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WO2011093703A1 - Robot cinématique parallèle à cinq pattes - Google Patents

Robot cinématique parallèle à cinq pattes Download PDF

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Publication number
WO2011093703A1
WO2011093703A1 PCT/NL2011/050051 NL2011050051W WO2011093703A1 WO 2011093703 A1 WO2011093703 A1 WO 2011093703A1 NL 2011050051 W NL2011050051 W NL 2011050051W WO 2011093703 A1 WO2011093703 A1 WO 2011093703A1
Authority
WO
WIPO (PCT)
Prior art keywords
legs
robot
tool
base
tools
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/NL2011/050051
Other languages
English (en)
Inventor
Dhr. Patrice Lambert
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.)
Technische Universiteit Delft
Original Assignee
Technische Universiteit Delft
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 Technische Universiteit Delft filed Critical Technische Universiteit Delft
Priority to EP11703503A priority Critical patent/EP2528715A1/fr
Publication of WO2011093703A1 publication Critical patent/WO2011093703A1/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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators

Definitions

  • the invention relates to a robot with multiple degrees of freedom comprising multiple legs linked at a first of their ends to a base, and at a second of their ends opposite to the first ends to a mobile platform, which platform carries at least one tool, and wherein the robot further comprises an actuator for operating the tool or tools.
  • Such a robot is known from EP-A-1 870 214.
  • the known ro ⁇ bot has a single tool mounted on the mobile platform which is made up of four members linked together by means of articulated linkages.
  • the robot also has four legs and is thus provided with four degrees of freedom pertaining to the movement of the tool.
  • the tool itself has an actuator that is mounted on the mobile platform.
  • a robot has to satisfy conflicting demands. At the one hand it is desirable to have a low mass in order to reduce inertia and improve the speed of operation. On the other hand a robot preferably shows a high stiffness which allows to maintain accuracy when operating with high amplitudes and frequencies. In most cases these requirements conflict with each other and a trade off must occur in the design of the robot between mass and stiffness.
  • a measure of the quality of the de ⁇ sign can be found in the so called P/M ratio wherein P stands for payload and M stands for total mass. The higher this P/M ra ⁇ tio is, the better the design.
  • a problem of the design known from EP-A-1 870 214 is that the actuator that is mounted on the mobile platform reduces the P/M ratio in that it increases the weight of the mobile platform at the expense of the load that may be supported or handled by the tool or tools that are provided on the platform.
  • a robot is known with multiple degrees of freedom comprising multiple legs linked at a first of their ends to a base, and at a second of their ends opposite to the first ends to a mobile platform, which legs each have a mo ⁇ tor drive at the base, and which platform carries at least one tool, and wherein the robot further comprises an actuator for operating the tool, and comprises five legs, wherein each leg connects at its extremities to the base and to the platform.
  • a further objective is to provide a design which generally allows to provide a robot with improved P/M ra ⁇ tio.
  • Still a further objective of the invention is to provide a robot which can represent a viable alternative for the robot or robots that are known from the prior art.
  • the robot of the invention is provided with the features of one or more of the appended claims.
  • the robot is embodied with the actuator being placed distant from the tool or tools at the base, and the actuator of the tool or tools being embodied by the joint operation of the motor drives of the legs.
  • the construction of the robot with the actua- tor being placed distant from the tool or tools at the base thereby effectively reduces the weight of the mobile platform, and improves the earlier mentioned P/M ratio.
  • the robot of the invention has legs, each leg having a motor drive at the base. Contrary to the prior art however and very cleverly, in the design of the robot of the invention the actuator of the tool or tools is embodied by the joint operation of the motor drives of the legs.
  • the platform is embodied with members that are rotationally connected to each other with links, wherein each link is provided at an extremity of one leg.
  • the tool or tools are supported by a member and/or a link.
  • the mobile platform supports two tools occupying a distance between each other that is adjustable by the operation of the actuator.
  • the positions of the motor drives at the base are sym ⁇ metrical and form an imaginary pentagram.
  • the pentagram accords to the five legs of the robot.
  • each of the legs comprises a rotational joint connected to a parallelogram construction comprising the leg's link that connects to the members of the platform at a side distant from the rotational joint.
  • the robot of the inven ⁇ tion with multiple degrees of freedom comprises five legs linked at a first of their ends to a base, and at a second of their ends opposite to the first ends to a mobile platform, wherein the legs have motor drives that are positioned at the base, which platform carries at least one tool, and wherein the robot further comprises an actuator for operating the tool or tools, which actuator is embodied by the joint operation of the motor drives of the legs.
  • FIG. 1 shows a schematic isometric drawing of a robot according to the invention in a first embodiment
  • -figure 3 provides a detailed view of the platform of a robot according to a second embodiment.
  • the robot with multiple degrees of freedom of the invention is denoted with reference 1, comprising multiple legs 2 linked at a first of their ends to a base 3, and at a second of their ends opposite to the first ends to a mobile platform 4.
  • the platform 4 supports in this embodi ⁇ ment two tools 5, 6, and the robot 1 further comprises an actua ⁇ tor for operating the tools 5, 6, the operation of which actua- tor will become apparent from the following description.
  • the mobile platform 4 is in a detailed view shown in figure 2.
  • the two tools 5, 6 may be embodied as vacuum grippers, but also other types of tools are feasible.
  • the robot 1 comprises five legs 2, wherein each leg 2 connects at its extremities to the base 3 and the platform 4.
  • Each of the legs 2 comprises a rota ⁇ tional joint 10 connected at one end to the base 3, and at the other end to a parallelogram construction 11 that connects to the platform 4.
  • the platform 4 in turn is embodied with members 7 that are rotationally connected to each other with links 8, wherein each link 8 is provided at an extremity of one leg 2.
  • Each leg' s link 8 is thus positioned at a side distant from the rotational joint 10 of the concerning leg 2.
  • the tool or tools 5, 6 are supported by either a member 7 or a link 8. It may be preferable that the mobile plat ⁇ form 4 supports two tools 5, 6 as in the shown case, which tools 5, 6 then may occupy a distance between each other that is ad- justable by the operation of the robot providing the actuator for said tools 5, 6.
  • the legs 2 of the robot 1 of the invention each have a motor drive 9 at the base 3, so as to arrange that the actuator of the tool or tools 5, 6 is embodied by the joint operation of these motor drives 9 of the legs 2.
  • the actuator is thus placed distant from the tool or tools 5, 6 and at the base 3 so as to reduce weight on the platform 4.
  • the positions of the motor drives 9 at the base 3 are symmetrical and form an imaginary pentagram.
  • FIG 3 another embodiment of the platform 4 of the robot of the invention is shown, in which the tool is embodied with gripper fingers 12', 12'' which are actu ⁇ ated by the above described operation in which the motor drives 9 of the legs 2 operate to control the platform 4 in a manner to arrange that the gripper fingers 12', 12'' occupy a preselected distance between each other.
  • Figure 3 also shows that an addi ⁇ tional prismatic joint 13 may be placed between the respective gripper fingers 12', 12''.

