251 results about "Parallel manipulator" patented technology

A motion platform device includes a moving platform which is coupled to a base platform by three pedestals and three linkages. Three actuators are disposed on the base platform and are synchronously movable relative to the base platform along three linear sliding paths, and are connected respectively to the pedestals. The linkages are linked with the moving platform and are respectively coupled to the pedestals so as to transmit movement of the actuators to turn the moving platform. The linkages are controlled by a simulated movement controller to be moved relative to the pedestals along the respective lengths so as to perform flight motion simulation, particularly in spatial disorientation training. This three-leg six DOF linear motor based parallel manipulator has been proved to be excellent in simulation performance, especially in the working space.

A delta robot has motor/gearing units, which are respectively assigned to an arm and which are disposed on one side each of a triangle. Each motor/gearing unit has a gearing, by virtue of material-locking and/or positive-locking connection of gearing components, is free from backlash over the whole of the motional range of the gearing, allowing virtually all aspects fundamental to the delta robot to be optimized, especially the rigidity, the control characteristics, the spatial requirement, the speed and the positioning accuracy.

A calibration device for a parallel kinematic manipulator having a base unit and a manipulator platform movable with respect thereto, the manipulator platform being connected to the base unit via a plurality of joints and a plurality of variable length actuators. The calibration device for measuring n deviations in order to determine m unknowns includes a test workpiece that is mountable in a definite spatial position with respect to the base unit and has I=m/n measuring mandrels. The calibration device also has a probing unit attached to the manipulator platform, and including n probing subsystems, the probing subsystems each including a distance measuring device for measuring the spatial position and spatial orientation of the measuring mandrels on the test workpiece.

The invention relates to a position/force hybrid control method for a space manipulator, which is a double-loop control method combining a Cartesian space and a joint space. Compared with a conventional control method on the basis of an integral model, which has the problems of oscillation of the transition process and algorithm complexity, the position/force hybrid control method for the space manipulator has the advantages that the position/force hybrid control problem is decomposed into the planning problem of the Cartesian space and the control problem of the joint space; a position/force kinematic plan from the Cartesian space to the joint space and kinematic control of the joint space are given out; an internal and external loop control system is formed; and position control on a free space at the tail end of the manipulator and contact force control in a space restrained by the environment are implemented. A simulation result for a SDOF ( Seven Degrees of Freedom) redundant manipulator proves that the method disclosed by the invention is simple to operate, is effective and is easy for engineering realization.

The present invention provides parallel, cable based robotic manipulators, for use in different applications such as ultra high-speed robots or positioning devices with between three to six degrees of freedom. The manipulators provide more options for the number of degrees of freedom and also more simplicity compared to the current cable-based robots. The general structure of these manipulators includes a base platform, a moving platform or end effector, an extensible or telescoping central post connecting the base to moving platform to apply a pushing force to the platforms. The central post can apply the force by an actuator (active), or spring or air pressure (passive) using telescoping cylinders. The robotic manipulators use a combination of active and passive tensile (cable) members, and collapsible and rigid links to maximize the benefits of both pure cable and conventional parallel mechanisms. Different embodiments of the robotic manipulators use either active cables only, passive cables only, or combinations of active and passive cables. An active cable is one whose length is varied by means of a winch. A passive cable is one whose length is constant and which is used to provide a mechanical constraint. These mechanisms reduce the moving inertia significantly to enhance the operational speed of the robots. They also provide a simpler, more cost effective way to manufacture parallel mechanisms for use in robotic applications.

