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公开(公告)号：US20220339782A1
公开(公告)日：2022-10-27
申请号：US17765120
申请日：2020-10-01
申请人： COGNIBOTICS AB
发明人： Torgny Brogardh , Klas Nilsson , Peter Helgosson
摘要： A method for determining placement of support-platform joints (8a, 9a, 10a, 11a, 12a, 13a) on a support-platform (17) of a parallel kinematic manipulator, PKM. The PKM comprises: the support-platform (17), a first support linkage (SL1), a second support linkage (SL2) and a third support linkage (SL3). The first support linkage (SL1), the second support linkage (SL2) and the third support linkage (SL3) together comprises at least five support-links (8, 9, 10, 11, 12, 13). The method comprises estimating (S1) parameters indicative of stiffness for the PKM, based on a kinematic model and an elastic model of the PKM and chosen defined forces and/or torques applied to a tool (22) during a processing sequence, and checking (S2) whether the estimated parameters indicative of stiffness of the PKM fulfill one or more stiffness criteria. Upon the estimated parameters indicative of stiffness fulfilling one or more stiffness criteria, the method comprises choosing (S3) the current placement configuration as an optimal placement configuration of the support-platform joints. The disclosure also relates to a system comprising a computer configured to perform the method and to output an optimal placement configuration, and a PKM with support-platform joints that are placed to the support-platform according to the optimal placement configuration outputted by the computer. The disclosure also relates to PKMs with support-platform joints that are placed to the support-platform to achieve high stiffness.
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12.发明申请METHOD AND SYSTEM FOR DETERMINATION OF AT LEAST ONE PROPERTY OF A MANIPULATOR 有权用于确定操纵器的最小一个属性的方法和系统公开(公告)号：US20160221189A1
公开(公告)日：2016-08-04
申请号：US14913966
申请日：2014-08-25
申请人： COGNIBOTICS AB
发明人： Klas Nilsson , Adam Nilsson , Mathias Haage , Bjorn Olofsson , Anders Robertsson , Olof Sornmo
IPC分类号： B25J9/16
CPC分类号： B25J9/1653 , G05B2219/39183 , G05B2219/39186 , G05B2219/40527
摘要： A method and system for determining at least one property associated with a selected axis of a manipulator (2). The elasticity of the links (4, 6, 9, 10, 13, 14) and joints (3, 5, 7, 8, 11, 12) of a manipulator (2) can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator (2) such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (2). Depending on the complexity of the manipulator (2) and the number of properties that are of interest, the manipulator (2) is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator (2) can be determined, and a global stiffness matrix (MSM) for the total manipulator (2) can be determined in order to determine at least one property of the selected axis.
摘要翻译： 一种用于确定与操纵器（2）的选定轴相关联的至少一个属性的方法和系统。 可以对操纵器（2）的连杆（4,6,9,10,13,14）和接头（3,5,7,8,11,12）的弹性进行建模，并且可以确定所得到的柔顺性。 使用某种方法来控制操纵器（2），使得可以针对操纵器（2）的某些运动结构确定与致动器扭矩和/或关节位置相关的某些量。 根据操纵器（2）的复杂性和感兴趣的属性的数量，操纵器（2）被控制为多个不同的运动学配置，其中确定数量的配置。 此后，可以确定用于机械手（2）的每个部件的刚度矩阵（K），并且可以确定用于总操作器（2）的全局刚度矩阵（MSM），以便确定所选择的 轴。
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13.发明申请公开(公告)号：US20150248121A1
公开(公告)日：2015-09-03
申请号：US14436233
申请日：2013-10-21
申请人： COGNIBOTICS AB
发明人： Klas Nilsson
IPC分类号： G05B19/042 , H02P29/00
CPC分类号： G05B19/0428 , A61B5/1121 , B25J9/1641 , G05B2219/40381 , G05B2219/41059 , H02P29/00
摘要： The invention relates to a method for determining at least one property of a joint, such as a joint (112, 114, 116-119, 180) of a manipulator (110), wherein said joint is configured to be driven by at least one actuator, the actuator being configured to drive said joint (112, 114, 116-119, 180) via a drivetrain. The method comprises: clamping (200) said joint such that motion of the joint becomes constrained, and actuating (210) said drivetrain while monitoring at least one quantity associated with a torque of said actuator and at least one quantity associated with the actuator position in order to determine (220) at least one output value of said actuator, said output value corresponding to at least one joint position and determining (230) the at least one property of the joint based on said at least one output value. The invention further relates to a system for determining the at least one property of a joint.
