[go: up one dir, main page]

WO2018159400A1 - Dispositif manipulateur actif - Google Patents

Dispositif manipulateur actif Download PDF

Info

Publication number
WO2018159400A1
WO2018159400A1 PCT/JP2018/006154 JP2018006154W WO2018159400A1 WO 2018159400 A1 WO2018159400 A1 WO 2018159400A1 JP 2018006154 W JP2018006154 W JP 2018006154W WO 2018159400 A1 WO2018159400 A1 WO 2018159400A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
manipulator device
fibrous
active manipulator
pulley
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/JP2018/006154
Other languages
English (en)
Japanese (ja)
Inventor
翔一郎 井出
敦 西川
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.)
Shinshu University NUC
Original Assignee
Shinshu University NUC
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 Shinshu University NUC filed Critical Shinshu University NUC
Publication of WO2018159400A1 publication Critical patent/WO2018159400A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the present invention relates to an active manipulator device using a fibrous actuator as a drive source.
  • contraction-type high-torque actuators such as SCP (super-coiled polymer) actuators (fiber actuators) twisted in a coil shape and SMA (shape memory alloy) actuators using shape memory alloys have been developed.
  • SCP actuator is a twisted synthetic fiber in a coil shape that shrinks when heated (fiber) and returns to its original length when cooled.
  • Such an actuator has a high output weight ratio and responsiveness, and since it is a synthetic fiber, it can be manufactured at low cost, and is being applied as an actuator used in a low-cost robot (Non-patent Documents 1 to 4).
  • the SCP actuator described above is a so-called heat-driven actuator that contracts in the length direction when heated, and expands in the length direction when cooled and returns to its original state.
  • a thermally driven actuator an actuator formed by twisting a conductive nylon fiber into a coil shape is known.
  • the conductive fibrous actuator can be used as an actuator that expands and contracts in the length direction by ON-OFF control of the voltage applied between both ends.
  • the contraction rate of the fibrous actuator acting as a heat-driven type is about 10 to 20%, and the rotary joint mechanism using pulleys and pins cannot sufficiently drive the joint.
  • the generated force of a single actuator obtained by heating a fibrous actuator is about 1 N, it is necessary to integrate the actuator to obtain a large generated force when mounted on a joint mechanism of a robot. .
  • the contraction rate of the actuator is further reduced as compared with a case where the actuator is used alone, so that a long actuator must be used.
  • the present invention makes it possible to obtain a large rotation angle by using a heat-driven fibrous actuator that is expanded and contracted by controlling heating and cooling, and is suitably used for various applications such as a robot apparatus. It is an object of the present invention to provide an active manipulator device that can be used.
  • An active manipulator device is disposed between a first member and a second member each having an arc-shaped contact portion, and a center axis of an arc of each of the contact portions, and the contact portions are opposed to each other.
  • a carrier that rotatably supports the first member and the second member while being in contact with each other; a pulley that is fixed to the carrier and provided concentrically with the shaft of the first member; And a heat-driven actuator that is connected to the pulley and is driven to expand and contract by heating and cooling.
  • an energization type actuator that is extended and contracted by energization can be used as well as a thermally driven actuator that is extended and contracted by heating and cooling.
  • the heat-driven actuator is configured to expand and contract in accordance with heating / cooling action (for example, twisting a fiber in a coil shape) and controls heating / cooling of a functional part (movable part: expansion / contraction part).
  • heating / cooling action for example, twisting a fiber in a coil shape
  • a functional part movable part: expansion / contraction part
  • the expansion / contraction action can be controlled.
  • an appropriate method such as heating with a heater or the like can be used.
  • a method of heating / cooling by using current is effective, and particularly a fibrous material having conductivity.
  • the actuator is advantageous in that it can control the generation of Joule heat by connecting electrodes at both ends thereof and performing ON / OFF control of energization, and can easily perform heating and cooling operations.
  • an energization type actuator that is extended and contracted by controlling energization
  • an actuator that is extended and contracted by heating and cooling is effective, and a fibrous actuator imparted with conductivity can be suit
  • the contact portion is formed as a gear portion, so that the first member and the second member are reliably engaged with each other, and a stable rotation operation is possible.
  • the first member may be configured as a circular gear
