公开(公告)号：US20160361816A1

公开(公告)日：2016-12-15

申请号：US15233409

申请日：2016-08-10

Applicant: NTN CORPORATION

Inventor： Seigo SAKATA ,  Yukihiro NISHIO ,  Hiroshi ISOBE ,  Hiroyuki YAMADA

IPC: B25J9/16 ,  F16H21/46

CPC classification number: B25J9/1623 ,  B25J9/1651 ,  F16H21/46

Abstract: In this link actuation device, arms of a plurality of link mechanisms are driven to be rotated by actuators, whereby the posture of a distal end side link hub is changed. A divided section setter divides a trajectory on a work surface on which an end effector works, into a plurality of sections at pass points and sets the sections. An arm rotation speed calculator calculates a rotation speed at which each arm performs constant speed rotation in each section on the basis of: a time period of movement in the section which is determined from a target moving speed and the distance of the section; and a rotation-angular movement amount of the arm in the section. A posture change controller performs positioning control on each actuator so as to cause its corresponding arm to continuously rotate at the corresponding rotation speed without acceleration/deceleration.

Abstract translation: 在该连杆致动装置中，多个连杆机构的臂由致动器驱动而旋转，由此改变前端侧连杆毂的姿势。 分割部分设定器将端部执行器工作的工作表面上的轨迹划分成通过点的多个部分并且设置该部分。 臂部旋转速度运算部，基于从目标移动速度和截面的距离确定的截面的移动时间，计算出各个臂在各部分中进行恒定速度旋转的旋转速度; 以及该部分中的臂的旋转角度运动量。 姿势改变控制器对每个致动器执行定位控制，以使其相应的臂在相应的转速下不加速/减速连续地旋转。

公开(公告)号：US20170268640A1

公开(公告)日：2017-09-21

申请号：US15614038

申请日：2017-06-05

Applicant: NTN CORPORATION

Inventor： Seigo SAKATA ,  Yukihiro NISHIO ,  Hiroshi ISOBE ,  Naoya KONAGAI ,  Hiroyuki YAMADA

IPC: F16H21/48 ,  G06F3/03 ,  B25J13/06 ,  B25J9/10 ,  B25J9/16

CPC classification number: F16H21/48 ,  B25J9/0048 ,  B25J9/106 ,  B25J9/108 ,  B25J9/1623 ,  B25J13/06 ,  B25J13/065 ,  F16C19/22 ,  F16H21/46 ,  G06F3/0321

Abstract: An operation device for a link actuating device (51) is provided with a target value input unit (57) having a height direction target value input portion (57z) that allows input of a movement amount in a height direction or a coordinate position in the height direction, which causes the distal end posture of the link actuating device (51) to be changed only in the height direction along a central axis of a proximal end side link hub (12). Input converter (58) is provided to calculate, by using an inputted value, a target distal end posture of the link actuating device (51). The Input converter (58) further calculates a command operation amount of each actuator (53) from the result of the calculation, and inputs the command operation amount to the control device (54).