 面向光栅型微纳定位平台的零点微调装置
CN108332941A (zh) * 2018-04-16 2018-07-27 交通运输部天津水运工程科学研究所 一种适用于模拟多个自由度运动的试验装置
CN110371891A (zh) * 2018-09-13 2019-10-25 天津京东深拓机器人科技有限公司 一种举升结构和运输车
CN109638720B (zh) * 2019-01-30 2020-10-16 国网山东省电力公司建设公司 一种输电线路的跨越装置
CN114097013A (zh) * 2019-04-26 2022-02-25 迪尼斯玛有限公司 运动系统
KR102683112B1 (ko) * 2021-09-07 2024-07-10 주식회사 로엔서지컬 신장 내부 삽입 훈련 시스템
WO2023038424A1 (ko) * 2021-09-07 2023-03-16 주식회사 로엔서지컬 신장 수술 훈련 시스템

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EP3400399B1 (de) 2019-09-11
EP3400399A1 (de) 2018-11-14
FR3046451B1 (fr) 2018-07-06
CN109073137B (zh) 2020-06-02
CN109073137A (zh) 2018-12-21
FR3046451A1 (fr) 2017-07-07
US20190024842A1 (en) 2019-01-24
US10393308B2 (en) 2019-08-27
JP6795602B2 (ja) 2020-12-02
SG11201805748XA (en) 2018-08-30
KR102585916B1 (ko) 2023-10-05
KR20180120673A (ko) 2018-11-06

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