Landscapes

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

Abstract

La présente invention se rapporte à un robot à multiples degrés de liberté comprenant cinq pattes (2) reliées par une première de leurs extrémités à une base (3), et par une seconde de leurs extrémités, opposée à la première extrémité, à une plateforme mobile (4), ladite plateforme portant au moins un outil (5, 6, 121, 12"), et le robot comprenant en outre un actionneur destiné à actionner le ou les outils, ledit actionneur étant matérialisé par l'opération d'articulation des entraînements motorisés (9) des pattes qui sont positionnés sur la base.
PCT/NL2011/050051 2010-01-28 2011-01-27 Robot cinématique parallèle à cinq pattes Ceased WO2011093703A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP11703503A EP2528715A1 (fr) 2010-01-28 2011-01-27 Robot cinématique parallèle à cinq pattes

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2004167 2010-01-28
NL2004167A NL2004167C2 (en) 2010-01-28 2010-01-28 Robot with multiple degrees of freedom.

Publications (1)

Publication Number Publication Date
WO2011093703A1 true WO2011093703A1 (fr) 2011-08-04

Family

ID=42270267

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2011/050051 Ceased WO2011093703A1 (fr) 2010-01-28 2011-01-27 Robot cinématique parallèle à cinq pattes

Country Status (3)

Country Link
EP (1) EP2528715A1 (fr)
NL (1) NL2004167C2 (fr)
WO (1) WO2011093703A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102975197A (zh) * 2012-12-04 2013-03-20 天津大学 三维平动二维转动自由度的并联机械手
EP2813716A1 (fr) * 2013-06-14 2014-12-17 Penta Robotics Patents B.V. Joint à rotule magnétique
CN105171717A (zh) * 2015-08-03 2015-12-23 电子科技大学 一种可折叠的六自由度并联运动平台
NL2013948B1 (en) * 2014-12-10 2016-10-11 Univ Delft Tech Robot with multiple degrees of freedom.
WO2017208903A1 (fr) * 2016-05-30 2017-12-07 Ntn株式会社 Dispositif de travail utilisant un mécanisme articulé parallèle
JP2022525020A (ja) * 2019-03-06 2022-05-11 ユニヴェルシテ ラヴァル 運動学的に冗長な作動を伴うパラレルメカニズム