  • the second member may be configured as a circular gear
  • the first member is provided with an arc-shaped gear portion on one end side of the substrate.
  • the two members may be configured by providing an arcuate gear portion on one end side of the substrate.
  • the first unit and the second member are combined as a single unit, and the drive unit includes a configuration in which the pair of thermally driven or energized actuators are attached to the substrate of the first member.
  • the active manipulator device thus made can be suitably used as a basic unit when configuring a robot device or the like.
  • the drive unit is formed into an articulated type in which a plurality of drive units are connected, and the substrate of one of the adjacent drive units and the substrate of the other drive unit are arranged in series or in the direction of the substrate.
  • An active manipulator device connected as an intersecting cross shape can be suitably used as an articulated active manipulator device.
  • the active manipulator device can be provided as a joint mechanism (bending mechanism) that can obtain a large rotation angle by using a fibrous actuator having a small contraction rate, and is small and easily used for a robot or the like. It can be provided as a device that can
  • FIG. 1 shows a basic configuration of an active manipulator device.
  • the sun gear 10 and the planetary gear 12 are supported by being linked to each other between the central axes via the carrier 14, and the sun gear 10 and the planetary gear 12 mesh with each other,
  • the planetary gear 12 is configured to freely roll around.
  • the sun gear 10 corresponds to the first member of the present invention
  • the planetary gear 12 corresponds to the second member.
  • a pulley 16 is pivotally supported coaxially at the center of the sun gear 10, and the shaft 16 a of the pulley 16 and the carrier 14 are connected. That is, when the pulley 16 rotates, the carrier 14 rotates together with the pulley 16 about the shaft 16a.
  • a fibrous actuator 18 is stretched over the pulley 16, and the fibrous actuator 18 expands and contracts, whereby the pulley 16 rotates about the shaft 16 a, and the planetary gear 12 rotates together with the pulley 16 via the carrier 14. (The planetary gear 12 rolls on the circumference of the sun gear 10).
  • An arm 19 is connected to the planetary gear 12, and the planetary gear 12 rolls on the sun gear 10, whereby the arm 19 rotates together with the planetary gear 12.
  • the planetary gear 12 rotates (rightward) on the circumference of the sun gear 10 and the arm 19 rotates from the upper position to the right position. .
  • the fibrous actuator has the property of contracting in the length direction when heated, and extending in the length direction and returning to the original state when cooled, and twists the conductive nylon fiber to form a coil. What is formed in the is known. When a voltage is applied across the conductive fibrous actuator, the fibrous actuator is heated and contracted by Joule heat, and when the voltage application is released, the fibrous actuator returns to its original length.
  • the conductive fibrous actuator can be used as an actuator that expands and contracts in the length direction by ON-OFF control of the voltage applied between both ends.
  • conductive nylon fiber was used as the fibrous actuator, but the material and form of the fibrous actuator are not limited.
  • the joint angle of the active manipulator device shown in FIG. 1 is an angle q [rad] formed by the center line of the sun gear 10 and the center line of the planetary gear 12 when the planetary gear 12 rolls on the sun gear 10.
  • ⁇ [rad] the rotation angle of the pulley 16 and the carrier 14
  • q (1 + r sg / r pg ) ⁇ (1)
  • r sg [m] and r pg [m] represent the reference pitch circle radii of the sun gear 10 and the planetary gear 12, respectively.
  • the joint angle q is (1 + r sg / r pg ) times the rotation angle ⁇ of the pulley 16 and the carrier 14. Therefore, the angle amplification factor can be changed by changing the radius ratio r sg / r pg .
  • the relationship between the contraction amount of the fibrous actuator 18 and the rotation amounts of the pulley 16 and the carrier 14 is as follows.
  • the contraction amount of the fibrous actuator 18 is l c [m] and the radius of the pulley 16 is r p [m]
  • l c r p ⁇ (2) It is.
  • FIG. 2 shows that the minimum shrinkage of the fibrous actuator 18 decreases as the radial ratio of each gear increases. Further, the smaller the radius of the pulley 16, the smaller the contraction amount of the fibrous actuator 18.
  • Table 1 shows parameter values of design examples of the active manipulator device.
  • the gear was designed with a radius ratio of 2.
  • FIG. 3 shows a prototype active manipulator device. From the value of the radius of each gear and pulley 16 shown in Table 1, the minimum contraction amount of the fibrous actuator required to achieve the target angle when the target joint angle is ⁇ / 2 rad is about 4.7 ⁇ 10 ⁇ 3 m. . Therefore, it is possible to achieve a joint angle of ⁇ / 2 rad with a very small contraction amount of 5.0 ⁇ 10 ⁇ 3 m or less.
  • FIG. 4 shows the appearance of the experimental apparatus
