公开(公告)号：EP2705934A3

公开(公告)日：2014-10-29

申请号：EP13466017.4

申请日：2013-09-04

申请人： CVUT V Praze, Fakulta Strojní

发明人： Valásek, Michael ,  Bauma, Václav ,  Sika, Zbynek ,  Svatos, Petr

IPC分类号： B25J9/04 ,  B25J11/00 ,  B25J13/00 ,  B25J17/02 ,  B25J18/00 ,  B25J9/00 ,  B25J9/16 ,  B25J15/00

CPC分类号： B25J9/009 ,  B25J9/1638 ,  B25J9/1682 ,  B25J15/0095 ,  B25J18/002

摘要： The invention concerns a method and a device for change of rigidity of a serial or parallel basic movable mechanism, especially industrial robots and machining machines, where the basic movable mechanism is fixed to the frame and the basis of the method is in creation of at least one auxiliary movable mechanism fixed to the frame and equipped with an auxiliary end effector, the basic end effector and the auxiliary end effector are connected to each other using at least one connecting element, the position of the tool fixed to the basic end effector is determined and according to the deviation of the position of the tool fixed to the basic end effector from the required position the action of force, which is needed to act on the basic end effector of the basic movable mechanism with the help of the connecting element for achievement of the required position of the tool, is determined.
The subject matter of the device is in the fact that the basic end effector (2) or the arm (8) of the basic movable mechanism (1) is connected using at least one connecting element (6) to at least one auxiliary end effector (4) of the serial or the parallel auxiliary movable mechanism (4) connected to the frame (16).

公开(公告)号：EP2705934A2

公开(公告)日：2014-03-12

申请号：EP13466017.4

申请日：2013-09-04

申请人： CVUT V Praze, Fakulta Strojní

发明人： Valásek, Michael ,  Bauma, Václav ,  Sika, Zbynek ,  Svatos, Petr

IPC分类号： B25J9/04 ,  B25J11/00 ,  B25J13/00 ,  B25J17/02 ,  B25J18/00

CPC分类号： B25J9/009 ,  B25J9/1638 ,  B25J9/1682 ,  B25J15/0095 ,  B25J18/002

摘要： The invention concerns a method and a device for change of rigidity of a serial or parallel basic movable mechanism, especially industrial robots and machining machines, where the basic movable mechanism is fixed to the frame and the basis of the method is in creation of at least one auxiliary movable mechanism fixed to the frame and equipped with an auxiliary end effector, the basic end effector and the auxiliary end effector are connected to each other using at least one connecting element, the position of the tool fixed to the basic end effector is determined and according to the deviation of the position of the tool fixed to the basic end effector from the required position the action of force, which is needed to act on the basic end effector of the basic movable mechanism with the help of the connecting element for achievement of the required position of the tool, is determined.
The subject matter of the device is in the fact that the basic end effector (2) or the arm (8) of the basic movable mechanism (1) is connected using at least one connecting element (6) to at least one auxiliary end effector (4) of the serial or the parallel auxiliary movable mechanism (4) connected to the frame (16).

摘要翻译： 本发明涉及一种方法和一个串行或并行的基本可动机构的刚性的变化的装置，爱尤其是工业机器人和加工机，其中基本可动机构被固定到所述框架，并且该方法的基础是在创建中的至少 固定到框架，并在辅助端部执行器配备有一个辅助的可动机构，基本的端部执行器和所述辅助端部执行器使用的至少一个连接元件，固定于所述基本端部执行器的工具的开采的位置是确定的连接到海誓山盟 而这是需要采取行动的基本可动机构的基本末端执行器与用于实现连接件的帮助雅鼎从所需的位置固定在基末端执行器的力的作用的工具的位置的偏差，所有 所述工具的所要求的位置的，是确定性的开采。 该装置的主题是在factthat基本端部执行器（2）或所述臂（8）的基本可动机构（1）使用至少一个连接元件（6）连接到至少一个辅助端部执行器 （4）串行的或并行的辅助可移动机构（4）连接到所述框架（16）。