[go: up one dir, main page]

WO1984004722A1 - Robot articule - Google Patents

Robot articule Download PDF

Info

Publication number
WO1984004722A1
WO1984004722A1 PCT/JP1984/000009 JP8400009W WO8404722A1 WO 1984004722 A1 WO1984004722 A1 WO 1984004722A1 JP 8400009 W JP8400009 W JP 8400009W WO 8404722 A1 WO8404722 A1 WO 8404722A1
Authority
WO
WIPO (PCT)
Prior art keywords
joint
link
torque
tension
link system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP1984/000009
Other languages
English (en)
Japanese (ja)
Inventor
Shinkichi Himeno
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
YUSHINKAIHATSU YK
Original Assignee
YUSHINKAIHATSU YK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by YUSHINKAIHATSU YK filed Critical YUSHINKAIHATSU YK
Publication of WO1984004722A1 publication Critical patent/WO1984004722A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms

Definitions

  • the present invention relates to a joint robot having a link system composed of two or more links, and is applied to a multi-joint finger, a multi-joint arm, a walking control robot, and the like.
  • a multi-joint robot with a multi-joint link system consisting of multiple links connected by joints is described in Soji Inagaki, "Introduction to Industrial Robots” (Taiga Publishing, 1982).
  • position control of each link and control of torque applied to each joint are performed by driving one actuator, such as an electric motor, oil or pneumatic cylinder, etc., arranged for each joint. It is done by doing.
  • link position control is performed, the link is displaced by changing the bending angle of the joint by driving the corresponding actuator.
  • the bending angle of the joint is detected by the angle sensor arranged for each joint, and the detected value is compared with the target value of the bending angle specified by the control device.
  • the actuator is operated so that the detected value of the bending angle matches the target value, and as a result, the link is controlled to the target position.
  • Control of the torque applied to each joint is performed by operating one actuator arranged for the joint with a strength corresponding to the magnitude of the torque required for the joint.
  • the position control of the link is also considered.
  • the joints are moved in the required direction by the actuators provided for each joint.
  • Such a conventional joint robot has the following disadvantages.
  • the link approaches the ferocious position, the magnitude of the drive signal to the actuator becomes small and the drive output of the actuator approaches zero. Good.
  • the drive output is usually nonlinear near the zero point, ie, near the rising portion and near the limit output, and is linear in the middle. Therefore, in the above-mentioned conventional technology, when the link approaches the target position, the position control is performed in a region where the drive signal and the drive output are non-linear. Control becomes difficult. As a result, the positioning accuracy of the link is not good.
  • the purpose of the invention was to eliminate the disadvantages of the prior art described above.
  • the purpose of the invention is high, the position control accuracy is high, and the rigidity of the link system is high.
  • the purpose of the present invention is to provide a joint ⁇ -pot capable of withstanding an impact load because the property can be increased as required.
  • Another object of Taishiki is to provide an articulated bot that can achieve the above objectives with a small number of factories.
  • a joint robot having a link system consisting of two or more links linearly connected by one or more joints, at least one for each joint And an actuator capable of applying a torque in a certain direction and a Z direction or the opposite direction to the whole or a part of the link system, and a most distal link of the link system.
  • a flexible linear tension transmitting member wherein the actuator provided for the most distal joint of the actuators is opposite in direction to the torque applied to the most distant joint during operation.
  • a joint robot having a member capable of applying directional torque to all M joints of the link system is provided.
  • the link closer to the mounting base of the link system is called the “proximal” link, and the link closer to the tip of the link system is called the “distal” link.
  • the flexible linear tension transmitting portion used in the present invention is an actuator that can apply torque to all the joints of the link system. Therefore, the joint robot of the present invention requires at least the number of degrees of freedom of joint rotation plus one actuator.
  • the flexible linear tension transmitting member In order for the flexible linear tension transmitting member to be able to torque all the joints of the link system of interest, one end is connected to the distal-most link and a suitable guide is provided. ', It is necessary to be guided to the driving device in a state of being shifted from the central axis of the proximal link.