  • FIG. 5 shows the signal flow.
  • a conductive nylon fiber AGposs: registered trademark 100/3, Mitsufuji Corporation
  • a fibrous actuator was produced in a coil shape based on the method shown in Non-Patent Document 1. .
  • the fibrous actuator is heated by Joule heat and performs a contraction operation.
  • a fiber actuator is mounted on the active manipulator device, and the command voltage from the control PC (MDV-ASG8310B, Linux (registered trademark), 3.5 GHz) is converted into a DA converter (PCI-3346A, Interface Corporation) and a DC power supply ( Applied to the fibrous actuator via AD-8735D, A & D Corporation.
  • PC PCI-3346A, Interface Corporation
  • DC power supply Applied to the fibrous actuator via AD-8735D, A & D Corporation.
  • the rotational angle ⁇ of the pulley 16 and the carrier 14 is measured with a potentiometer (CP-2FBJ, Green Sokki Co., Ltd.) attached to the central axis of the sun gear 10, and the AD converter (PEX- 321416, Interface Co., Ltd.) and saved in the control PC with a sampling period of 1 ms. Then, the joint angle q is calculated based on the equation (1).
  • a potentiometer CP-2FBJ, Green Sokki Co., Ltd.
  • the AD converter PEX- 321416, Interface Co., Ltd.
  • a voltage is applied to the fibrous actuator from the initial state until the joint angle q reaches a steady state.After the steady state is reached, the voltage application is stopped, and after sufficient time has elapsed, the arm is manually moved to the initial state. It was. The applied voltage was 3 V.
  • FIG. 6 shows values of the rotation angle ⁇ and the joint angle q in the steady state for each trial.
  • FIG. 7 shows the behavior of the rotation angle ⁇ and the joint angle q in the third trial.
  • the unit of angle is expressed in [deg]. From FIG. 6, the average value of the joint angle q in 15 trials was 85.5 deg, and a large joint angle could be achieved with a short fibrous actuator of 4.7 ⁇ 10 ⁇ 2 m.
  • a value exceeding the target joint angle of 90 deg is achieved in the first, fifth, and 14th trials, but in the sixth, 10th, and 12th trials, the joint angle is less than 80 deg. There was a difference of up to 30deg in joint angle.
  • the reason for the variation in the joint angle in the steady state is that the state of the fibrous actuator in the initial state (length, rigidity of the coil) in each trial is slightly different.
  • the torque changes due to slight fluctuations in the rate of temperature rise, resulting in a large difference in angular acceleration, and the variation in rotational speed of the joint is reflected in the joint angle in the steady state, and the rotational speed due to the amplification of the angle. It is thought that the effect of the variation in the joints was amplified, resulting in a difference in joint angle.
  • a method of stabilizing the rotational speed variation due to torque fluctuation by incorporating a lightweight flywheel adjusted so that the moment of inertia does not become too large can be considered. It is also considered effective to arrange a pair of fibrous actuators on both sides of the pulley so that the generated forces antagonize and adjust the torque using the springs and damper elements of the fibrous actuator.
  • Human joints are arranged so that two or more muscles antagonize, and each antagonized muscle contracts simultaneously under a certain antagonist ratio and activity, so that the equilibrium point between the antagonist ratio and the joint angle Is in a linear relationship, and it is pointed out that the activity has a linear relationship with the stiffness at the equilibrium point. Therefore, it is possible to perform more stable operation by adopting a control method for simultaneously contracting the fibrous actuators arranged in an antagonistic manner as described above.
  • the active manipulator device is characterized in that the second member (planetary gear) is configured to roll through a pulley and a carrier connected to a fibrous actuator.
  • the configuration example shown in FIG. 1 is an example in which the first member and the second member are circular gears, but the form of the first member and the second member is not limited to the circular gear.
  • a contact portion where the first member and the second member abut is not provided as a gear portion, but is provided as a simple arcuate surface.
  • a method is also possible. However, in consideration of slipping in a contact state, the method of providing the contact portion as a gear portion is effective in that a reliable rolling operation is possible.
  • the contact portions (contact portions) provided on the first member and the second member do not need to be provided over the entire circumference of the member as in the case of a circular gear. This is because when the active manipulator device is applied as the joint mechanism (bending mechanism), it is not necessary to ensure the rotation angle over the entire circumference. That is, as a form of the first member and the second member, as in the configuration example of the drive unit described later, a contact portion (gear portion) is partially provided at one end of the substrate and abuts (contacts) with each other ) Can be configured such that the second member rolls on the contact portion. Such a configuration is also a basic configuration of the active manipulator device according to the present invention.
