Abstract: A positioning device includes a planar surface, a mobile platform configured to slide along the planar surface and cables for positioning and moving the mobile platform along the planar surface. The mobile platform includes a planar bearing system located at the side of the mobile platform configured to slide along the planar surface. The planar bearing system includes a component for pushing the mobile platform against the planar surface; and a component for allowing sliding of the planar bearing system with respect to the planar surface.

Abstract: A platform for a parallel robot, for acting on an object, including: at least two frames comprising at least two pairs of swivels; at least two bridges that are connected to each of the frames respectively by four hinges which are substantially parallel to an axial direction (V); and a base to be connected to an effector, which is suitable for acting on the object. The base is connected to each bridge respectively by at least one hinge which is oriented along a connection axis which is substantially parallel to the axial direction.

Abstract: A positioning device includes a planar surface, a mobile platform configured to slide along the planar surface and cables for positioning and moving the mobile platform along the planar surface. The mobile platform includes a planar bearing system located at the side of the mobile platform configured to slide along the planar surface. The planar bearing system includes a component for pushing the mobile platform against the planar surface; and a component for allowing sliding of the planar bearing system with respect to the planar surface.

Abstract: A platform for a parallel robot, for acting on an object, including: at least two frames comprising at least two pairs of swivels; at least two bridges that are connected to each of the frames respectively by four hinges which are substantially parallel to an axial direction (V); and a base to be connected to an effector, which is suitable for acting on the object. The base is connected to each bridge respectively by at least one hinge which is oriented along a connection axis which is substantially parallel to the axial direction.

Abstract: A method of controlling a machine with redundant parallel actuation includes a frame and a mobile element driven by a plurality of mechanical transmissions parallel to one another and each being activated by an actuator (2) including a body fixed to the frame, an actuating member and a position sensor, in which an error signal is produced by comparing the position of each actuator with a setpoint signal, characterized in that the error signals are converted into a mobile element position error signal by applying data representative of the kinematics of the mechanical transmissions, the mobile element error signal is processed by a processing module which produces an effort signal to be applied to the mobile element, the effort signal is converted into signals controlling the actuators by applying data representative of the kinematics of the mechanical transmissions.

Abstract: A method of controlling a machine with redundant parallel actuation includes a frame and a mobile element driven by a plurality of mechanical transmissions parallel to one another and each being activated by an actuator (2) including a body fixed to the frame, an actuating member and a position sensor, in which an error signal is produced by comparing the position of each actuator with a setpoint signal, characterized in that the error signals are converted into a mobile element position error signal by applying data representative of the kinematics of the mechanical transmissions, the mobile element error signal is processed by a processing module which produces an effort signal to be applied to the mobile element, the effort signal is converted into signals controlling the actuators by applying data representative of the kinematics of the mechanical transmissions.

Abstract: A manipulator including a mobile plate for carrying an end-effector, connected to a plurality of legs, each of which has a distal end connected to the mobile plate and a proximal end connected to a supporting object by a clamping device, a plurality of distal links, a plurality of intermediate links and a plurality of proximal links, an actuator connected between each pair of longitudinally adjacent intermediate links, the distal links, connecting the intermediate links with the mobile plate by a system of distal revolute joints including a distal lockable joint, and the proximal links, connecting the intermediate links with a system of proximal joints having lockable proximal joints, where the manipulator is able to achieve manipulation, self-reconfiguration and locomotion movements without needing actuators directly acting on each joint.

Abstract: A manipulator including a mobile plate for carrying an end-effector, connected to a plurality of legs, each of which has a distal end connected to the mobile plate and a proximal end connected to a supporting object by a clamping device, a plurality of distal links, a plurality of intermediate links and a plurality of proximal links, an actuator connected between each pair of longitudinally adjacent intermediate links, the distal links, connecting the intermediate links with the mobile plate by a system of distal revolute joints including a distal lockable joint, and the proximal links, connecting the intermediate links with a system of proximal joints having lockable proximal joints, where the manipulator is able to achieve manipulation, self-reconfiguration and locomotion movements without needing actuators directly acting on each joint.

Abstract: The invention refers to a two degree-of-freedom parallel manipulator that comprises a frame (1), four frame arms (3, 3?, 4, 4?), four platform arms (5, 5?, 5?, 5??), each frame and platform arm (3, 3?, 4, 4?, 5, 5?, 5?, 5??) with a first end and a second end, a platform (6) and a end-effector, being the first end of each frame arm (3, 3?, 4, 4) linked to the frame (1) and being the second end of each frame arm (3, 3?, 4, 4?) linked to a first end of a platform arm (5, 5?, 5?, 5??), being the second end of each platform arm (5, 5?, 5?, 5??) linked to the platform (6), and being the platform (6) linked to the end-effector. In said manipulator a first platform arm (3) and a second frame arm (3?) are actuated independently one from the other and a third frame arm (4) and a fourth frame arm (4?) are linked to the frame (1) with revolute joints (8), being the rotation of the third and fourth frame arms (4, 4?) coupled.