  • the guide defines the running in the case of the tension transmission section.
  • Examples of the flexible linear tension transmitting member used in the invention include a cable, a wire, a chain, a belt, and a toothed belt.
  • Examples of the material include a metal and a synthetic resin. , Shape memory alloys, and composite materials.
  • actuators that need to be provided for each joint can be used in the joint robot of Kishiki.
  • the above-mentioned tension transmitting member, torque motor, hydraulic or pneumatic cylinder, solenoid, electric motor, electromagnetic clutch, etc. are used. Expansion and contraction can also be used. Apply torque only to joints attached to actuators such as torque motors.
  • an actuator such as a tension transmission member—a shape memory alloy—can provide torque to one or more joints depending on the usage.
  • the joint robot according to the invention can perform position control with high accuracy. This effect is especially significant when the link system approaches the target position.
  • the link system can be kept in an internally tensioned state even when the link system is in motion or in a stationary state after the end of position control. At this time, since the strength of the link system is increased, even if an impact load is applied from the outside, the link system can withstand the position so as not to be displaced much. If the magnitude of the external impact load can be expected, adjust the internal tension to
  • the fat-headed Uroushi robot is particularly advantageous when the link system is a multi-joint robot including two or more joints.
  • the number of actuators is sufficient with the number of joints, that is, the number of degrees of freedom plus one.
  • additional actuating units can be provided as needed, but are not normally required.
  • the tension transmitting part seal used as an actuator in the invention of the present invention branches at one or more points on the way to the link to which one end is connected, and the segment of the branched member. May be bonded to one or two or more links at the second or lower position. According to this embodiment, excessive bending at some joints of the articulated link is automatically corrected, and uniform bending of the link system is achieved.
  • FIG. 1 to FIG. 5 show an embodiment of a BI clause robot according to the present invention.
  • FIG 6 and 7 show an embodiment of the articulated link joint D-bot according to the present invention.
  • ⁇ ⁇ Fig. 8 shows an example of a multi-node link system including two link systems according to the invention.
  • 9A to 9C show an embodiment using a branched tension transmitting member.
  • FIG. 1 has a one-joint link system, and a two-end cable is used as a joint actuator. Two cables may operate equivalently in this embodiment.
  • 1a and 1b are links
  • 2 is a joint composed of a pivot
  • ⁇ is a bending angle of the joint
  • 3a and 3b are cables
  • 4 is a link mounting base.
  • Ring 1a A joint 2 constituted by a pivot can rotate in a forward direction represented by an arrow X and a reverse direction represented by an arrow Y.
  • Cables 3a and 3b are connected to the side of link 1a in the forward direction (X) and the side in the reverse direction (Y), respectively.
  • the guide pulleys 5 and 5 are fixed to the link 1b, and guide the cables 3a and 3b so that torque can be applied to the joint 2.
  • 6a and 6b are sub-control units, and 7 is a main control unit.
  • the sub-control device 6a is a driving device 8a, a length sensor 9a, a V-F converter 10a, a current value counter lla, a comparator 12a, a differential amplifier 13a, and a tracking counter 14a. a, comprising a drive control circuit 15a.
  • 3 ⁇ 4 ⁇ Device 8a is a device that can change the length or tension of cable 3a. For length sensor 9a, wind cable 3a over the potentiometer, and
  • 6b is also a sub-control device and has the same configuration as the sub-control device 6a.
  • the main controller 7 controls the length and tension of the cables 3a and 3b to control the length and tension.
  • the target value is set and output to the sub-controllers 6a and 6b as a position signal and tension signal.
  • the main controller 7 sets target values for the tension of the cable 3a and the length of the cable 3b. If the length of the cable 3b is reduced while tension is applied to the cable 3a, since the number of rotating joints is two (2), the position of the tip 1a 'of the link 1a is unique. Is determined.
  • the tension is applied to the cable 3a based on the tension signal from the main controller 7 to the driving control circuit 15a, the joint 2 starts rotating, and the cable 3b is passively extended.