  • FIG. 8 shows an example of a drive unit 20 having the same function as the active manipulator device shown in FIG. 1 and having a small and easy-to-use configuration when constructing a robot or the like.
  • the drive unit 20 includes a first member 22 provided with a gear portion 22b at one end of the substrate 22a, a second member 24 provided with a gear portion 24b engaged with the gear portion 22b at one end of the substrate 24a, A carrier 26 that connects the first member 22 and the second member 24 to each other.
  • the carrier 26 is such that the second member 24 is like a planetary gear with respect to the first member 22 in a state where the gear portion 22b of the first member 22 and the gear portion 24b of the second member 24 are engaged with each other. They are linked to roll.
  • the first member 22 and the second member 24 are formed in substantially the same shape, and the gear portion 22b of the first member 22 is provided with teeth in an arc-shaped region at the end of the substrate 22a.
  • the gear portion 24b is also provided with teeth in an arc-shaped region at the end of the substrate 24a.
  • the gear portion 22b and the gear portion 24b have the same diameter, but the gear portion 22b and the gear portion 24b are not limited to the same diameter.
  • the carrier 26 is connected to the pulley 26 integrally with the carrier 26 with the core position aligned with the center of the gear portion 22 b of the first member 22.
  • the pulley 28 is provided in an arrangement in which the expansion and contraction action by the two fibrous actuators 30a and 30b is antagonized. That is, the base end of one fibrous actuator 30a is fixed to the end of the substrate 22a of the first member 22, and the base end of the other fibrous actuator 30b is fixed to the end of the substrate 22a.
  • the fibrous actuators 30 a and 30 b are arranged in parallel on the side surface of the substrate 22 in a state where the fibrous actuators 30 a and 30 b are stretched over the pulley 28.
  • the carrier 26 is disposed on both sides of the first member 22 and the second member 24 so as to sandwich the pulley 28 and the substrate 22a, the gear portion 22b, the gear portion 24b and the like. In this way, the rolling operation (rotating operation) by the first member 22 and the second member 24 is stably performed.
  • FIG. 8B shows a state in which a voltage is applied between both ends of the fibrous actuator 30b to rotate the tip side of the second member 24 downward.
  • the fibrous actuator 30b contracts, the pulley 28 rotates, the carrier 26 rotates with the pulley 28, and the second member 24 rotates.
  • No voltage is applied to the other fibrous actuator 30a, and the fibrous actuator 30a is extended by the contraction force of the fibrous actuator 30b.
  • the fibrous actuator 30b returns to its original length, and the other fibrous actuator 30a that has been extended also returns to its original length, and the second member 24 is restored. Is also restored to the state of FIG.
  • a voltage is applied to the fibrous actuator 30a, the second member 24 rotates upward.
  • the drive unit 20 acts as an active manipulator device that rotates the second member 24 upward or downward by controlling the voltage applied to the fibrous actuators 30a and 30b.
  • the drive unit 20 is provided in an arrangement in which the generated forces of the pair of fibrous actuators 30a and 30b antagonize via the pulley 28, so that the rotation operation of the drive unit 20 can be stabilized.
  • the operations of the first member 22 and the second member 24 are relative. As described above, the first member 22 is the fixed side and the second member 24 is the movable side.
  • the second member 24 can be used to rotate with respect to the member 22, or the first member 22 is rotated with the second member 24 as a fixed side and the first member 22 as a movable side. Can also be used.
  • FIG. 9 shows an example of an active manipulator device assembled by connecting two drive units 20 described above.
  • the substrate 24a of the second member 24 of the drive unit 20 and the substrate 22a of the first member 22 of the drive unit 21 are connected in an arrangement in which the orientation of the substrates intersects 90 degrees.
  • the active manipulator device can perform a moving operation in which the rotation operation by the drive unit 20 and the rotation operation by the drive unit 21 are combined.
  • FIG. 9B shows a second member of the drive unit 20 by applying a voltage to the fibrous actuator 30b attached to the drive unit 20 and applying a voltage to the fibrous actuator 30a attached to the drive unit 21.
  • 24 shows a state in which the second member 24 of the drive unit 21 and the drive unit 21 are rotated.
  • the direction of the substrate when connecting the drive unit 20 and the drive unit 21 is 90 degrees (orthogonal arrangement), but the connection angle when connecting the drive units 20 and 21 is set appropriately. can do.
  • a configuration for applying a voltage to the fibrous actuators 30a and 30b of the drive units 20 and 21 is omitted.
