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公开(公告)号：US07762156B2
公开(公告)日：2010-07-27
申请号：US11728040
申请日：2007-03-22
Applicant: Pyung Hun Chang , Seong Tae Kim , Hyung Soon Park
Inventor： Pyung Hun Chang , Seong Tae Kim , Hyung Soon Park
CPC classification number: B25J9/104 , B25J17/0258 , Y10T74/18848 , Y10T74/20323 , Y10T74/20335
Abstract: A cable driven wrist mechanism for a robot arm which executes a rolling motion and a pitching motion. The wrist mechanism includes a first drive body and a second drive body which are independently driven. The wrist mechanism includes first and second rotary bodies which are connected to the first and second rotary bodies. The wrist mechanism further includes a third drive body perpendicular to the first and second drive bodies. At least two cables are connected between the drive bodies and the rotary bodies in a criss-cross manner to transmit forces of the first and second rotary bodies to the third rotary body.
Abstract translation: 一种用于机器人手臂的电缆驱动腕机构，其执行滚动运动和俯仰运动。 手腕机构包括独立驱动的第一驱动体和第二驱动体。 手腕机构包括连接到第一和第二旋转体的第一和第二旋转体。 手腕机构还包括垂直于第一和第二驱动体的第三驱动体。 至少两根电缆以十字交叉的方式连接在驱动体和旋转体之间，以将第一和第二旋转体的力传递到第三旋转体。
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公开(公告)号：US20080223159A1
公开(公告)日：2008-09-18
申请号：US11728040
申请日：2007-03-22
Applicant: Pyung Hun Chang , Seong Tae Kim , Hyung Soon Park
Inventor： Pyung Hun Chang , Seong Tae Kim , Hyung Soon Park
IPC: F16H27/02
CPC classification number: B25J9/104 , B25J17/0258 , Y10T74/18848 , Y10T74/20323 , Y10T74/20335
Abstract: A cable-driven wrist mechanism for a robot arm which executes a rolling motion and a pitching motion, the wrist mechanism comprising: first and second motors provided in the robot arm; a first drive body rotated by the first motor; a second drive body placed above the first drive body, the second drive body being rotated by the second motor about a same rotating axis as that of the first drive body and independently with respect to the first drive body; a first rotary body rotated about a rotating shaft which is perpendicular to the rotating axis of the first drive body and located in a same plane as the rotating axis of the first drive body; a second rotary body having a rotating shaft same as the first rotary body, the second rotary body being symmetric to the first rotary body with respect to the rotating axis of the first drive body; a third rotary body connected to a sub-shaft which perpendicularly branches from the rotating shaft of the first and second rotary bodies, the third rotary body being symmetric to the first and second drive bodies with respect to the rotating shaft of the first and second rotary bodies; a power transmitting unit for transmitting rotating forces from the first and second drive bodies to the first and second rotary bodies, respectively, the power transmitting unit including at least two cables which are connected between each of the first and second drive bodies and each of the first and second rotary bodies in a crisscross manner to intersect between the drive body and the rotary body, with both ends of each of the two cables being fixed to the drive body and the rotary body, respectively; and rotating force transmitting devices for transmitting rotating forces of the first and second rotary bodies to the third rotary body.