摘要翻译： 本发明涉及一种用于确定诸如操纵器（110）的接头（112,114,116-119,180）的关节的至少一个性质的方法，其中所述接头构造成由至少一个 所述致动器构造成经由传动系驱动所述接头（112,114,116-119,180）。 该方法包括：夹紧（200）所述接头，使得接头的运动变得受到约束，并且在监测与所述致动器的扭矩相关联的至少一个量的至少一个量的同时致动（210）所述传动系，并且至少一个量与所述致动器位置相关联 以确定（220）所述致动器的至少一个输出值，所述输出值对应于至少一个关节位置，并且基于所述至少一个输出值确定（230）所述关节的所述至少一个属性。 本发明还涉及一种用于确定关节的至少一个属性的系统。
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公开(公告)号：US20230010862A1
公开(公告)日：2023-01-12
申请号：US17782119
申请日：2020-12-07
申请人： COGNIBOTICS AB
发明人： Torgny Brogardh , Klas Nilsson
摘要： A robot arm (500) for positioning a tool (44) with controlled orientation. The robot arm (500) comprises an inner-arm linkage (15, 18, 29; 15, 18, 77); an outer-arm linkage (23; 81; 173; 228; 632; 384) and a first actuator (1; 249) configured to rotate the inner-arm linkage about a first axis of rotation (180). The inner-arm linkage includes a first inner link (15) that at an inner end is arranged to rotate around a fourth axis of rotation (185), and a second inner link (18) that at an inner end is arranged to rotate around a different, third axis of rotation (182, 185), wherein the axes of rotation (182, 185) are perpendicular to the first axis of rotation (180), and the rotations result in a geometric reconfiguration of the inner-arm linkage. The inner-arm linkage also includes a connection shaft (29; 77) mounted at an outer end of the first inner link and at an outer end of the second inner link by means of joints of at least one degree of freedom, is connected to the outer-arm linkage via the connection shaft, is connected to the tool and forms a first kinematic chain that gives a first degree of freedom for positioning the tool. A second actuator (2; 254) is configured to rotate the outer-arm linkage around the second axis of rotation, thereby forming a second kinematic chain giving a second degree of freedom for positioning the tool. A third actuator (3) is configured to move the outer-arm linkage by actuating the geometrically reconfigurable inner-arm linkage, resulting in a movement of the second axis of rotation around which the outer-arm linkage is arranged to rotate, thereby forming a third kinematic chain giving a third degree of freedom for positioning the tool. The robot arm also comprises one or more transmission mechanisms that in combination with the outer-arm linkage are arranged to accomplish the controlled orientation of the tool.
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公开(公告)号：US11453118B2
公开(公告)日：2022-09-27
申请号：US16957216
申请日：2019-01-11
申请人： COGNIBOTICS AB
发明人： Torgny Brogardh , Adam Nilsson , Klas Nilsson
摘要： A robot arm (500) for end-effector motion. The robot arm comprises a first actuator (4) and a first kinematic chain from the first actuator to an end-effector platform, which gives a first degree of freedom for positioning the end-effector platform. The robot arm also comprises a second actuator (5; 5b) and a second kinematic chain from the second actuator to the end-effector platform, which gives a second degree of freedom for positioning the end-effector platform. The robot arm further comprises a third actuator (6; 6b, 512) and a third kinematic chain from the third actuator (6; 6b) to the end-effector platform, which gives a third degree of freedom for positioning the end-effector platform. The robot arm also comprises a fourth actuator (50; 150) and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis (65) for an end-effector (28). The fourth kinematic chain comprises an orientation linkage (52, 57, 59; 202, 204, 207, 209; 284, 286; 251, 256, 258) mounted to the inner arm-assemblage via at least one bearing (53, 55; 206), and an orientation transmission (64B, 64A, 216; 64C, 64D, 64E; 100, 64A; 281, 279, 275; 260, 262, 264, 266, 271, 270) mounted to the end-effector platform, wherein the orientation linkage comprises an end-effector rotation link (59; 209; 258; 281) and joints (58, 60; 208, 210; 257, 259; 257, 259; 282, 280) that provide at least two degrees of freedom for each end joint of the end-effector rotation link.