  • An electric circuit that applies a voltage to each of the fibrous actuators 30a and 30b is connected to each of the fibrous actuators 30a and 30b of the drive units 20 and 21.
  • FIG. 10 shows an example of an active manipulator device assembled by connecting three drive units described above.
  • three drive units 20, 21, and 23 are connected in series, that is, the end face of the substrate 24a of the second member of the drive unit 20 and the end surface of the substrate 22a of the first member of the drive unit 21 are connected to each other.
  • the substrate 24a of the second member of the drive unit 21 and the end face of the substrate 22a of the first member of the drive unit 23 are abutted and connected.
  • each drive unit 20, 21, 23 the controller for applying a voltage to each of the fibrous actuators 30a, 30b attached to each drive unit 20, 21, 23 is connected to each of the above-described embodiments. It is the same as the form.
  • the active manipulator device of this embodiment can obtain a larger rotation angle and rotation range by connecting three drive units, compared to an active manipulator device composed of one or two drive units. it can.
  • FIG. 11 shows an example of an active manipulator device that acts as a walking robot using a drive unit.
  • This walking robot is configured by attaching composite drive units 42a, 42b, 42c, and 42d in which two drive units 20 and 21 are connected to each of the four corners of the casing 40 having an I-shaped planar shape. .
  • the composite drive units 42a, 42b, 42c, and 42d connect the drive units 20 and 21 in series, and the drive unit 20 and the drive unit 21 are connected. And rotate (bend) in a common rotation plane (in the rotation plane).
  • the composite drive units 42a, 42b, 42c, and 42d bend in the front-rear direction of the housing portion 40 by controlling the voltage applied to the fibrous actuators 30a and 30b. Therefore, the voltage applied to the fibrous actuators 30a, 30b attached to each composite drive unit 42a, 42b, 42c, 42d is controlled, and the composite drive units 42a, 42b, 42c, 42d are the same as the legs that perform the walking motion.
  • the walking motion can be performed by bending the back and forth.
  • FIG. 12 shows an example of an active manipulator device that acts as a gripping (clamping) robot using a drive unit.
  • this gripping robot five composite drive units 52a, 52b, 52c, 52d, and 52e are attached to the end face of a polygonal support member 50.
  • the compound drive units 52a to 52e are obtained by connecting three drive units 20, 21, and 23, respectively.
  • the drive units 20, 21, and 23 are connected in series.
  • the first member and the second member in the connection position are connected. Incorporates crossing connection methods.
  • This active manipulator device controls the voltage applied to the fibrous actuators mounted on the drive units 20, 21 and 23, thereby opening and closing the composite drive units 52a, 52b, 52c, 52d and 52e like a finger. Can be held (clamped).
  • FIG. 14 shows an example of an active manipulator device that is used as an endoscopic robot using a plurality of drive units.
  • a pair of support frames 60a and 60b formed in the shape of a regular triangular frame are arranged so that the sides and vertices of the triangle intersect when viewed from the plane direction (the plan view is a star).
  • the support units 60a and 60b are arranged apart from each other, the support positions (axial support) of the two drive units are arranged on one side of the support frames 60a and 60b, and the drive unit is installed between the support frames 60a and 60b.
  • Six drive units are provided in total, two on each side.
  • the drive units 20a, 20b, 20c, 20d, 20e, and 20f are connected to the support frames 60a and 60b by spherical bearings 62, and the drive units 20a to 20f can tilt in any direction.
  • This active manipulator device controls the voltage applied to the fibrous actuator to expand and contract the fibrous actuator, whereby the drive units 20a to 20f bend and swing the support frames 60a and 60b. Therefore, for example, when the lower support frame 60b is fixedly supported, and the drive units 20a to 20f are selected and bent, the upper support frame 60a that is horizontally supported is tilted from the horizontal position and tilted in the tilt direction. It can be operated.
  • FIG. 14 shows an example in which the above-described active manipulator device is used as the endoscopic robot 70.
  • the endoscope The direction of 80 can be changed as appropriate.
  • the operation of the endoscope robot 70 is performed by controlling a control unit 82 connected to the endoscope robot 70 by a surgical assistant.
  • a control unit 82 connected to the endoscope robot 70 by a surgical assistant.
  • the endoscope robot 70 By using the endoscope robot 70, a reliable and safe operation can be performed.
  • Endoscopic robots that use a fibrous actuator as a drive source have a simpler device configuration and lighter weight compared to conventional endoscopic robots that operate using motors or pneumatic or fluid pressure. There is an advantage that downsizing can be achieved.