The invention discloses a space manipulator track planning method for minimizing base seat collision disturbance, and belongs to the technical field of manipulator control. The space manipulator track planning method for minimizing the base seat collision disturbance includes: deriving a manipulator base seat attitude disturbance equation on the basis of establishing a space manipulator kinematical equation and a dynamical equation; designing a comprehensive optimized operator on the premise of considering tail capture pose accuracy and joint displacement limiting of a space manipulator, and optimizing manipulator configuration in a null space so as to achieve minimization of the base seat disturbance caused by collision; finally, using a particle swarm optimization algorithm to achieve track planning before the collision of the space manipulator from an initial pose to an ideal pose. The space manipulator track planning method for minimizing the base seat collision disturbance solves problems in the track planning before the collision of the space manipulator, achieves a simple and pellucid control process, performs novel and practical design of the comprehensive optimized operator, can achieve the purpose of reducing the base seat pose disturbance caused by the collision to the utmost on the premise of guaranteeing the accurate tail capture pose of the manipulator and preventing joint angles from exceeding limits.

In the control method for mobile parallel manipulators, kinematic singularity and redundancy are solved through joint limits avoidance and manipulability criteria. By taking the MPM self-motion into consideration due to its redundancy, the inverse kinematic is derived using a hybrid neuro-fuzzy system, such as NeFIK. The discrete augmented Lagrangian (AL) technique is used to solve the highly nonlinear constrained multi-objective optimal control problem. An adaptive neuro-fuzzy inference system (ANFIS)-based structure (based on the result of the AL solution) is used to solve the online trajectory planning of the MPM.

The invention relates to a motion coordination control method for a space dual-manipulator system, and belongs to the technical field of space manipulators. In order to overcome the defects that no space manipulator system specific to dual manipulators exists at present, the coordinated relation between a manipulator and a satellite body is not considered in an existing space manipulator system and tracking errors are high, the motion coordination control method for the space dual-manipulator system is provided. The motion coordination control method for the space dual-manipulator system includes the steps that a kinematical equation and kinetic equation of the space dual-manipulator system are established; the space dual-manipulator system is subjected to trajectory planning according to the initial postures and tail-end postures of the manipulators; and trajectories of the space dual-manipulator system are subjected to tracking control through a PD controller. The motion coordination control method for the space dual-manipulator system is suitable for a space manipulator control system.

The invention provides an end effector capable of achieving space manipulator self crawling and load operation, and relates to the end effector for a manipulator. The end effector capable of achieving space manipulator self crawling and load operation aims to solve the problems that the capturing and locking functions of the end effectors of an European manipulator and an assembling manipulator in the prior art are integrated on a capturing mechanism to cause small capturing allowance, and the end effector of the space station remote teleoperation manipulator is insufficient in mechanical power output because features of the capturing mechanism can not be achieved. The end effector comprises a supporting and protecting device, a meshed docking device, a capturing locking power driving device, a capturing locking device and a power output driving device. The capturing locking power input driving device comprises an input driving mechanism, a sixth straight gear and a lead screw. The capturing locking device comprises a disc and three sets of capturing locking fingers. The power output driving device comprises an output driving mechanism, a seventh straight gear, an output driving shaft, a pre-tightening spring and a power driving piece. The end effector capable of achieving space manipulator self crawling and load operation is used for grabbing loads of the space manipulator.

The present invention is a friction- and backlash-fee flexible parallel manipulator device. The device is composed of multiple elastic fiber legs with various physical properties, a top platform, and a bottom platform. With multiple degrees of freedom, the motion of the top platform is controlled by the multiple elastic fiber legs whose lengths or curvatures between the top and bottom platforms are controlled based on the required motion of the top platform. The device can be used for nano-, micro-, or meso-manipulation.

The invention provides a method for achieving tooth space compensation for a flexible joint of a space manipulator. The method comprises the following steps that the position command signals yd of a direct current motor and the position signals y output by a kinetic model, with space influences taken into consideration, of the flexible joint of the space manipulator are collected, a sliding mode variable structure controller is designed, and a sliding-mode control law is obtained; the control input of a control system of the flexible joint after linear decoupling processing is carried out is obtained by adopting a differential geometry feedback linearization method according to the sliding-mode control law; according to the control input of the control system of the flexible joint after linear decoupling processing is carried out, a disturbance observer is designed for the kinetic model, with the space influences taken into consideration, of the flexible joint of the space manipulator, the control input, under compensation space nonlinear influences, of the flexible joint, and therefore it is guaranteed that the position output of the control system tracks the expected position signals with needed precision. According to the technical scheme of the method for achieving the tooth space compensation for the flexible joint of the space manipulator, influences of the space on the system position precision can be compensated for effectively, high-precision tracking control can be achieved, and the happening frequency of the buffeting phenomenon is reduced at the same time.