  • the length of the instantaneous cable 3b is monitored by the length sensor 9b and input to the comparator 12b via the VF converter 10b and the current value counter lib.
  • the target value of the length of the cape / re 3b is output as a position signal from the main controller 7 to the follow-up counter 14b and input to the comparator 12b.
  • the comparator 12b compares the current length of the cable 3b with the target value, and does not output to the differential amplifier 13b if the length of the cable 3b is still insufficient. If the length of the cable 3b exceeds the target value, a signal corresponding to the difference is output to the difference amplifier 13b, and the driving device 8b of the cable 3b is operated by the motion control device 15b, and the cable 3b is operated. Turn back b. With such feedback, the tip 1a 'of the link 1a can be moved to the target position (Xn). During this time, the tension of the cable 3a is constant.
  • the signal of the current value counter 11b is output not only to the comparator 12b but also to the controller 7, and based on the monitor of this value, the link is performed.
  • the main controller 7 recharges to slow down the rotation of the joint 2
  • the tension of the cable 3b is increased or decreased so as to reduce the deviation from the target position.
  • To perform positioning In other words, the cable 3a and the cable 3b are simultaneously moved, and the joint 2 is rotated by the difference in power.
  • Fig. 3 shows the case where the position of link 1a is controlled in the presence of load W.
  • the tensions applied to the main controller 7 and the cables 3a and 3b may be set so that the difference between the tensions is the required joint torque.
  • the torque of joint 2 in the X direction 100 Nm
  • the torque of cable 3a may be 120
  • the torque of cable 3b may be 20 Nm
  • the torque of cable 3a may be 200 Nm.
  • the torque may be 100 Nm with cable 3b. In short, it is only necessary to make the difference between the shearing torques of the two cables equal to the predetermined joint torque.
  • FIG. 4 shows another embodiment of the invention of the last part of the present invention.
  • Reference numeral 18 denotes a torque motor, which is a section connecting the links la and lb. 17 is an angle sensor, 18 is a torque control cable, and 5 is a guide pulley.
  • the sub-control unit 6b is composed only of the automatic control unit 15b, and the other
  • the position of the link can be controlled by changing the bending angle ⁇ of the joint by rotating the torque motor IS in the forward or reverse direction.
  • the position signal is supplied to the torque motor 18 as in the prior art, and the link by the rotation in Section 2 is applied.
  • the position of the link 1a can be controlled.
  • the tension is applied to the torque control cable 18 connected to the side of the link 1a that faces in the opposite direction (Y)
  • the tension is reduced against the tension of the torque control cable 18.
  • a driving signal corresponding to the tension of the torque control cable 18 is given to the torque motor 18 from the drive control device 15a of the sub-control device 6 & so that the torque motor 18 Is displayed. In this way, position control is performed so that the position of the link la is not displaced.
  • the position sensor for controlling the position may be an angle sensor (17) provided at the joint, or, as shown in the previous example, a tension transmitting member. May be a length sensor.
  • FIG. 5 shows a third embodiment of the present invention.
  • the convex curved surface 20b 'at the upper end of the link 20b and the concave curved surface 20a' at the lower end of the link 20a are slidably contacted 51.
  • the links 20a and 20b can be connected without using a joint body for the joint, the range of the bending angle of the link 20a is 180. As described above, the work range and application range of the joint robot can be expanded. In addition, since the concave curved surface 20a 'of the link 20a and the convex curved surface 20 of the link 20b slide, there is no stress concentration at the joint as in a conventional joint using an axle, and the joint is damaged. Hateful.
  • FIG. 6 shows an articulated finger according to still another embodiment of the present invention.
  • Links 31, 32, 33, and 34 are connected by sections I, ⁇ , and ⁇ ⁇ ⁇ ⁇ , respectively.
  • Cables b, c and d are connected to the lower side surfaces of the links 31, 32 and 33 as actuators of the joints I, ⁇ and ⁇ , respectively.
  • Cables b and d are coupled to the Y-direction side shown, and cable c is coupled to the opposite direction: X direction side.
  • a cable a is connected to the proximal side of the distalmost link 31 of the multi-joint finger on the side facing in the X direction.