Landscapes

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

Abstract

La présente invention comprend : un premier élément (22) et un deuxième élément (24), chacun d'eux étant pourvu d'une partie de contact arquée (22b, 24b) ; un support (26) disposé entre les axes centraux des arcs de chacune des parties de contact (22b, 24b), le support (26) supportant le premier élément (22) et le deuxième élément (24) de manière à ce qu'ils puisse tourner l'un par rapport à l'autre tout en amenant les parties de contact (22b, 24b) à se faire face et venir en contact l'une avec l'autre ; une poulie (28) fixée au support (26) et disposée de manière coaxiale par rapport à l'arbre du premier élément (22) ; et un actionneur fibreux (30a, 30b) disposé de manière à être relié à la poulie (28), l'actionneur fibreux (30a, 30b) s'étendant et se rétractant par commande d'excitation. L'invention permet de réaliser un dispositif manipulateur actif dans lequel un grand angle de rotation est obtenu en utilisant un actionneur fibreux.
PCT/JP2018/006154 2017-02-28 2018-02-21 Dispositif manipulateur actif Ceased WO2018159400A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017036078A JP2018140463A (ja) 2017-02-28 2017-02-28 能動マニピュレータ装置
JP2017-036078 2017-02-28

Publications (1)

Publication Number Publication Date
WO2018159400A1 true WO2018159400A1 (fr) 2018-09-07

Family

ID=63370349

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/006154 Ceased WO2018159400A1 (fr) 2017-02-28 2018-02-21 Dispositif manipulateur actif

Country Status (2)

Country Link
JP (1) JP2018140463A (fr)
WO (1) WO2018159400A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11135716B2 (en) * 2016-03-30 2021-10-05 B.G. Negev Technologies & Applications Ltd., At Ben-Gurion University Minimally actuated serial robot

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109318251B (zh) * 2018-10-24 2024-06-21 国网江苏省电力有限公司徐州供电分公司 一种用于机械臂关节的驱动装置及其控制方法
KR102167907B1 (ko) * 2018-11-16 2020-10-21 한국기계연구원 인체모사 관절 및 인체모사 관절의 구동방법

