公开(公告)号：US5155423A

公开(公告)日：1992-10-13

申请号：US330391

申请日：1989-03-29

申请人： James P. Karlen ,  Jack M. Thompson, Jr. ,  Keith A. Kowalski ,  John Bockhold ,  David Damico

发明人： James P. Karlen ,  Jack M. Thompson, Jr. ,  Keith A. Kowalski ,  John Bockhold ,  David Damico

IPC分类号： B25J9/04 ,  B25J9/08 ,  B25J9/10 ,  B25J9/16 ,  B25J17/02

CPC分类号： B25J9/1633 ,  B25J17/02 ,  B25J17/0241 ,  B25J9/04 ,  B25J9/046 ,  B25J9/08 ,  B25J9/1025 ,  B25J9/1643 ,  G05B2219/41116 ,  G05B2219/41203 ,  G05B2219/42092 ,  G05B2219/49292

摘要： A digitally controlled industrial robot comprises a set of unitized and integrated joint drive modules which can be assembled in series to form an arm. The joints are of two basic types, pitch joints and roll joints, with the roll joints providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to comprise the manipulator, permitting the configuration of a kinematically redundant manipulator. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.

摘要翻译： 数字控制的工业机器人包括一组组合和集成的联合驱动模块，其可以串联组装以形成臂。 接头有两种基本类型，俯仰接头和滚动接头，其中辊接头提供围绕机械手的纵向轴线的旋转，并且俯仰接头提供围绕基本上垂直于辊接头轴线并偏离辊接头轴线的轴线的旋转。 可以组装任何数量的接头以包括操纵器，允许配置运动学上冗余的操纵器。 伺服控制从感测驱动部件上的动力导出反馈信号并相应地补偿驱动信号。 更具体地，测量施加在每个辊和沥青接头上的扭矩并用于反馈以为伺服机构提供稳定性和最佳带宽。