公开(公告)号：US11813743B2

公开(公告)日：2023-11-14

申请号：US17554549

申请日：2021-12-17

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Qiao Sun ,  Xianbao Chen ,  Jing Sun ,  Dalong Gao ,  Feng Gao ,  Ningjian Huang

IPC: B25J9/00 ,  B25J9/10 ,  B25J17/02 ,  B25J13/08 ,  B25J11/00

CPC classification number: B25J9/0072 ,  B25J9/106 ,  B25J11/005 ,  B25J13/085 ,  B25J17/0216

Abstract: A robotic system includes a support structure, a platform, a center serial chain, outer serial chains, motors, a sensor, and a control module. The center serial chain connects a center of the platform to the support structure and includes first joints connected to a linear sliding shaft. The outer serial chains are disposed radially outward of the center serial chain. Each of the outer serial chains includes second joints connecting a bar to the platform and the supporting structure. The motors are connected to the outer serial chains. The sensor is connected to the platform and detects at least one of force or torque applied by a human operator on the platform and generates a signal indicative thereof. The control module controls the motors based on the signal to assist the human operator in at least one of moving or rotating the platform.

公开(公告)号：US11931892B2

公开(公告)日：2024-03-19

申请号：US17554161

申请日：2021-12-17

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Qiao Sun ,  Xianbao Chen ,  Jing Sun ,  Feng Gao ,  Dalong Gao ,  Ningjian Huang

IPC: B25J13/08 ,  B25J9/00 ,  B25J9/16

CPC classification number: B25J9/0081 ,  B25J9/0009 ,  B25J9/0045 ,  B25J9/1633 ,  B25J13/085

Abstract: A robotic system includes a support structure, a motor mount assembly, first and second parallel chains, a serial translation assembly, a sensor and a control module. The motor mount assembly includes rotary motors, where the rotary motors include a first rotary motor and a second rotary motor. The first and second parallel chains are connected to the movable platform, the rotary motors and the motor mount assembly. The serial translation assembly is connected to the supporting structure and the motor mount assembly and includes a linear actuator and a third rotary motor. The sensor is connected to the movable platform and detects force applied by a human operator on the movable platform and generates a signal indicative of the force applied. The control module controls the rotary motors and the third rotary motor based on the signal to assist the human operator in moving the movable platform.