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公开(公告)号：US20200370274A1
公开(公告)日：2020-11-26
申请号：US16418913
申请日：2019-05-21
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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2.发明申请公开(公告)号：US20200298403A1
公开(公告)日：2020-09-24
申请号：US16089282
申请日：2017-03-27
申请人： COGNIBOTICS AB
发明人： Klas Nilsson , Adam Nilsson , Andreas Stolt , Olof Sornmo , Martin Holmstrand , Niklas Nilsson
摘要： A method and system for determining geometric properties of a manipulator (2). The manipulator (2) is controlled to perform constrained motions exhibiting force interaction with the environment, or between different links of the manipulator (2), such that a kinematic chain is formed mechanically. The chain may include peripherals and external axes of motion. A constraining device, enables motions that facilitate the determination of geometric properties. A unified model of joint and link compliances facilitates determination of stiffness parameters. The force interaction is controlled with awareness of friction such that non-geometric properties are possible to identify, thereby enabling separation of non-geometric effects from the geometric ones, which improves accuracy.
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公开(公告)号：US20230339099A1
公开(公告)日：2023-10-26
申请号：US18215660
申请日：2023-06-28
申请人： COGNIBOTICS AB
发明人： Torgny Brogardh , Klas Nilsson , Adam Nilsson , Mattias Svahn , Edvin Malm , Carlos Sedglach
CPC分类号： B25J9/0036 , B25J9/106 , B25J9/1664
摘要： A parallel kinematic machine (PKM) includes a support platform and first, second, and third support linkages. The first, second, and third support linkages together include at least five support links. The PKM further includes a tool base having a shaft joint, a tool base shaft, and a tool platform. The tool base shaft is connected to the support platform via the shaft joint, rigidly connecting the tool platform and the tool base shaft. The PKM also includes one or more tool linkages, each including a tool link connected at one end, via a tool base joint, to the tool base, and at the other end connected, via a tool carriage joint, to a movable carriage. Each tool linkage is configured to rotate the tool base shaft around at least one axis relative to the support platform by transferring a movement of the respective tool linkage to the tool base shaft.
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公开(公告)号：US11305431B2
公开(公告)日：2022-04-19
申请号：US16348137
申请日：2017-11-08
申请人： COGNIBOTICS AB
IPC分类号： B25J13/02 , B25J13/08 , B25J9/16 , G05B19/4155
摘要： The disclosure relates to a system (1) and method for instructing a robot. The system (1) comprising an immersive haptic interface, such that operator interaction with a master robot arm (2) is reflected by a slave robot arm (3) arranged for interaction with a workpiece (4). The interaction of the slave robot arm (3) is reflected back to the master robot arm (2) as haptic feedback to the operator. The dynamic system is continually simulated forward and new commands are calculated for the master robot arm and the slave robot arm.
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公开(公告)号：US11118324B2
公开(公告)日：2021-09-14
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：US11865711B2
公开(公告)日：2024-01-09
申请号：US17820847
申请日：2022-08-18
申请人： COGNIBOTICS AB
发明人： Torgny Brogardh , Adam Nilsson , Klas Nilsson
CPC分类号： B25J9/0072 , B25J9/042 , B25J9/102 , B25J9/1065 , F16H37/12
摘要： A robot arm includes a first kinematic chain from a first actuator to an end-effector platform, providing a first degree of freedom for positioning the end-effector platform; a second kinematic chain from a second actuator to the end effector platform, providing a second degree of freedom for positioning the end effector platform; a third kinematic chain from a third actuator to the end-effector platform, providing a third degree of freedom for positioning the end-effector platform; and a fourth kinematic chain configured to transmit movement of a fourth actuator to a corresponding orientation axis of an end-effector. The fourth kinematic chain includes an orientation linkage mounted to an inner arm assemblage via at least one bearing mounted to the end-effector platform, wherein the orientation linkage includes an end-effector rotation link and joints 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：US11731265B2
公开(公告)日：2023-08-22
申请号：US17753054
申请日：2020-08-17
申请人： COGNIBOTICS AB
发明人： Torgny Brogardh , Klas Nilsson , Adam Nilsson
CPC分类号： B25J9/0057 , B25J9/106 , B25J9/1664
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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8.发明授权公开(公告)号：US11192243B2
公开(公告)日：2021-12-07
申请号：US16089282
申请日：2017-03-27
申请人： COGNIBOTICS AB
发明人： Klas Nilsson , Adam Nilsson , Andreas Stolt , Olof Sornmo , Martin Holmstrand , Niklas Nilsson
摘要： A method and system for determining geometric properties of a manipulator (2). The manipulator (2) is controlled to perform constrained motions exhibiting force interaction with the environment, or between different links of the manipulator (2), such that a kinematic chain is formed mechanically. The chain may include peripherals and external axes of motion. A constraining device, enables motions that facilitate the determination of geometric properties. A unified model of joint and link compliances facilitates determination of stiffness parameters. The force interaction is controlled with awareness of friction such that non-geometric properties are possible to identify, thereby enabling separation of non-geometric effects from the geometric ones, which improves accuracy.
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公开(公告)号：US09908238B2
公开(公告)日：2018-03-06
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.
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公开(公告)号：US20220388155A1
公开(公告)日：2022-12-08
申请号：US17820847
申请日：2022-08-18
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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