Manipulator robot and associated control for fine positioning of the terminal end

An automatic device, fine positioning technology, applied in the direction of manipulator, program-controlled manipulator, mechanical equipment, etc.

Inactive Publication Date: 2011-05-04
LE HAVRE UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This automatic device has the disadvantage that at least 6 different kinds of joints are required

Method used

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  • Manipulator robot and associated control for fine positioning of the terminal end
  • Manipulator robot and associated control for fine positioning of the terminal end
  • Manipulator robot and associated control for fine positioning of the terminal end

Examples

Experimental program
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Embodiment Construction

[0068] refer to image 3, for the general implementation of fine positioning in three-dimensional space, the robot structure includes three revolving joints 302, 304 and 306, also called auxiliary joints, which are connected to the frame ( ) 300, on the other hand are related to each other by kinematic chains 303 and 305, and finally to the end part 310 by the last kinematic chain. The overall kinematic chain structure of the robot has at least one additional joint (i.e. the fourth degree of robot flexibility), which belongs to the so-called main joint and enables the end of the kinematic chain to work in a lower working space than that associated only with the auxiliary joints in a larger space. A fourth joint can be inserted as required into one of the kinematic chains 301 , 303 , 305 or between 306 and 310 , here a swivel connection (liaison) 308 is involved.

[0069] The robot structure capable of fine positioning to which the present invention relates defines a so-call...

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PUM

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Abstract

The invention relates to a robot that has an articulated arm for moving an end in an N-dimensional space comprising at least N+1 motorized articulations, and a computer for controlling the movements of said motorized articulations. Said computer controls a first step of prepositioning the terminal end of the articulated arm and a second step for its fine positioning.

Description

technical field [0001] The invention relates to the field of robotic devices enabling the movement of a distal end. Background technique [0002] The robotic device is used to move and position objects or tools in space. The automatic manipulator can have a serial connection, a parallel connection or a less common hybrid structure. In a tandem configuration, the individual parts that make up the robot are articulated to each other in series, with relative motion obtained through actuators distributed along a kinematic chain. In a parallel configuration, several kinematic chains are closed and the elements making up such a kinematic chain do not have to be all actuated. [0003] The automatic manipulators connected in series, mixed or in parallel have a certain degree of flexibility of the automatic device, so that the object to be manipulated can obtain a certain degree of freedom. [0004] Most of the tandem automatics sold commercially are: [0005] - SCARA type, with ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10
CPCB25J9/1015Y10S901/08Y10S901/09Y10T74/20305
Inventor 让-弗朗索瓦·布莱斯
Owner LE HAVRE UNIV
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