The present invention relates to a manipulating device (A) for producing Schönflies motions comprising a parallel array of at least two legs (B), each leg (B) including an actuator unit (C) having first and second ends and producing a pan-tilt motion, each leg (B) also including a passive unit (D) having first and second ends, the first end of the passive unit (D) being coupled to the first end of the actuator unit (C) such that the passive unit (D) reacts to the pan-tilt motion, a base (1) connected to the second end of each actuator unit (C), all second ends having a constant relative position with respect to one another; and a common end-effector (36) connected to the second end of all passive units (D) such that the common end-effector (36) is provided with a Schönflies motion by the legs (B).

A device for operating an articulated arm of a large manipulator connected to a boom base. The large manipulator comprises an articulated boom (22), composed of three boom arms (23 to 27), the boom arms of which may each be pivoted around mutually parallel horizontal articulation axis (28 to 32), in a limited manner. Furthermore, a control device (74), for the boom displacement is provided, which may be controlled from a remote controller (50) over a data transmission path (68). The remote controller comprises a first and a second remote control device (60, 62), each of which may be adjusted in at least one main control direction and thereby providing an output signal (64, 66), while the control device (74) comprises a computer supported coordinate transformer (80), responsive to the output signal (64) from the first remote control device (60), by means of which the drive units (34 to 38) for the redundant articulation axes may be operated in the one main control direction (r) of the first remote control device (60), according to the pattern of a pre-determined path-angle relationship. According to the invention, in order to match the boom configuration to differing operating tasks, the control device (74) comprises a correction routine (84) based on the output signal (66) from the second remote control device (62), by means of which the drive unit of a selected articulation axis may be preferably operated in one of the main operating directions of the second remote control device (62).

In a first aspect, the invention is directed to a manipulator that is relatively compact and has a relatively large range of motion. The manipulator includes a linkage that folds back on itself, which reduces the footprint of the linkage. In a particular embodiment, the manipulator includes a linkage and a load balancing device. The linkage includes a first link, a second link, a third link and a fourth link. The first link and second links are rotatably connected to a base about first and second connection axes. The third and fourth links are connected to the first and second links respectively about third and fourth connection axes respectively. The third and fourth links are rotatably connected to a lift arm about fifth and sixth connection axes respectively, wherein the fifth and sixth connection axes are horizontally displaced from the third and fourth connection axes in the direction of the first and second connection axes. The load balancing device is configured to support the linkage in a selected position against a load and configured to permit the load to be moved upwards or downwards with a selected amount of force on the lift arm. The manipulator may be provided as part of a load maneuvering system that further includes a transport system that may be similar to that used on an overhead crane.

A ceramic tile full-automatic packaging production line comprises a roller platform behind a furnace, at least one group of ceramic tile grab mechanism, a ceramic tile packing mechanism, a ceramic tile unpacking machine, a first conveying mechanism, a box body carrying mechanism, a second conveying mechanism, a folding machine and a packer, wherein the roller platform behind the furnace, the at least one group of ceramic tile grab mechanism, the ceramic tile packing mechanism, the ceramic tile unpacking machine, the box body carrying mechanism, the first conveying mechanism, the second conveying mechanism, the folding machine and the packer are all controlled by a terminal control system. The ceramic tile grab mechanism comprises a fixed machine frame, a conveying platform installed on the fixed machine frame, at least one parallel manipulator and a camera which is used for shooting ceramic tiles on the conveying platform and feeding back to the parallel manipulator. The ceramic tile full-automatic packaging production line can overcome the defects of existing ceramic tile packaging intermittent process operation and achieve automatic continuous operation, the operation is simple, the controlling is convenient, the automatic degree is high, not only is a user enabled to understand and adjust a production state, but also man power and material sources are saved, and the production cost is reduced.