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公开(公告)号：US20220281100A1
公开(公告)日：2022-09-08
申请号：US17753054
申请日：2020-08-17
申请人： COGNIBOTICS AB
发明人： Torgny Brogardh , Klas Nilsson , Adam Nilsson
摘要： A parallel kinematic machine, PKM, comprising: a support platform (17a), a first support linkage (SL1); a second support linkage (SL2) and a third support linkage (SL3), wherein the first support linkage (SL1), the second support linkage (SL2) and the third support linkage (SL3) together comprises at least five support links (8, 9, 10, 11, 12, 13). The PKM further comprises: a tool base (140) comprising a shaft joint (24, 40, 41, 200, 202, 262a, 262b), a tool base shaft (19) and a tool platform (17b). The tool base shaft (19) is connected to the support platform (17a) via the shaft joint (24, 40, 41, 200, 202, 262a, 262b), and wherein the tool platform (17b) and the tool base shaft (19) are rigidly connected. The PKM also comprises one or more tool linkages (TL1, TL2, TL3) each comprising a tool link (26, 31; 29, 32; 38) connected at one end via a tool base joint (25, 28, 37) to the tool base (140), and at the other end connected via a tool carriage joint (27, 30, 39) to a carriage arranged for movement along a path; and wherein each tool linkage (TL1, TL2, TL3) is configured to rotate the tool base shaft (19) around at least one axis relative the support platform (17), by transferring a movement of the respective tool linkage (TL1, TL2, TL3) to the tool base shaft (19).
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公开(公告)号：US20200370275A1
公开(公告)日：2020-11-26
申请号：US16875171
申请日：2020-05-15
申请人： COGNIBOTICS AB
发明人： Adam Nilsson
摘要： A multi-backhoe linkage mechanism, operable for rotating an output link around an output axis of rotation of an output joint at a base, includes a first closed kinematic chain, including the output link, a connecting link, and an input link. The output link is connected via the output joint to the base and via a connecting joint to the connecting link. The connecting link is connected via a bridging joint to the input link. The first closed kinematic chain additionally includes a base link connected to the base and to the input link. One or more additional closed kinematic chains are connected in a series after the first closed kinematic chain. Each additional closed kinematic chain is connected to the previous closed kinematic chain such that actuation of the additional closed kinematic chain amplifies the angle of rotation of the output link around the output axis of rotation.
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公开(公告)号：US09645565B2
公开(公告)日：2017-05-09
申请号：US14436233
申请日：2013-10-21
申请人： COGNIBOTICS AB
发明人： Klas Nilsson
CPC分类号： G05B19/0428 , A61B5/1121 , B25J9/1641 , G05B2219/40381 , G05B2219/41059 , H02P29/00
摘要： The invention relates to a method for determining at least one property of a joint, such as a joint (112, 114, 116-119, 180) of a manipulator (110), wherein said joint is configured to be driven by at least one actuator, the actuator being configured to drive said joint (112, 114, 116-119, 180) via a drivetrain. The method comprises: clamping (200) said joint such that motion of the joint becomes constrained, and actuating (210) said drivetrain while monitoring at least one quantity associated with a torque of said actuator and at least one quantity associated with the actuator position in order to determine (220) at least one output value of said actuator, said output value corresponding to at least one joint position and determining (230) the at least one property of the joint based on said at least one output value. The invention further relates to a system for determining the at least one property of a joint.
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