  • Each cable is guided through a guide 5 to a mounting base 4 so that an X or Y torque can be applied to the corresponding joint and the proximal joint. That is, for example, cable a can add torque in the X direction to all joints I, ⁇ , and ⁇ , and conversely, cable b can apply torque in the Y direction to all joints I, ⁇ , and ⁇ . Torque can be applied. Cape c can apply a torque in the X direction to joints II and ⁇ .
  • the bending and extension of the multi-jointed finger can be performed by changing the length of the cable.
  • the position of each link is determined by the length of three thick cables. For example, to control the link system to the position shown in FIG.
  • the position of the link system can be determined by measuring the lengths of the cables b, c, and d.
  • the position of each M joint is uniquely determined. .
  • the cable 3a is very redundant in this sense, and is not necessary for determining the position of the link system.
  • the cables 3b, 3c, 3d will be pulled with the required tension so as not to disturb the position control of the links 1a, 1b, 1c. Become. In this way, the position of the link system is controlled in a state where there is internal tension throughout the link system.
  • Eleven OMH Input ai is the lever arm for joint I of actuator a.
  • ⁇ bi ⁇ t> 2 input 3 ⁇ 44 CD insertion (: 1 input C2 A_ C3 input G4
  • the direction is positive clockwise.
  • the common range of ⁇ 1 obtained from these inequalities is the range in which can be set.
  • T i is determined according to the work purpose, and the length (position signal) is given to the other cables b, c, and d. Is controlled.
  • the torque control of the joint ⁇ for example, whether in the forward direction or in the reverse direction, two thick actuators can be involved in the driving direction, so that the maximum output value can be increased. .
  • FIG. 7 shows another embodiment of an articulated finger. Leave only cable b for the multi-joint finger in Fig. 6 and connect cables a, c, and d to the torque motor.
  • FIG. 8 shows another embodiment of an articulated finger.
  • This articulated finger includes the link systems A and B of the present invention.
  • the proximal link of distal link system A is connected to the farthest link of proximal link system 13.
  • Section I 'between each link! 7 ' is composed of a torque motor.
  • One end of cable X for link system A is coupled to the side of link 41, and is guided to provide torque to joints I 'and II', then the side of link 41 Through the center of the link system to a drive (not shown). Therefore, cable X is the joint of link system B 17, 17 ′
  • FIG. 9A-B illustrate another embodiment of an articulated link system having a bifurcated tension member.
  • the links 51, 52, 53 are connected by the joints I, ⁇ , and the drive cables 54, 55, 58 are connected to the links 51, 51, 52, respectively.
  • the cable 54 branches before reaching the link 51, and one segment 54a reaches the link 51, and the other branched segment 54b extends farther from the link 51. Connected to link 52.
  • Fig. 9B shows the condition where Section I is excessively bent. At this time, a large tension acts on the segment 54a, and further bending of the joint I is suppressed. On the other hand, the segment 54b relaxes, so the music of the joint ⁇ is promoted.
  • OMPI Is done. In this way, uneven bending is corrected.
  • Fig. 9C shows a state in which Section ⁇ is excessively bent. In this case, while a large tension acts on the segment 54b, the segment 54a relaxes almost and the unevenness of the bending is corrected by the principle of the rod.
  • the joint ⁇ -bot of Taikiki can be used for walking control robots such as articulated joints and articulated fingers in various fields such as various industrial and medical fields.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Un robot articulé est pourvu d'un système de liaison constitué par deux maillons ou davantage reliés par une ou plusieurs articulations. Le robot articulé comprend un dispositif d'actionnement situé à chaque articulation et conçu pour appliquer un couple dans une certaine direction à tout le système de liaison ou à une partie de celui-ci, et un organe de transmission de tension situé sur le maillon le plus élevé du système de liaison, qui est conçu pour appliquer un couple à toutes les articulations, de sorte que des couples dans des directions opposées peuvent être impliqués simultanément à toutes les articulations actionnées. Le robot articulé ci-décrit peut être actionné en présence d'une tension interne et présente d'excellentes caractéristiques de commande de la position et du couple. En outre, étant donné que le système de liaison présente une rigidité élevée, le robot articulé peut supporter des charges d'impact.
PCT/JP1984/000009 1983-05-26 1984-01-18 Robot articule Ceased WO1984004722A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP9292783A JPS59219182A (ja) 1983-05-26 1983-05-26 関節ロボツト

