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Robot arm and method for controlling the robot arm

A technology for manipulators and control devices, which is applied in the direction of program-controlled manipulators, manipulators, gymnastics equipment, etc., and can solve the problems of laborious installation or disassembly and heavy devices

Active Publication Date: 2011-06-29
FERROBOTICS COMPLIANT ROBOT TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The way of construction comprising multiple shell-like elements results in the device becoming rather heavy and the process of installation or removal is rather laborious

Method used

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  • Robot arm and method for controlling the robot arm
  • Robot arm and method for controlling the robot arm
  • Robot arm and method for controlling the robot arm

Examples

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Embodiment Construction

[0076] Below first discuss in detail about the implementation form of the mechanical arm that is used for the motion of a tool of the present invention, as figure 1 with figure 2 shown in the sketch. Only then will the following discuss in detail the embodiment of a robotic arm according to the invention as a therapeutic device for passive and active movement of limbs.

[0077] The base 1.1 of the first swing link 1 supports the entire mechanical arm. The base can be erected directly or via fixable rollers on the floor of a space. However, the base can also be fastened to a support on an arm, a machine or a device object. It can also be arranged on a platform which is controlled to move in space or which is mechanically rotatable about a vertical axis relative to another base which is fixed in space. A strut 1.2 rigidly connected to the base projects upwards from the base 1.1 and terminates in a ball 1.2.1 of a ball-and-socket hinge. The ball socket of the ball joint for...

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PUM

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Abstract

The invention relates to a robot arm formed from one or more successively interlinked active pivoted levers (1, 2, 3), wherein a base (1.1, 2.1, 3.1) is rigidly connected to the one end of a support (1.2, 2.2, 3.2), a pivoting piece (1.4, 2.4, 3.4) is pivotably mounted on the second end of the support with pneumatic muscles running form the base to the pivoting piece, the individual pneumatic muscles engaging on opposing sides of the pivot axis of the pivoting piece and the base of a pivoting lever is rigidly connected to the pivoting piece of the adjacent pivoting lever interconnected thereto. The controller measures the position of the individual pivoting levers and the pressure in the individual pneumatic muscles, calculates the externally acting forces from the pressure-distance diagrams for the individual pneumatic muscles and the geometric lever mechanical ratios for all pivoting levers and limits said forces. The invention also provides a method for controlling the robot arm.

Description

technical field [0001] The present invention relates to a flexible robotic arm driven by a plurality of pneumatic artificial muscles. Background technique [0002] DE 3630822C2 (Bridgestone) discloses an arm for an industrial robot that can pivot precisely about an axis. The arm is fixed on a rotatably mounted pulley, which is surrounded by a cable, wherein a so-called pneumatic artificial muscle is arranged at each end extending away from the pulley. A pneumatic artificial muscle comprises a tubular middle part and two plate-shaped end parts, at least one of which is provided with an air channel. If the tubular intermediate piece is inflated, it expands over its circumference and shortens over its length. This reduction in length can be achieved while overcoming an external pulling force. In the application according to DE 3630822, if a pneumatic artificial muscle is tensed, the arm is swiveled in one direction of rotation; if the pneumatic artificial muscle is relaxed a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/14F15B15/10A63B21/008
Inventor P·费拉拉
Owner FERROBOTICS COMPLIANT ROBOT TECH