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公开(公告)号：US20230122717A1
公开(公告)日：2023-04-20
申请号：US17920934
申请日：2021-12-02
Applicant: NSK LTD.
Inventor： Kohei SHIRAHAMA , Sumio SUGITA , Satoshi INAGAKI
Abstract: A robot mechanism is provided with a parallel link including a first output base, a first parallel link mechanism disposed on a first side of the first output base, and a second parallel link mechanism and an end effector disposed on a second side of the first output base. The first parallel link mechanism includes a first driver that generates a linear motion output and a second driver that generates a linear motion output. A tilting link mechanism including a mass body that generates a second moment load in a direction to reduce a first moment load exerted on the first parallel link mechanism by the weight of the second parallel link mechanism and the end effector is connected to the first driver and the second driver.
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公开(公告)号：US20230122978A1
公开(公告)日：2023-04-20
申请号：US17921173
申请日：2021-12-02
Applicant: NSK LTD.
Inventor： Satoshi INAGAKI , Sumio SUGITA
Abstract: A driving device includes a corrector, an actuator, and a position sensor. The actuator includes a nut connected to a movable part, a ball screw shaft onto which the nut is screwed, and a pulse motor that drives to rotate the ball screw shaft. The corrector includes a correction amount map in which a position correction amount for calibrating a predictable error is mapped for each position of the movable part. The corrector estimates an ideal movement position to which the movable part moves based on a command signal and refers to the correction amount map to calculate the position correction amount corresponding to a present position detected by the position sensor. The corrector generates a correction signal by correcting the command signal so as to reduce the difference between a corrected present position obtained by correcting the present position by the position correction amount and the ideal movement position.
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