公开(公告)号：US09383832B1

公开(公告)日：2016-07-05

申请号：US14218274

申请日：2014-03-18

Applicant: Moog Inc.

Inventor： Pieter Lammertse

IPC: G05B11/01 ,  G06F3/0346 ,  B25J9/16

CPC classification number: G06F3/0346 ,  A61B34/30 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B2018/00297 ,  B25J9/1694 ,  G05G9/047 ,  G05G2009/04766 ,  G06F3/016 ,  Y10S901/14 ,  Y10S901/46

Abstract: A haptic arm comprising: a user connection element; a reference; a first linkage connecting the user connection element to the reference, where the first linkage provides at least six independent degrees of freedom, and contains an intermediate link, three force sensors, three angle sensors; a second linkage connecting the intermediate link to the reference; a third linkage connecting the intermediate link to the reference a fourth linkage connecting the intermediate link to the reference; the second, third, and fourth linkages each containing an independent actuator and position sensor.

Abstract translation: 一种触觉臂，包括：用户连接元件; 参考; 连接所述用户连接元件与所述基准的第一连杆，其中所述第一连杆提供至少六个独立的自由度，并且包含中间连杆，三个力传感器，三个角度传感器; 将所述中间链路连接到所述参考的第二连接; 将所述中间链路连接到所述基准的第三连杆，将所述中间连杆连接到所述基准的第四连杆; 第二，第三和第四连杆，每个连杆包含独立的致动器和位置传感器。