公开(公告)号：US5811951A

公开(公告)日：1998-09-22

申请号：US734423

申请日：1996-10-14

申请人： Kar-Keung David Young

发明人： Kar-Keung David Young

IPC分类号： B25J9/04 ,  B25J9/10 ,  B25J9/16 ,  B25J9/00 ,  G05B9/18

CPC分类号： B25J9/1643 ,  B25J9/042 ,  B25J9/106 ,  B25J9/1615 ,  G05B2219/39414 ,  G05B2219/40296 ,  G05B2219/40301 ,  G05B2219/40339 ,  G05B2219/40367

摘要： A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degreed of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns.

摘要翻译： 一种高精度的冗余机器人操纵器，用于克服由障碍物施加的内容或由高度拥挤的工作空间施加的内容。 操纵器的一个实施例具有四个自由度，另一个实施例具有七个自由度。 每个实施例利用第一选择性兼容组装机器人臂（SCARA）构造来在垂直平面中提供高刚度，第二SCARA构造以在水平面中提供高刚度。 七自由度实施例还利用运动学冗余来提供避免位于操纵器的基座和操纵器的末端执行器或连杆之间的障碍物的能力。 这些附加的三个自由度在机械手的腕部连接处被添加以提供俯仰，偏航和滚动。 七自由度实施例在每个自由度上使用一个旋转点。 对于每个旋转接头，引入耦合到电动机的谐波齿轮，并且与适当设计的伺服控制器一起提供小于10微米的终点重复性。