Abstract translation: 一种用于执行滚动运动和俯仰运动的机器人手臂的电缆驱动腕机构，所述手腕机构包括：设置在机器人手臂中的第一和第二马达; 由第一马达旋转的第一驱动体; 第二驱动体设置在第一驱动体的上方，第二驱动体由第二电动机围绕与第一驱动体相同的旋转轴旋转，并相对于第一驱动体独立地旋转; 第一旋转体围绕与第一驱动体的旋转轴线垂直并且位于与第一驱动体的旋转轴线相同的平面中的旋转轴旋转; 具有与所述第一旋转体相同的旋转轴的第二旋转体，所述第二旋转体相对于所述第一驱动体的旋转轴线与所述第一旋转体对称; 连接到从第一和第二旋转体的旋转轴垂直分支的副轴的第三旋转体，第三旋转体相对于第一和第二旋转体的旋转轴与第一和第二驱动体对称 身体; 动力传递单元，用于将旋转力分别从第一和第二驱动体传递到第一和第二旋转体，动力传递单元包括连接在第一和第二驱动体中的每一个之间的至少两根电缆， 第一旋转体和第二旋转体以交叉方式与驱动体和旋转体交叉，两根电缆的两端分别固定在驱动体和旋转体上; 以及用于将第一和第二旋转体的旋转力传递到第三旋转体的旋转力传递装置。
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公开(公告)号：US06937908B2
公开(公告)日：2005-08-30
申请号：US10697816
申请日：2003-10-29
Applicant: Pyung Hun Chang , Je Hyung Jung
Inventor： Pyung Hun Chang , Je Hyung Jung
CPC classification number: G05B11/42 , G05B13/024
Abstract: A method for tuning a PID controller includes the steps of inducing equivalent relationships between PID gains of the PID controller and parameters of time delay control (TDC), selecting a natural frequency vector and a damping ratio vector so as to acquire a desired error dynamics of the closed PID control loop system, selecting a sampling time of the closed PID control loop system, determining the parameters of TDC on the basis of the natural frequency vector, the damping ratio vector and a closed loop stability condition for TDC, and selecting PID gains of the PID controller on the basis of the equivalent relationships.
Abstract translation: 一种用于调节PID控制器的方法包括以下步骤：引入PID控制器的PID增益与时间延迟控制（TDC）的参数之间的等效关系，选择固有频率矢量和阻尼比矢量，以获得期望的误差动力学 闭路PID控制回路系统，选择闭环PID控制回路系统的采样时间，根据固有频率矢量，阻尼比矢量和TDC闭环稳定条件确定TDC的参数，并选择PID增益 的PID控制器基于等效关系。
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公开(公告)号：US06622580B1
公开(公告)日：2003-09-23
申请号：US09784348
申请日：2001-02-16
Applicant: Pyung Hun Chang , Ju Yi Park , Hyung Soon Park , Je Hyung Jung , Bo Kyoung Jeon
Inventor： Pyung Hun Chang , Ju Yi Park , Hyung Soon Park , Je Hyung Jung , Bo Kyoung Jeon
IPC: F16H1900
CPC classification number: F16H19/005 , F16H57/12 , Y10T74/1836 , Y10T74/19623
Abstract: A backlash-free speed reducing device includes a drive unit, a rotary unit, and a power output unit. The drive unit consists of a drive motor having a drive shaft. A first power transmission cable is wound around the drive shaft. The rotary unit has two first cylinders, with the first transmission cable fixed to the external surface of the first cylinders at opposite ends thereof and wound around or unwound from the first cylinders in response to a rotation of the drive shaft. Each of the first cylinders is concentrically fitted over a rotating shaft such that the first cylinders are linearly movable along the rotating shafts in opposite directions. A second power transmission cable is fixed to the external surfaces of the rotating shafts of the two first cylinders at opposite ends thereof. The power output unit has a second cylinder, with the second transmission cable wound around the second cylinder. This second cylinder is concentrically fitted over a power output shaft such that the cylinder is linearly movable along the power output shaft. The two power transmission cables thus maintain desired tension during an operation of the speed reducing device for achieving a high speed reduction ration, and so it is possible to prevent a backlash of the cables during such operation.
Abstract translation: 无间隙减速装置包括驱动单元，旋转单元和功率输出单元。 驱动单元由具有驱动轴的驱动马达组成。 第一传动电缆缠绕在驱动轴上。 旋转单元具有两个第一气缸，其中第一传动缆索在其相对端处固定到第一气缸的外表面，并且响应于驱动轴的旋转而缠绕在第一气缸上或从第一气缸展开。 每个第一气缸同心地安装在旋转轴上，使得第一气缸沿着相反方向的旋转轴线性移动。 第二电力传输电缆固定到两个第一气缸的旋转轴的外表面的相对端。 动力输出单元具有第二气缸，第二传动缆索缠绕在第二气缸上。 该第二气缸同心地安装在动力输出轴上，使得气缸沿动力输出轴线性移动。 因此，在用于实现高速减速比的减速装置的操作期间，两个动力传动电缆保持期望的张力，因此可以防止在这种操作期间电缆的间隙。
