公开(公告)号：SE521584C2

公开(公告)日：2003-11-18

申请号：SE9700090

申请日：1997-01-14

Applicant: ABB AB

Inventor： BROGAARDH TORGNY

IPC: B25J11/00 ,  B25J9/10 ,  B25J17/00 ,  F16H21/46

Abstract: The linkage connects base element (1A) with floating element (2) which is to be positioned in space. The linkage incorporates a link arrangement (5) and a movement arrangement (6). The link arrangement has links (9) which are joined to connector (4) and the floating connector by multi-directional pivots. The links of the link arrangement are parallel and equal in length. The movement arrangement allows relative movement between the connector and the base element and allows the connector to be moved without changing its orientation in space. The links of the movement arrangement form at least one parallelogram between the connector and the base element.

公开(公告)号：SE0002576L

公开(公告)日：2002-01-08

申请号：SE0002576

申请日：2000-07-07

Applicant: ABB AB

Inventor： VALLIN AASA ,  SKUTBERG HANS ,  LUNDBERG IVAN ,  PERSSON JAN-GUNNAR ,  ANDREASSON MATHILDA ,  BROGAARDH TORGNY

IPC: B25J9/10 ,  B25J17/02 ,  B25J18/06

公开(公告)号：SE511804C2

公开(公告)日：1999-11-29

申请号：SE9600998

申请日：1996-03-14

Applicant: ABB AB

Inventor： BROGAARDH TORGNY

IPC: B25J11/00 ,  B25J9/10 ,  B25J17/00 ,  F16H21/46

Abstract: PCT No. PCT/SE97/00433 Sec. 371 Date Nov. 30, 1998 Sec. 102(e) Date Nov. 30, 1998 PCT Filed Mar. 14, 1997 PCT Pub. No. WO97/33725 PCT Pub. Date Sep. 18, 1997A device for relative movement of two elements comprises at least two first links, which are connected relative to a first of the elements via hinges and which are pivotable in substantially parallel planes relative to the first element under influence of at least one first power-exerting member. At least two second links, which are connected relative to a second of the elements via hinges, are pivotable in substantially parallel planes relative to the second element under influence of at least one second power-exerting member. The two first links form a first four-hinges system. The two second links form a second four-hinges system. These two four-hinges systems are coupled in series to each other between the first and second elements.

公开(公告)号：ES2357655T3

公开(公告)日：2011-04-28

申请号：ES05752643

申请日：2005-06-03

Applicant: ABB AB

Inventor： BROGAARDH TORGNY

IPC: B25J17/02 ,  B23Q1/54 ,  B25J9/16

Abstract: Un robot industrial para el desplazamiento de un objeto en el espacio que comprende: - una plataforma (16) dispuesta para acarrear el objeto, - un primer brazo (7) dispuesto para influenciar la plataforma en un primer desplazamiento, que comprende un primer accionador (1, 4) y tres tirantes (10, 11, 12), teniendo cada tirante una junta externa conectada a la plataforma y una junta interna conectada al primer accionador, - un segundo brazo (8) dispuesto para influenciar la plataforma en un segundo desplazamiento, que comprende un segundo accionador (2, 5) y dos tirantes (13, 14) teniendo cada tirante una junta externa conectada a la plataforma, y una junta interna conectada al segundo accionador, y - un tercer brazo (9) dispuesto para influenciar la plataforma en un tercer desplazamiento, que comprende un tirante (15) que tiene una junta externa (15b) conectada a la plataforma, caracterizado porque al menos uno de dichos tirantes (10, 11, 12, 13, 14, 15) está dispuesto con una longitud ajustable e incluye un accionador lineal (10c, 13c, 14c, 15c) para controlar la longitud del tirante.

