发明申请
US20100192719A1 DEVICE FOR GENERATING STIFFNESS AND JOINT OF ROBOT MANIPULATOR COMPRISING THE SAME
有权
用于产生包含其的机器人操纵器的刚度和接头的装置
- 专利标题: DEVICE FOR GENERATING STIFFNESS AND JOINT OF ROBOT MANIPULATOR COMPRISING THE SAME
- 专利标题(中): 用于产生包含其的机器人操纵器的刚度和接头的装置
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申请号: US12439938申请日: 2006-12-07
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公开(公告)号: US20100192719A1公开(公告)日: 2010-08-05
- 发明人: Sung Chul Kang , Munsang Kim , Seung Jong Kim , Seung Kook Yun , Jeonghoon Yoo
- 申请人: Sung Chul Kang , Munsang Kim , Seung Jong Kim , Seung Kook Yun , Jeonghoon Yoo
- 专利权人: Korea Institute of Science and Technology
- 当前专利权人: Korea Institute of Science and Technology
- 优先权: KR10-2006-0084668 20060904
- 国际申请: PCT/KR06/05282 WO 20061207
- 主分类号: B25J17/00
- IPC分类号: B25J17/00 ; H02P6/08 ; H02K49/10
摘要:
The present invention provides a device for generating and varying stiffness, which may be applied to a joint of a robot manipulator. The stiffness generating device of the present invention, comprises: a rotating shaft connected to a driven member; a rotor fixed to the rotating shaft and having arms comprising a magnetic element; a stator disposed to surround the rotor outside the arms and being connected to a drive motor; electromagnets fixed to an inner periphery of the stator and being opposed to each other about the rotating shaft, each having a core and a coil wound around the core; and means for applying current to the coils. One half of the electromagnets has N-poles at their inward ends and the other half of the electromagnets has S-poles at their inward ends. Current regulating means regulates the current being applied to the coils.