Publications (1)

Publication Number Publication Date
WO1984004722A1 true WO1984004722A1 (fr) 1984-12-06

Family

ID=14068123

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1984/000009 Ceased WO1984004722A1 (fr) 1983-05-26 1984-01-18 Robot articule

Country Status (2)

Country Link
JP (1) JPS59219182A (fr)
WO (1) WO1984004722A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5080681A (en) * 1990-09-10 1992-01-14 Calspan Corporation Hand with conformable grasp
WO2016032976A1 (fr) * 2014-08-25 2016-03-03 Paul Ekas Structure de liaison et ensemble pour structure de manipulateur
US9718194B2 (en) 2014-08-25 2017-08-01 Paul Ekas Robotic grippers including finger webbing for improved grasping
CN114714391A (zh) * 2022-02-28 2022-07-08 内蒙古工业大学 一种变刚度一体化关节

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63260776A (ja) * 1987-04-17 1988-10-27 株式会社小松製作所 可撓腕ロボツトの制御装置
CN103419200B (zh) * 2013-07-23 2015-10-28 大连理工大学 一种机器人的仿肌弹性关节驱动装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5783392A (en) * 1980-11-14 1982-05-25 Hitachi Ltd Wrist device for robot
JPS57168889A (en) * 1981-04-03 1982-10-18 Shigeo Hirose Multi-articulated function ropy device
JPS5877479A (ja) * 1981-10-28 1983-05-10 株式会社明電舎 屈曲腕

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5783392A (en) * 1980-11-14 1982-05-25 Hitachi Ltd Wrist device for robot
JPS57168889A (en) * 1981-04-03 1982-10-18 Shigeo Hirose Multi-articulated function ropy device
JPS5877479A (ja) * 1981-10-28 1983-05-10 株式会社明電舎 屈曲腕

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5080681A (en) * 1990-09-10 1992-01-14 Calspan Corporation Hand with conformable grasp
WO2016032976A1 (fr) * 2014-08-25 2016-03-03 Paul Ekas Structure de liaison et ensemble pour structure de manipulateur
WO2016033101A1 (fr) * 2014-08-25 2016-03-03 Paul Ekas Structure de liaisons et ensemble pour structure de manipulateur
US9446513B2 (en) 2014-08-25 2016-09-20 Paul Ekas Robotic grippers including finger webbing for improved grasping
US9469027B2 (en) 2014-08-25 2016-10-18 Paul Ekas Tendon based robotic fingers having shock absorbing and self re-aligning features
US9718194B2 (en) 2014-08-25 2017-08-01 Paul Ekas Robotic grippers including finger webbing for improved grasping
US10046461B2 (en) 2014-08-25 2018-08-14 Paul Ekas Link structure and assembly including cable guide system for robotic mechanical manipulator structure
CN114714391A (zh) * 2022-02-28 2022-07-08 内蒙古工业大学 一种变刚度一体化关节
CN114714391B (zh) * 2022-02-28 2023-06-16 内蒙古工业大学 一种变刚度一体化关节

Also Published As

Publication number Publication date
JPS59219182A (ja) 1984-12-10

Similar Documents

Publication Publication Date Title
JP3578375B2 (ja) ロボットアーム駆動装置およびロボットハンド
US6484601B1 (en) Bellows actuation device, specially for robotic manipulator, and method to operate said device
Hannan et al. Analysis and experiments with an elephant's trunk robot
CN115135465B (zh) 用于控制连续体机器人的系统和方法以及连续体机器人
WO2015068716A1 (fr) Système maître-esclave
Hannan et al. Novel kinematics for continuum robots
JPH0532197B2 (fr)
US11628577B2 (en) Robot hand
WO1984004722A1 (fr) Robot articule
Yanai et al. Inverse dynamics analysis and trajectory generation of incompletely restrained wire-suspended mechanisms
JP2004223687A (ja) 多関節型マニピュレータ装置
JPH02256489A (ja) 多関節ハンド
JP3375202B2 (ja) ２関節同時駆動源を装備した２関節アーム機構とその動作制御方法
JP4442464B2 (ja) 多関節アーム機構
Surdilovic et al. A novel class of intelligent power-assist systems based on differential CVT
CN119795154A (zh) 张拉整体式刚柔混合的绳驱连续体机器人及其工作方法
JP3063863B2 (ja) マニピュレ−タの操作装置
KR101867763B1 (ko) 관절기구의 휨 강성 제어장치
JPH0630012B2 (ja) 産業用ロボツトの制御方法
US20240033929A1 (en) Co-handling robot having a mixed-force control law providing high effector sensitivity and enabling interaction with the body of the robot
JP2624830B2 (ja) バイラテラルマスタスレーブマニピュレータ
JPS62166985A (ja) マニピユレ−タ
Zhang et al. Design, Modeling and Implementation of a Novel Rigid-Flexible Hybrid Robotic Arm
JP2021091020A (ja) 主従ロボットの制御装置
Surdilovic et al. Singularity avoidance and control of new cobotic systems with differential CVT

Legal Events

Date Code Title Description
AK Designated states

Designated state(s): US

AL Designated countries for regional patents

Designated state(s): CH DE FR GB

CR1 Correction of entry in section i