The invention discloses a telescopic space triple-translation parallel manipulator which comprises a space triple-translation parallel mechanism and a telescopic transmission mechanism. The space triple-translation parallel mechanism comprises a fixing framework, a movable platform and three structurally identical first branched chains, and the three branched chains are symmetrically arranged between the fixing framework and the movable platform; the telescopic transmission mechanism comprises a second driving device, a hooke hinge 3a, a hooke hinge 3b, an upper platform, a lower platform, an end actuator and three structurally identical second branched chains, and the three second branched chains are axially symmetrically arranged between the upper platform and the lower platform; each second branched chain comprises a near frame bar, a far frame bar and three rotation pairs, and the three rotation pairs are used for being sequentially connected with the near frame bar, the far frame bar, the upper platform and the lower platform; and the second driving device provides a rotational degree of freedom for each end actuator via the telescopic transmission mechanism, and the end actuators telescopically move by the aid of the three structurally identical second branched chains. The telescopic space triple-translation parallel manipulator has the advantages of low manufacturing cost, excellent torque transmission performance, good dynamic characteristics, convenience in cleaning and maintenance and long service life.

The invention relates to a multi-object optimized space manipulator trajectory planning method. Aiming at trembling produced in the moving process of a space manipulator and disturbance to a platform,optimal path planning is conducted; the method adopts a multi-object chaotic particle swarm optimization algorithm to optimize joint trajectory parameters in the manipulator moving process, so that reaction of movement of the manipulator to the platform is reduced, the peak value of control moment is reduced, and the disturbance of the platform and the trembling of the manipulator are reduced. The planned manipulator trajectory is smooth and continuous, the multi-object optimized space manipulator trajectory planning method can be applied to a multi-degree-of-freedom space manipulator. The multi-object optimized space manipulator trajectory planning method has the characteristics of high universality, good robustness, high convergence speed and the like.

The invention relates to a space manipulator teleoperation instruction safety detection and correction method. The method includes: performing speed detection for instructions of an instruction sending end in a Cartesian space and a joint space, and if the speed exceeds a limiting threshold value, performing amplitude limiting in the Cartesian space prior to performing ultralimit detection and amplitude limiting until requirements are met. By means of amplitude limiting, vibration caused by movement of a manipulator can be reduced, positioning precision of the manipulator can be guaranteed, and consistency of a planned path and the Cartesian space is kept. The space manipulator is a free-flying robot, and position and pose of the space manipulator are opposite to a base mounting coordinate system.

An anti-interference iterative learning control method for space manipulator system for capturing non-cooperative targets includes first analyzing and classifying multi-source interference of the space manipulator system in the case of capturing non-cooperative targets in orbit, and establishing a system coupling dynamic model containing the multi-source interference; designing a disturbance observer to estimate and compensate for external disturbance torque and disturbance torque caused by the target non-cooperation, adopting robust H8 control to suppress the random noise of an internal sensor of the space manipulator system with a bounded norm and evaluated errors of the disturbance observer, and using iterative learning control to perform iterative correction on trajectory tracking errors of the system; finally combining the control based on the disturbance observer, the robust H8 control and the iterative learning control, and forming a complete anti-interference iterative learningcontroller, and solving a gain matrix of the disturbance observer and the anti-interference iterative learning controller. The anti-interference iterative learning control method has the advantages of high anti-interference capability and high trajectory tracking control precision, and can be used for in-orbit high-precision operation control of the space manipulator system for capturing the non-cooperative targets.

A method of determining the positions and orientations of the base (8) and platform (10) of a parallel manipulator using an iterative calculation in which successive iterations calculate estimates of said positions and orientations, each estimate being determined from the previous estimate using an inverse of a derivative of an error function (F), that function also being used to determine error values for each estimate, wherein if the error values are deemed unacceptable a new derivative is calculated and the iteration is repeated, whereas if the error values are deemed acceptable the same derivative is used in a subsequent iteration. Thus the derivative need not be re-calculate for each iteration, whereby the process can operate more rapidly, e.g. in real time.

