Method for operating a robot, robot, translation robot, robot system and method for operating the robot system

A technology of manipulators and driving devices, applied in manipulators, general control systems, program-controlled manipulators, etc., can solve the problem that the delta manipulator cannot be used, and achieve the effect of shortening the dwell time
CN103648731AInactive Publication Date: 2014-03-19TECHNICAL UNIVERSITY OF BERLIN
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
TECHNICAL UNIVERSITY OF BERLIN
Publication Date
2014-03-19
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to a method for operating a robot, which comprises a link chain having at least two coupling links, a first coupling link thereof being connected to a driven crank link, which can be rotated around a first rotation axis, in a second rotation axis in a pivoting manner, and a second coupling link thereof being connected to the first coupling link in a third rotation axis in a pivoting manner. A drive for the first coupling link is arranged on the second rotation axis and the second coupling link has an effector rotation point on the end region thereof which is opposite the first coupling link, wherein the method is designed such that the crank link and the first coupling link are driven in such a manner that the effector rotation point dwells in a resting position during the rotation of the crank link in a specific angle range. According to the invention, a torque is applied to the first coupling link by means of the drive on the second rotation axis in order to shorten the dwell time of the effector rotation point, which torque in the timespan of the desired dwell duration equals a maximum of 5% of the torque that would be necessary to implement a dwelling of the effector rotation point having an unshortened dwell duration. The invention furthermore relates to a robot for carrying out the method.
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Description

technical field

[0001] The present invention relates to a method for driving a manipulator, the manipulator itself, a translation manipulator, a manipulator system and a method for driving a manipulator system. Background technique

[0002] Manipulators are used today in different industrial production processes, and these manipulators have different kinematics depending on their use. Here, robots often undertake so-called "pick-and-place" operations, in which the robot has to pick up objects in one place and drop them in another. Here it is desirable to quickly pick up objects (goods), transport them and be able to drop them at the target location in the shortest possible time while maintaining a high positioning accuracy. It is also desirable to keep the specific gravity of the manipulator running at no load as small as possible.

[0003] As can be seen from the above description, the manipulator contacts the object (goods) to be operated in different ways depending on t...

Claims

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