摘要:
This controller, between a fixed base (1) and a control handle (4), comprises three similar arms (2) of which each comprises three links (5,6,7) jointed between the base and the handle platform by a pivot (8), two rotation joints (9 and 10) and a ball-joint (11). This controller with six degrees of freedom includes force feedback motors at the first and second joints (8 and 9) of which the first is fixed to the base (1) and the second to the first link (5), so that the first is immobile and the other has scarce movement; the third joint (10) is free. The resulting structure is simple and light not requiring any parallelogram, and kinematic singularities are greatly reduced.
摘要:
This controller, between a fixed base (1) and a control handle (4), comprises three similar arms (2) of which each comprises three links (5,6,7) jointed between the base and the handle platform by a pivot (8), two rotation joints (9 and 10) and a ball-joint (11). This controller with six degrees of freedom includes force feedback motors at the first and second joints (8 and 9) of which the first is fixed to the base (1) and the second to the first link (5), so that the first is immobile and the other has scarce movement; the third joint (10) is free. The resulting structure is simple and light not requiring any parallelogram, and kinematic singularities are greatly reduced.
摘要:
A reducing device having a cable or a belt and cable, providing a high reduction ratio, and including: two driving drums; two sheave wheels; at least one driving cable traveling from a first driving drum to one sheave wheel, from the one sheave wheel to the second driving drum, from the second driving drum to the other sheave wheel, and from the other sheave wheel to the first driving drum; a driven cable, including one strand which travels from a fork of the one sheave wheel to a driven wheel, and one strand which travels from the driven wheel to a fork of the other sheave wheel. The driving drums have different diameters and/or different rotation speeds so rotation thereof causes movement of the sheave wheels driving the driven cable, and rotation movement of the driven wheel. The reducing device is applicable, for example, to robots and haptic interfaces.
摘要:
The interface consists of a sleeve (1) attached around the user's forearm and a grip element (3) comprising touch-sensitive actuators (12) which press against the tips of the fingers and thumb-actuated control buttons (13). Actuators (6, 7, 11) connect the grip element (3) to the sleeve (1) and allow to move the latter in a noticeable manner in response to impulses from the environment, and the sleeve has a wireless displacement sensor. Hence, in the best embodiments of the invention, the user avails of two very different means both for giving commands (buttons 13 and sensor 14) and for receiving a response from the virtual environment (actuators 6, 7 and 11 and the touch-sensitive actuators 12). This interface is light and easy to use. It can be used to explore virtual environments for, visiting a location, entertainment, educational purposes, et cetera.
摘要:
A structure with six degrees of freedom for a robot or haptic interface including a base, two branches in parallel, and a wrist joint. The branches are installed articulated between the base and the wrist joint, the branches including a shoulder, an arm, and a forearm supporting the wrist joint. The wrist joint includes a connecting segment onto which a handle holder is articulated about a first rotation axis. A handle is articulated in rotation on the handle holder about a second rotation axis, the handle capable of being moved in rotation about the first axis, the second axis, and a third axis, and a mechanism gears down the rotation of the handle holder about at least the first rotation axis relative to rotation of the connecting segment.
摘要:
A link with a transmission cable (14) between a driving pulley (15) and a driven pulley (22) causing a mobile unit (5) to rotate, has two strands (23, 24) connecting the driven pulley (22) with idle pulleys (17, 18) which are substantially aligned with an axis (Y) of rotation of an part (2) intermediate to the unit (5) and to the base (1) on which the motor (12) is secured. Thus, the motor (12) is positioned on optionally fixed parts and rotation of the support (2) has only very little effect on the tension of the cable (14), so that it may always work properly. The invention is especially applied to articulated robot arms.
摘要:
A structure with six degrees of freedom for a robot or haptic interface including a base, two branches in parallel, and a wrist joint. The branches are installed articulated between the base and the wrist joint, the branches including a shoulder, an arm, and a forearm supporting the wrist joint. The wrist joint includes a connecting segment onto which a handle holder is articulated about a first rotation axis. A handle is articulated in rotation on the handle holder about a second rotation axis, the handle capable of being moved in rotation about the first axis, the second axis, and a third axis, and a mechanism gears down the rotation of the handle holder about at least the first rotation axis relative to rotation of the connecting segment.
摘要:
A reducing device having a cable or a belt and cable, providing a high reduction ratio, and including: two driving drums; two sheave wheels; at least one driving cable traveling from a first driving drum to one sheave wheel, from the one sheave wheel to the second driving drum, from the second driving drum to the other sheave wheel, and from the other sheave wheel to the first driving drum; a driven cable, including one strand which travels from a fork of the one sheave wheel to a driven wheel, and one strand which travels from the driven wheel to a fork of the other sheave wheel. The driving drums have different diameters and/or different rotation speeds so rotation thereof causes movement of the sheave wheels driving the driven cable, and rotation movement of the driven wheel. The reducing device is applicable, for example, to robots and haptic interfaces.
摘要:
A control or robot articulated arm comprising motorised articulations, at least some of which are remote controlled by motors (15, 16) place on a base (3) to lighten the arm. The motors (15 and 16) are side by side and control coaxial pulleys (12 and 13) due to bulges (24, 25) at stages on the motor shafts (17 and 18). This reduces the overall size. FIG. 2.
摘要:
The primary object of the present invention is a jointed and instrumented limb for robot or haptic interface comprising at least first (2) and second (4) rigid segments and a joint (6), said joint (6) comprising fibers and at least one measurement element (101, 102) and being fixed in each of the rigid segments (2, 4).The present invention also has for object a robot or a haptic interface comprising at least one such jointed limb.