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公开(公告)号：US20180079629A1
公开(公告)日：2018-03-22
申请号：US15803202
申请日：2017-11-03
发明人： Muhammad E. Abdallah , Clement Gosselin , Thierry Laliberte , Simon Foucault , Pascal Labrecque , James W. Wells , Jerome Landure
摘要： 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.
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公开(公告)号：US20170108098A1
公开(公告)日：2017-04-20
申请号：US15284043
申请日：2016-10-03
发明人： Muhammad E. Abdallah , Clément Gosselin , Thierry Laliberte , Simon Foucault , Pascal Labrecque , James W. Wells
CPC分类号： F16H21/54 , B25J9/0048 , B25J9/1065 , B25J17/00 , B25J17/0208 , F16H21/06
摘要： 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.
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公开(公告)号：US11318585B2
公开(公告)日：2022-05-03
申请号：US16840583
申请日：2020-04-06
摘要： An insertion system includes an insertion device including a body defining a longitudinal axis, the body including a wall having an outer surface and an inner surface defining a cylindrical opening through the body, the body having a first body portion and a second body portion formed by separating the body along the longitudinal axis, an effector configured to interface with the insertion device, the effector having an effector body, a first mechanism coupled to the effector body and coupled to the first body portion of the insertion device, and a second mechanism coupled to the effector body and coupled to the second body portion of the insertion device, and an insertion mechanism coupled with the effector body. The insertion mechanism enables a force application at a position offset from the insertion device.
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公开(公告)号：US10759634B2
公开(公告)日：2020-09-01
申请号：US15803202
申请日：2017-11-03
发明人： Muhammad E. Abdallah , Clement Gosselin , Thierry Laliberte , Simon Foucault , Pascal Labrecque , James W. Wells , Jerome Landure
IPC分类号： 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
摘要： 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.
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公开(公告)号：US20210308839A1
公开(公告)日：2021-10-07
申请号：US16840583
申请日：2020-04-06
摘要： An insertion system includes an insertion device including a body defining a longitudinal axis, the body including a wall having an outer surface and an inner surface defining a cylindrical opening through the body, the body having a first body portion and a second body portion formed by separating the body along the longitudinal axis, an effector configured to interface with the insertion device, the effector having an effector body, a first mechanism coupled to the effector body and coupled to the first body portion of the insertion device, and a second mechanism coupled to the effector body and coupled to the second body portion of the insertion device, and an insertion mechanism coupled with the effector body. The insertion mechanism enables a force application at a position offset from the insertion device.
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公开(公告)号：US11667043B2
公开(公告)日：2023-06-06
申请号：US17171549
申请日：2021-02-09
CPC分类号： B25J19/0016 , B25J9/0009 , B25J9/109 , B25J9/1065 , B25J9/144 , B25J9/1633 , B25J9/1638 , B25J13/088
摘要： An electromechanical system operates in part through physical interaction with an operator, and includes a multi-axis robot, a controller, and a counterbalance mechanism connected to the robot. The counterbalance mechanism includes a base structure connected to a set of linkages, a pneumatic cylinder, a spring-loaded cam assembly, and an optional constant force spring. The linkages form a four-bar parallelogram assembly connectable to a load. The cylinder and cam assembly, and optional constant force spring, each impart respective vertical forces to the parallelogram assembly. The forces combine to provide gravity compensation and self-centering functions or behaviors to the load, enabling the load to move with a vertical degree of freedom when manually acted upon by the operator, and to return the load to a nominal center position.
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公开(公告)号：US11505436B2
公开(公告)日：2022-11-22
申请号：US16516603
申请日：2019-07-19
摘要： An overhead system assists an operator in moving an object when the operator imparts a manual force to the object in a shared workspace characterized by overlapping ranges of motion of the robot and operator. The system includes an articulated serial robot, a cable, sensors, and a control system. One end of the cable connects to a distal end link of the robot. Another end of the cable connects to the object to suspend the object. The sensors measure a cable force and/or angle. The control system regulates operation of the robot by translating vertically and horizontally in response to the cable force and/or angle. The control system limits the position and/or velocity of the end link according to corresponding work space rules, including respective position and velocity limits, such that the system is immune to a single-point failure.
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公开(公告)号：US10583557B2
公开(公告)日：2020-03-10
申请号：US15429241
申请日：2017-02-10
摘要： A robotic system includes a jointed mechanism, position sensors, and a controller. The mechanism has an end-effector, and further includes actively-controlled joints and passive joints that are redundant with the actively-controlled joints. The position sensors are operable for measuring joint positions of the passive joints. The controller is in communication with the position sensors, and is programmed to execute a method to selectively control the actively-controlled joints in response to the measured joint positions using force control and/or a modeled impedance of the robotic mechanism. Possible control modes in impedance control include an Autonomous Mode in which an operator does not physically interact with the end-effector and a Cooperative Control Mode in which the operator physically interacts with the end-effector.
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9.发明申请LOW-IMPEDANCE ARTICULATED DEVICE AND METHOD FOR ASSISTING A MANUAL ASSEMBLY TASK 审中-公开低阻抗装置和用于辅助手动组装任务的方法公开(公告)号：US20160039093A1
公开(公告)日：2016-02-11
申请号：US14811072
申请日：2015-07-28
发明人： Muhammad E. Abdallah , Dalong Gao , Clement Gosselin , Jacques Hache , Pascal Labrecque , Jianying Shi
CPC分类号： B25J9/1687 , B25J5/04 , B25J9/0018 , B25J9/046 , B25J9/1065 , B25J9/1615 , Y10S901/09
摘要： 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.
摘要翻译： 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。
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10.发明授权公开(公告)号：US12005583B2
公开(公告)日：2024-06-11
申请号：US17666699
申请日：2022-02-08
发明人： Muhammad E. Abdallah
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1664
摘要： A robotic system for use with a payload includes a robot, a passive compliance mechanism, position sensors, and an electronic control unit (ECU). Actuated joints of the robot provide the robotic system with actuated degrees of freedom (DOF). The compliance mechanism is connected to the robot and payload, and has unactuated joints providing the robotic system with unactuated DOF. The sensors measure joint positions of the joints. The ECU has a trajectory generator block which generates a payload trajectory signal in response to dynamic control inputs, and an impedance control unit (ICU) applying damping and stiffness parameters to the payload trajectory signal to generate an initial velocity command. A stiction compensation block allows the robotic system to generate a velocity offset, and applies the velocity offset to the initial velocity command to produce a final velocity command for the robot.
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