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4776749A (en) * 1986-03-25 1988-10-11 Northrop Corporation Robotic device
DE19840886A1 (de) * 1998-09-08 2000-03-23 Juergen Hesselbach Bewegungsvorrichtung mit Parallelstruktur
WO2003066289A1 (fr) * 2002-02-06 2003-08-14 Abb Ab Robot industriel
JP2004291166A (ja) * 2003-03-27 2004-10-21 Toyoda Mach Works Ltd 四自由度パラレルロボット
US20040211284A1 (en) 1999-08-05 2004-10-28 Roy Shambhu Nath Parallel kinematics mechanism with a concentric spherical joint
EP1870214A1 (fr) 2005-02-17 2007-12-26 Fundacion Fatronik Robot parallele a quatre degres de liberte a grande vitesse

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2800273A1 (de) * 1978-01-04 1979-07-12 Farkas Gyoergy Dipl Ing Verfahren und einrichtung fuer mehrdimensionale bewegungssteuerung und programmierung
DE10153854C1 (de) * 2001-11-02 2003-06-12 Fraunhofer Ges Forschung Bewegungs- und/oder Positioniervorrichtung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4776749A (en) * 1986-03-25 1988-10-11 Northrop Corporation Robotic device
DE19840886A1 (de) * 1998-09-08 2000-03-23 Juergen Hesselbach Bewegungsvorrichtung mit Parallelstruktur
US20040211284A1 (en) 1999-08-05 2004-10-28 Roy Shambhu Nath Parallel kinematics mechanism with a concentric spherical joint
WO2003066289A1 (fr) * 2002-02-06 2003-08-14 Abb Ab Robot industriel
JP2004291166A (ja) * 2003-03-27 2004-10-21 Toyoda Mach Works Ltd 四自由度パラレルロボット
EP1870214A1 (fr) 2005-02-17 2007-12-26 Fundacion Fatronik Robot parallele a quatre degres de liberte a grande vitesse

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
"Pararob-501 Parallelmanipulator mit dem Freiheitsgrad fünf", 4 August 2005 (2005-08-04), XP002589393, Retrieved from the Internet <URL:http://www.proteca.rwth-aachen.de/de/4c7baa064b8823cfc1257053004067b7/100_PARAROB_V01.pdf> [retrieved on 20100629] *

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102975197A (zh) * 2012-12-04 2013-03-20 天津大学 三维平动二维转动自由度的并联机械手
EP2813716A1 (fr) * 2013-06-14 2014-12-17 Penta Robotics Patents B.V. Joint à rotule magnétique
NL2010970C2 (nl) * 2013-06-14 2014-12-17 Penta Robotics Patents B V Magnetisch bolscharnier alsmede robot voorzien van het bolscharnier.
NL2013948B1 (en) * 2014-12-10 2016-10-11 Univ Delft Tech Robot with multiple degrees of freedom.
CN105171717A (zh) * 2015-08-03 2015-12-23 电子科技大学 一种可折叠的六自由度并联运动平台
WO2017208903A1 (fr) * 2016-05-30 2017-12-07 Ntn株式会社 Dispositif de travail utilisant un mécanisme articulé parallèle
JP2017213608A (ja) * 2016-05-30 2017-12-07 Ntn株式会社 パラレルリンク機構を用いた作業装置
CN109195753A (zh) * 2016-05-30 2019-01-11 Ntn株式会社 采用平行连杆机构的作业装置
US11072066B2 (en) 2016-05-30 2021-07-27 Ntn Corporation Working device using parallel link mechanism
CN109195753B (zh) * 2016-05-30 2022-02-22 Ntn株式会社 采用平行连杆机构的作业装置
JP2022525020A (ja) * 2019-03-06 2022-05-11 ユニヴェルシテ ラヴァル 運動学的に冗長な作動を伴うパラレルメカニズム
JP7527020B2 (ja) 2019-03-06 2024-08-02 ユニヴェルシテ ラヴァル 運動学的に冗長な作動を伴うパラレルメカニズム

Also Published As

Publication number Publication date
NL2004167C2 (en) 2011-07-29
EP2528715A1 (fr) 2012-12-05

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