公开(公告)号：US10759634B2

公开(公告)日：2020-09-01

申请号：US15803202

申请日：2017-11-03

Applicant: GM Global Technology Operations LLC ,  Université Laval

Inventor： Muhammad E. Abdallah ,  Clement Gosselin ,  Thierry Laliberte ,  Simon Foucault ,  Pascal Labrecque ,  James W. Wells ,  Jerome Landure

IPC: G06F17/00 ,  B66C13/08 ,  B25J13/08 ,  B25J9/04 ,  B25J9/10 ,  B25J9/16 ,  B25J1/02 ,  B25J5/04 ,  B66C13/48 ,  B66C13/46 ,  B66C17/04 ,  B25J9/00 ,  B25J17/02

Abstract: An electromechanical system operates through physical interaction with an operator, and includes a plurality of joints providing multiple degrees of freedom (DOF), including actuated joints and unactuated joints. The unactuated joints are distal with respect to the actuated joints and are in redundant DOF to the actuated joints. The system includes a plurality of actuators each configured to actuate one or more of the actuated joints, and a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints. Each sensor is configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints. A controller in communication with the sensors receives the measured joint data as feedback signals, generates control signals using the feedback signals, and transmits the control signals to the actuators to thereby control an actuation state of the actuators.

公开(公告)号：US20180079629A1

公开(公告)日：2018-03-22

申请号：US15803202

申请日：2017-11-03

Applicant: GM Global Technology Operations LLC ,  Université Laval

Inventor： Muhammad E. Abdallah ,  Clement Gosselin ,  Thierry Laliberte ,  Simon Foucault ,  Pascal Labrecque ,  James W. Wells ,  Jerome Landure

IPC: B66C13/08 ,  B25J13/08 ,  B25J9/04 ,  B25J5/04 ,  B25J9/16 ,  B25J1/02

Abstract: An electromechanical system operates through physical interaction with an operator, and includes a plurality of joints providing multiple degrees of freedom (DOF), including actuated joints and unactuated joints. The unactuated joints are distal with respect to the actuated joints and are in redundant DOF to the actuated joints. The system includes a plurality of actuators each configured to actuate one or more of the actuated joints, and a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints. Each sensor is configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints. A controller in communication with the sensors receives the measured joint data as feedback signals, generates control signals using the feedback signals, and transmits the control signals to the actuators to thereby control an actuation state of the actuators.

公开(公告)号：US20170108098A1

公开(公告)日：2017-04-20

申请号：US15284043

申请日：2016-10-03

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC ,  Université Laval

Inventor： Muhammad E. Abdallah ,  Clément Gosselin ,  Thierry Laliberte ,  Simon Foucault ,  Pascal Labrecque ,  James W. Wells

IPC: F16H21/54 ,  B25J17/00 ,  F16H21/06

CPC classification number: F16H21/54 ,  B25J9/0048 ,  B25J9/1065 ,  B25J17/00 ,  B25J17/0208 ,  F16H21/06

Abstract: An articulated compliance mechanism for use with a support structure includes a carriage and a pair of parallel four-bar linkage arrangements. The arrangements collectively have a first set of links configured to rigidly connect to the support structure, a second set of links rotatably coupled to the carriage a distance from the first set of links, and a third set of links rotatably coupled to and spanning the distance. The compliance mechanism supports and provides the carriage, e.g., a rectangular shaped frame, with a stable equilibrium point using a gravitational restoring force, and provides the carriage with a passive translational degree of freedom along a horizontal axis in response to an input force from an operator. An additional compliance mechanism may be serially connected to provide a passive translational degree of freedom along a vertical axis. A system includes the compliance mechanism and support structure.

公开(公告)号：US11247332B2

公开(公告)日：2022-02-15

申请号：US16773388

申请日：2020-01-27

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC ,  UNIVERSITE LAVAL

Inventor： Muhammad E. Abdallah ,  James W. Wells ,  Pascal Labrecque ,  Clement Gosselin ,  Thierry Laliberte

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/02 ,  B25J9/00

Abstract: A jointed mechanism includes a passive pendulum system attached to and suspended from the multi-axis robot. The system includes one or more position sensors configured to measure a joint angle on the pendulum system, at least one arm, and an end-effector attached to a distal end of the pendulum system. A controller implements a method to selectively control motion of the robot in a plurality of control modes. The control modes include a Cooperative Mode and an Autonomous Mode. The controller is configured to detect contact with the end-effector when operating in the Autonomous Mode, and to automatically initiate a control action in response to the contact. The pendulum system may be a parallelogram arrangement.

公开(公告)号：US20160039093A1

公开(公告)日：2016-02-11

申请号：US14811072

申请日：2015-07-28

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC ,  Universite Laval

Inventor： Muhammad E. Abdallah ,  Dalong Gao ,  Clement Gosselin ,  Jacques Hache ,  Pascal Labrecque ,  Jianying Shi

IPC: B25J9/16 ,  B25J13/00 ,  B25J9/04

CPC classification number: B25J9/1687 ,  B25J5/04 ,  B25J9/0018 ,  B25J9/046 ,  B25J9/1065 ,  B25J9/1615 ,  Y10S901/09

Abstract: A system for assisting an operator in a manual assembly task includes a base assembly, end-effector, and controller. The base assembly has joint actuators providing three or more degrees of freedom (DOF). The end-effector is in series with the base assembly and has additional joints providing one or more additional DOFs. The base assembly and end-effector support a task load, including a weight and/or a reaction torque of an object. Sensors measure joint positions. The controller receives the measured positions, controls the joint actuators to support the task load, and extends a range of motion of the object. A method includes receiving the position signals as the operator manipulates the object, generating an output signal using the measured positions, and transmitting the output signal to the joint actuators to control the joint actuators, support the task load, and extending a range of motion of the object.

Abstract translation: 用于辅助操作者进行手动组装任务的系统包括基座组件，端部执行器和控制器。 基座组件具有提供三个或更多自由度（DOF）的连接致动器。 末端执行器与基座组件串联并且具有提供一个或多个附加自由度的附加关节。 基座组件和末端执行器支持任务负载，包括物体的重量和/或反作用力矩。 传感器测量关节位置。 控制器接收测量位置，控制关节致动器以支持任务负载，并延伸对象的运动范围。 一种方法包括当操作者操纵物体时接收位置信号，使用测量位置产生输出信号，并将输出信号发送到关节致动器以控制关节致动器，支撑任务负载，并且延伸一定范围的运动 物体。