The invention relates to a two-DOF redundant translational parallel mechanism in the industrial robot field, which comprises a fixed platform, an upper sliding block, a cylinder body, a push rod, a lower sliding block, supporting rods and an end effector, wherein, the upper sliding block is arranged at the upper side of the fixed platform, the lower sliding block is arranged at the lower side of the fixed platform, one end of the cylinder body is connected with the upper sliding block through a revolute pair, the other end of the cylinder body is connected with the push rod through a sliding pair, one end of the push rod is connected with the cylinder body and simultaneously the other end thereof is connected with the end effector through the revolute pair, ends of the two supporting rods are connected with the lower sliding block, other ends thereof are connected with the end effector, and the movement of the entire device and the transmission of force are realized through the end effector. The two-DOF redundant translational parallel mechanism combines redundant driving and parallelogram structure, thereby the performances of the operating space, the rigidity, the force bearing capability, and the like, of the final two-DOF redundant translational parallel mechanism are optimum or better simultaneously, in addition, the two-DOF redundant translational parallel mechanism has the advantages of stable structure of the overall mechanism, high transmission efficiency, easy control, high kinematic accuracy and low cost.

The invention refers to a two degree-of-freedom parallel manipulator that comprises a frame (1), four frame arms (3, 3′, 4, 4′), four platform arms (5, 5′, 5″, 5′″), each frame and platform arm (3, 3′, 4, 4′, 5, 5′, 5″, 5′″) with a first end and a second end, a platform (6) and a end-effector, being the first end of each frame arm (3, 3′, 4, 4) linked to the frame (1) and being the second end of each frame arm (3, 3′, 4, 4′) linked to a first end of a platform arm (5, 5′, 5″, 5′″), being the second end of each platform arm (5, 5′, 5″, 5′″) linked to the platform (6), and being the platform (6) linked to the end-effector. In said manipulator a first platform arm (3) and a second frame arm (3′) are actuated independently one from the other and a third frame arm (4) and a fourth frame arm (4′) are linked to the frame (1) with revolute joints (8), being the rotation of the third and fourth frame arms (4, 4′) coupled. Said first and second frame arms (3, 3′) and third and fourth frame arm (4, 4′) are contained in two different planes, being said planes orthogonal.

The invention relates to an automatic spherical fruit boxing machine based on a parallel manipulator and an operation method of the automatic spherical fruit boxing machine. The automatic spherical fruit boxing machine comprises a box conveying platform, fruit supply devices and the parallel manipulator. The fruit supply devices are arranged on the two sides of the parallel manipulator, the number of the fruit supply devices can be one to four as required, and the fruit supply devices are used for supplying fruits of different types. The box conveying platform is used for bearing boxes and assisting in pushing the boxes forwards and backwards. The parallel manipulator is installed on the box conveying platform. Fruits in mess can be separated through the fruit supply devices and conveyed to respective grabbing platforms of the fruit supply devices one by one, and the parallel manipulator grabs the fruits from the grabbing platforms of the fruit supply devices and puts the fruits to the positions, planned by a program, in the boxes. The automatic spherical fruit boxing machine based on the parallel manipulator and the operation method of the automatic spherical fruit boxing machine can automatically put different types of spherical fruits and fruits with different quantities into one box, so that the personalized purchase requirements of customers are met, and logistics transportation is facilitated.

Disclosed is a two-turn-one-movement parallel mechanism with a large turning angle, comprising a machine frame, a movable platform, a first branch and two second branches, characterized in that the first branch comprises a machine frame turning pair, a first moving pair slider, a first moving pair guide rod and a first universal joint; each one of the second branches comprises a second moving pair guide rail, a second moving pair slider, a second universal joint, a connecting rod and a movable platform turning pair; in the two second branches, the axis of the first turning pair of each one of the second universal joints is superimposed with and parallel to the axis of the machine frame turning pair in the first branch, and the axis of each one of the movable platform turning pairs is parallel to the second turning axis of the first universal joint in the first branch.