公开(公告)号：SE0300409A

公开(公告)日：2004-08-14

申请号：SE0300409

申请日：2003-02-13

Applicant: ABB AB

Inventor： BROGAARDH TORGNY

IPC: B25J9/16 ,  G05B19/42 ,  G05B19/423 ,  G05B19/4097

CPC classification number: G05B19/425 ,  B25J9/1671 ,  G05B19/4083 ,  G05B19/4207 ,  G05B2219/34135 ,  G05B2219/36504 ,  G05B2219/40564 ,  G05B2219/40581 ,  Y02P90/265

公开(公告)号：SE0301531D0

公开(公告)日：2003-05-22

申请号：SE0301531

申请日：2003-05-22

Applicant: ABB AB

Inventor： KOCK SOENKE ,  MUELLER CHRISTIAN ,  BROGAARDH TORGNY ,  BERGSJOE JESPER ,  MOBERG STIG ,  OLEVIK ANDREAS

IPC: B25J9/16 ,  G05B13/02 ,  B25J

Abstract: An apparatus, a method and a control system for controlling an industrial robot with at least one axis of rotation and/or translation. The robot includes at least one actuator or motor at each of the axes for driving a movement of an arm of the robot and at least one sensor at each of the rotatable shafts. A dither-signal generator for generation of a periodic signal is used to provide a varying dither signal to a servo of the actuator. Automatic adaption of the dither signal is provided. A computer program for carrying out the method and a graphical user interface.

公开(公告)号：SE0300409D0

公开(公告)日：2003-02-13

申请号：SE0300409

申请日：2003-02-13

Applicant: ABB AB

Inventor： BROGAARDH TORGNY

IPC: B25J9/16 ,  G05B19/42 ,  G05B19/423 ,  B25J

Abstract: A method and a system for programming an industrial robot to move relative to defined positions on an object. The system includes a geometrical model of the object, the real object, and an industrial robot. A plurality of measuring points are generated corresponding to different points on the surface of the real object expressed in a coordinate system associated with the robot. The system further includes a calibration module arranged to determine orientation and position of the geometrical model of the object relative to the coordinate system associated with the robot, a calculating module arranged to calculate the deviation between the measuring points and corresponding points on the geometrical model, and an adjusting module arranged to adjust the defined positions based on the calculated deviations.

公开(公告)号：DE69714715D1

公开(公告)日：2002-09-19

申请号：DE69714715

申请日：1997-03-14

Applicant: ABB AB VAESTERAAS

Inventor： BROGAARDH TORGNY

IPC: B25J9/10 ,  B25J17/00 ,  B25J11/00 ,  F16H21/46

Abstract: A device for relative movement of two elements comprises two link arrangements coupled in series using a connection arrangement. A first link arrangement comprises at least three links which are substantially equal in length and parallel. The links are positioned in a substantially triangular relation viewed along the longitudinal direction of the links, between the connection arrangement and a second of the elements. A second link arrangement comprises at least one parallelogram acting between the connection arrangement and a first of the elements. First and second force applying arrangements are adapted to cause the first link arrangement to pivot. A third force applying arrangement is adapted to cause the second link arrangement to pivot.

公开(公告)号：SE0200343D0

公开(公告)日：2002-02-06

申请号：SE0200343

申请日：2002-02-06

Applicant: ABB AB

Inventor： KOCK SOENKE ,  OESTERLEIN ROLAND ,  BROGAARDH TORGNY

IPC: B25J9/10 ,  B25J11/00 ,  B25J17/02 ,  B25J

Abstract: An industrial robot including a parallel kinematic manipulator of an object in space. The manipulator includes a stationary platform, a movable platform for carrying the object, and at least three arms connecting the platforms. Each arm includes a first arm part connected to the stationary platform for manipulating the movable platform.

公开(公告)号：SE0100974D0

公开(公告)日：2001-03-20

申请号：SE0100974

申请日：2001-03-20

Applicant: ABB AB

Inventor： BROGAARDH TORGNY ,  AHLBAECK MAGNUS ,  BERGSJOE JESPER ,  ELFVING STAFFAN ,  LAGER ANDERS ,  MOBERG STIG ,  MYHR MATS ,  RYLANDER DAN

IPC: B25J13/00 ,  B25J20060101 ,  B25J9/16 ,  B25J9/18 ,  G05B19/19 ,  G05B19/408 ,  G05B19/416 ,  B25J

Abstract: Method for optimizing the movement performance of an industrial robot for a current movement path with respect to thermal load on the driving system of the robot, wherein the method comprises the following steps: for at least one component in the driving system, the thermal load is calculated for the whole or parts of the movement path if the calculated thermal load is compared with a maximally allowed load for the component; and dependent on said comparison, a course of accelerations and velocities for the current movement path are adjusted.