Abstract: The invention relates to a high-speed parallel robot with four degrees of freedom comprising four kinematic chains (1) articulated at one of their ends to a mobile platform (4) carrying the tool (5) and at their other end, through a rotational joint (2), to an actuador integral with a base plate (3). The mobile platform (4) is formed by four members (11), (11?), (12), (12?), linked together by means of articulated linkages (13), at least two of the members being parallel to each other, forming an articulated mobile platform with one degree of freedom in the plane of the mobile platform. The actuators are positioned with any orientation in the base plate (2) and preferably at 45°, 135°, 225° and 315°.

Abstract: The invention relates to a high-speed parallel robot with four degrees of freedom comprising four kinematic chains (1) articulated at one of their ends to a mobile platform (4) carrying the tool (5) and at their other end, through a rotational joint (2), to an actuador integral with a base plate (3). The mobile platform (4) is formed by four members (11), (11?), (12), (12?), linked together by means of articulated linkages (13), at least two of the members being parallel to each other, forming an articulated mobile platform with one degree of freedom in the plane of the mobile platform. The actuators are positioned with any orientation in the base plate (2) and preferably at 45°, 135°, 225° and 315°.

Abstract: A plasma torch including at least two electrodes separated by an insulating cylindrical case having a void, wherein the electrodes are separated by a distance (D) for forming an igniting arc therebetween when the electrodes are connected to a voltage, the distance (D) and the voltage being selected to form substantially a 1 Megavolt/meter electrical field between the electrodes, for forming an arc and causing plasma to be generated from the plasma generating material.

Abstract: The invention relates to a plasma torch (1) comprising at least two electrodes (7, 8) separated by a cylindrical insulating case (6) delimiting an internal volume, said electrodes connected by a conductive ignition fuse (11) placed in the internal volume. This torch is characterized in that the fuse (11) comprises at least one conductive material associated with at least one energetic material or one able to react with the conductive material. Application to the ignition of the propellant charge of a munition.

Abstract: A propellant charge ignition device having one or more ignition means and incorporating one or more diffuser tube(s) extending through a part of the propellant charge. The structure permits a flame generated by the ignition means to be guided up to a propellant charge receiver zone. There is also disclosed a propellant charge incorporating one or more block(s) of agglomerated propellant powder, the block having at least one closed-ended ignition channel for receiving a diffuser tube of the propellant charge ignition device.

Abstract: An ammunition base with an electrical igniter located in an axial bore within a cylindrical base, wherein the base is made of a metallic material coated with an electrically insulating material and has at least one non-insulated conductive area constituted by a ring-shaped bearing area of a shoulder of the base or by at least one non-insulated conductive ring crimped into a housing arranged in the base.

Abstract: A four-degree-of-freedom parallel robot capable of displacing a traveling plate with four degrees of freedom at a high speed and a high acceleration and positioning the traveling plate with high rigidity and high precision. The four-degree-of-freedom parallel robot has four actuators fixed to a base, four parallel linkages each of which is coupled at its upper end to a tip end of an arm of each of the actuators through a kinematic element such as a universal joint, and a traveling plate whose four corners are coupled to lower ends of the parallel linkages through kinematic elements. By controlling the actuators, a main member of the traveling plate is displaced with four degrees of freedom, i.e., translated in all directions and rotated around a predetermined axis. Only axial forces are applied to rods constituting the parallel linkages. Thus, the traveling plate can be positioned at a high speed and with high rigidity as well as high precision.

Abstract: A propellant charge ignition device having one or more ignition means and incorporating one or more diffuser tube(s) extending through a part of the propellant charge. The structure permits a flame generated by the ignition means to be guided up to a propellant charge receiver zone. There is also disclosed a propellant charge incorporating one or more block(s) of agglomerated propellant powder, the block having at least one closed-ended ignition channel for receiving a diffuser tube of the propellant charge ignition device.

Abstract: An ammunition base intended to receive an electrical igniter arranged in an axial bore, said base wherein it is made of a metallic material coated with an insulating material and in that it incorporates at least one non-insulated conductive area constituted by a ring-shaped bearing area of a shoulder of the base or by at least one non-insulated conductive ring crimped into a housing arranged in the base.

Abstract: The invention relates to a plasma torch (1) comprising at least two electrodes (7, 8) separated by a cylindrical insulating case (6) delimiting an internal volume, said electrodes connected by a conductive ignition fuse (11) placed in the internal volume. This torch is characterized in that the fuse (11) comprises at least one conductive material associated with at least one energetic material or one able to react with the conductive material.

Abstract: The invention relates to plasma torch (1) comprising at least two electrodes (7, 8) separated by an insulating cylindrical case (6) delimiting an inner volume, said torch wherein the electrodes (7, 8) are separated by a sufficiently small distance (D) for an igniting arc to appear between the electrodes (7, 8) when a serviceable voltage supplied by a generator (19) is applied between them.