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WO2008123271A1 - ロボットおよび制御方法 - Google Patents

ロボットおよび制御方法 Download PDF

Info

Publication number
WO2008123271A1
WO2008123271A1 PCT/JP2008/055635 JP2008055635W WO2008123271A1 WO 2008123271 A1 WO2008123271 A1 WO 2008123271A1 JP 2008055635 W JP2008055635 W JP 2008055635W WO 2008123271 A1 WO2008123271 A1 WO 2008123271A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive
robot
drive units
base
link mechanisms
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/JP2008/055635
Other languages
English (en)
French (fr)
Inventor
Kenji Matsukuma
Takayuki Nakamura
Kazuhiko Yokoyama
Kazuhiro Fukudome
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.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Yaskawa Electric Manufacturing Co Ltd
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 Yaskawa Electric Corp, Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Corp
Publication of WO2008123271A1 publication Critical patent/WO2008123271A1/ja
Priority to US12/562,081 priority Critical patent/US7950710B2/en
Anticipated expiration legal-status Critical
Priority to US13/089,320 priority patent/US8549952B2/en
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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

　小型軽量物の細かい把持と重量物の安定な把持を共に実現可能で、駆動部に無理な負荷を加えることがなく、さらに直接教示や原点復帰動作が容易な、汎用性の高いロボットを提供する。 　基部（１）と、前記基部（１）上に配置される少なくとも２つのリンク機構（４）と、前記リンク機構（４）を屈曲伸展可能な駆動部（３）と、前記駆動部（３）を制御する制御部（１０）とを備えたロボットにおいて、少なくとも１つの駆動部（３）は、他の駆動部（３）よりも大きい駆動力を有し、他の駆動部（３）は、自らの駆動力よりも大きい外力に対して他動的に変位するものである。
PCT/JP2008/055635 2007-04-03 2008-03-26 ロボットおよび制御方法 Ceased WO2008123271A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/562,081 US7950710B2 (en) 2007-04-03 2009-09-17 Robot
US13/089,320 US8549952B2 (en) 2007-04-03 2011-04-19 Robot and method for controlling the robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007097255A JP5105147B2 (ja) 2006-08-28 2007-04-03 ロボットおよび制御方法
JP2007-097255 2007-04-03

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/562,081 Continuation US7950710B2 (en) 2007-04-03 2009-09-17 Robot

Publications (1)

Publication Number Publication Date
WO2008123271A1 true WO2008123271A1 (ja) 2008-10-16

Family

ID=39652192

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/055635 Ceased WO2008123271A1 (ja) 2007-04-03 2008-03-26 ロボットおよび制御方法

Country Status (4)

Country Link
US (2) US7950710B2 (ja)
JP (1) JP5105147B2 (ja)
TW (1) TWI432299B (ja)
WO (1) WO2008123271A1 (ja)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2343162A1 (en) * 2010-01-07 2011-07-13 Samsung Electronics Co., Ltd. Robot hand and robot having the same
WO2018117229A1 (ja) * 2016-12-22 2018-06-28 川崎重工業株式会社 搬送システム及びその運転方法
JPWO2021054016A1 (ja) * 2019-09-19 2021-03-25

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Publication number Priority date Publication date Assignee Title
EP2343162A1 (en) * 2010-01-07 2011-07-13 Samsung Electronics Co., Ltd. Robot hand and robot having the same
US8419096B2 (en) 2010-01-07 2013-04-16 Samsung Electronics Co., Ltd. Robot hand and robot having the same
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JPWO2021054016A1 (ja) * 2019-09-19 2021-03-25
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Also Published As

Publication number Publication date
US20110192247A1 (en) 2011-08-11
TW200902259A (en) 2009-01-16
TWI432299B (zh) 2014-04-01
US20100010670A1 (en) 2010-01-14
JP2008149444A (ja) 2008-07-03
JP5105147B2 (ja) 2012-12-19
US8549952B2 (en) 2013-10-08
US7950710B2 (en) 2011-05-31

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