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60228095A (ja) * 1984-04-20 1985-11-13 株式会社日立製作所 駆動装置
JPH071376A (ja) * 1993-06-21 1995-01-06 Yoshikazu Asakura 可撓管を挿通し得て屈曲する自在関節
JP3912251B2 (ja) * 2002-10-02 2007-05-09 株式会社日立製作所 マニピュレータ
US20140366523A1 (en) * 2011-09-28 2014-12-18 Fg-Innovation Gmbh Actuator for generating positioning movements
WO2015115129A1 (fr) * 2014-01-28 2015-08-06 株式会社 村田製作所 Dispositif d'entraînement
WO2016136614A1 (fr) * 2015-02-26 2016-09-01 オリンパス株式会社 Dispositif d'entrée d'opération et système de manipulateur médical

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60228095A (ja) * 1984-04-20 1985-11-13 株式会社日立製作所 駆動装置
JPH071376A (ja) * 1993-06-21 1995-01-06 Yoshikazu Asakura 可撓管を挿通し得て屈曲する自在関節
JP3912251B2 (ja) * 2002-10-02 2007-05-09 株式会社日立製作所 マニピュレータ
US20140366523A1 (en) * 2011-09-28 2014-12-18 Fg-Innovation Gmbh Actuator for generating positioning movements
WO2015115129A1 (fr) * 2014-01-28 2015-08-06 株式会社 村田製作所 Dispositif d'entraînement
WO2016136614A1 (fr) * 2015-02-26 2016-09-01 オリンパス株式会社 Dispositif d'entrée d'opération et système de manipulateur médical

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
YIP, MICHAEL C. ET AL.: "High-Performance Robotic Muscles from Conductive Nylon Sewing Thread", IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 26 May 2015 (2015-05-26), Washington State, pages 2313 - 2318, XP033168720 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11135716B2 (en) * 2016-03-30 2021-10-05 B.G. Negev Technologies & Applications Ltd., At Ben-Gurion University Minimally actuated serial robot

Also Published As

Publication number Publication date
JP2018140463A (ja) 2018-09-13

Similar Documents

Publication Publication Date Title
US10371128B2 (en) Compliant actuator
KR101806002B1 (ko) 형상기억합금 회전 액추에이터를 이용한 로봇 손
JP2016522366A (ja) 広い剛性範囲を有する可変剛性アクチュエータ
CN109476023B (zh) 可变刚度串联式弹性致动器
CN105598991B (zh) 复合球壳关节装置及其控制方法
JPH04226885A (ja) ロボット関節
TW200932457A (en) Two degree-of-freedom parallel manipulator
WO2018159400A1 (fr) Dispositif manipulateur actif
CN205166925U (zh) 一种可调自由度的并联机器人
JP6105024B2 (ja) ロボットにおける回転駆動機構
CN103831839B (zh) 机器人仿生腕关节及其结构优化方法
JP2021525902A (ja) 小型の可変焦点構成
US10967524B1 (en) System and method for conversion of rotational motion into linear actuation by mechanical stacking or unstacking of connected links
Schimmels et al. The Arched Flexure VSA: A compact variable stiffness actuator with large stiffness range
Yang et al. A compact and low-cost robotic manipulator driven by supercoiled polymer actuators
Procter et al. Design of a biomimetic BLDC driven robotic arm for teleoperation & biomedical applications
JP7175212B2 (ja) 重力補償機構付パラレルリンク作動装置
Lai et al. A two-degrees-of-freedom miniature manipulator actuated by antagonistic shape memory alloys
JP2014048668A (ja) 各々が２個の死点で層状に重なり合う２個の機械的動作伝達アセンブリーを含む角度位置決め装置
US7195441B2 (en) Manipulator having arm mechanism for hand
Singh et al. Development and workspace analysis of smart actuation based planar parallel robotic motion stage
Sheng et al. A novel meso-scale SMA-actuated torsion actuator
US10272562B2 (en) Parallel kinematics robot with rotational degrees of freedom
JP2004105609A (ja) 駆動装置
JP2018004005A (ja) 伸縮機構及び４足ロボット

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18761211

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18761211

Country of ref document: EP

Kind code of ref document: A1