KR101895705B1 - Positioning robot - Google Patents

Abstract

A positioning robot according to one embodiment includes a link structure including an action end having at least two degrees of freedom movement on one plane; And one counter mass located on the link structure (50) opposite to the action end and performing a gravity compensating action so that the link structure (50) can maintain a constant potential energy.

Description

Positioning Robot {POSITIONING ROBOT}

The following description relates to a positioning robot.

Robots have been used in various fields such as medical field and industrial field. For example, in the medical field, a positioning arm, which is part of a slave system of a surgical robot system and can position a surgical instrument and a robot arm freely and stably, Is used.

Positioning arms with two degrees of freedom are commonly used, and are widely used in surgical robots such as laparoscopic surgery robots and da Vinci systems.

The weight of the position adjusting arm or the weight of the instrument loaded in the position adjusting arm acts on the joint of the position adjusting arm to generate a gravity torque. In order to keep the position of the position adjusting arm constant, it is necessary to apply a counter balancing mechanism for compensating the gravity torque. For example, when the user moves the position adjusting arm A brake, a motor, a spring, a counter mass, or the like may be used.

However, in the case of the method using the brakes, when the brakes are unfastened to adjust the position of the position adjusting arm, the weight of the position adjusting arm still needs to be adjusted by a person There was a problem to endure.

There is a problem that an excessive load is applied even if an actuator such as a motor is used. To cope with this problem, there is a problem that the price is high, the volume is large, and the efficiency is inefficient compared with the volume.

In the case of the spring, the compensating force of the spring is non-linearly changed according to the movement of the position adjusting arm, so that it is difficult to accurately compensate and there is a problem that the performance is changed due to the fatigue of the spring.

In addition, when the counter masses are installed in the multi-degree-of-freedom mechanism, generally one counter mass is required for one degree of freedom, and accordingly, the driving torque is increased due to an increase in the additional weight.

An object of one embodiment is to provide a positioning robot.

A positioning robot of an embodiment includes a link structure including an action end having at least two degrees of freedom movement on one plane; And one counter mass located on the opposite side of the action end on the link structure, and when the external force does not act on the link structure, the link structure maintains a constant state.

The positioning robot of one embodiment further includes a base having a fixed shaft to which the link structure is rotatably connected on the one plane

The link structure includes: a first main rotation arm rotatable with respect to the fixed shaft; A second main rotation arm rotatable with respect to the fixed shaft; A first actuating arm rotatably connected to the second main rotating arm; A second actuating arm rotatably connected to the first main rotating arm; A first acting arm rotatably connected between the second working arm and the second main rotating arm, respectively; A first compensation arm rotatably connected to the second main rotation arm; And a second compensation arm rotatably connected between the first compensation arm and the second main rotation arm, respectively.

The first main rotating arm, the first working arm, and the second compensating arm may be parallel to each other, and the second main rotating arm, the second working arm, and the first compensating arm may be parallel to each other.

The action end may be disposed in either the first action arm or the second action arm, and the counter mass may be disposed in any one of the first compensation arm and the second compensation arm.

And a handle provided on the working end and operable by a user.

Wherein the working end is provided at an end of the first working arm and the counter mass is located on the first compensating arm at a position spaced apart from the connecting portion of the first main rotating arm and the first compensating arm by a first length And the mass and the first length of the counter mass can be determined according to the following equation.

[Equation 1]

&Quot; (2) "

(here,

M ₁ : mass of the counter mass,

M ₂ : mass of the first main rotating arm,

M ₃ : Mass of the second compensating arm,

M ₄ : mass of the second main rotating arm,

M ₅ : mass of secondary acting arm,

M ₆ : mass of primary acting arm,

M ₇ : mass of the first compensation arm,

M ₈ : Mass of handle,

l ₁ : distance between the fixed shaft and the connecting portion of the first main rotating arm and the first compensating arm,

l ₂ : a distance between the first length or the counter masses and the connection of the first main rotating arm and the first compensating arm

l ₃ : distance between the fixed axis and the center of gravity of the first main rotating arm,

l ₄ is the distance between the center of gravity of the second compensating arm and the connecting portion of the second compensating arm and the second main rotating arm,

l ₅ : distance between the fixed shaft and the connecting portion of the second compensating arm and the second main rotating arm,

l ₆ : Distance between the fixed axis and the center of gravity of the second main rotating arm,

l ₇ : distance between the fixed shaft and the connecting portion of the first main rotating arm and the second working arm,

l ₈ is the distance between the center of gravity of the second working arm and the connecting portion of the first main rotating arm and the second working arm,

l ₉ : Distance between the fixed shaft and the connecting portion of the second main rotating arm and the first working arm

l ₁₀ : Distance between the center of gravity of the first acting arm and the connecting portion of the second main rotating arm and the first acting arm.

l ₁₁ is the distance between the center of gravity of the first compensating arm and the connecting portion of the first main rotating arm and the first compensating arm,

l ₁₂ is the distance between the center of gravity of the handle and the connecting portion of the second main rotating arm and the first working arm.

The base includes a base rotation axis rotatably mounted to the mating structure, and the working end can have three degrees of freedom motion.

The direction of the base rotation axis with respect to the mating structure may be parallel to the gravity direction.

The fixed shaft

Wherein the connecting portion of the first working arm and the second working arm is located between the connecting portion of the second working arm and the first main rotating arm and the connecting portion of the first compensating arm and the first main rotating arm, And the connecting portion of the first main rotary arm and the first actuating arm, and the connecting portion of the first main rotary arm and the first compensating arm is located between the connecting portion of the counter mass and the first compensating arm and the second compensating arm, And the connecting portion of the second compensating arm and the second main rotating arm is located between the connecting portion of the first main rotating arm and the connecting portion of the second main rotating arm and the connecting portion of the second main rotating arm and the connecting portion As shown in FIG.

Wherein a distance from the fixed shaft to the connecting portion of the second main rotating arm and the first working arm is a distance from a connecting portion of the first main rotating arm and the second working arm to a connecting portion of the first working arm and the second working arm And the distance from the connecting portion of the second main rotating arm and the second compensating arm to the connecting portion of the first compensating arm and the second compensating arm is equal to or greater than the distance from the fixed axis to the connecting portion of the first compensating arm and the first main rotating arm The distance may be the same.

Wherein the first main rotation arm rotates so as to have an arbitrary first degree of freedom rotation angle with respect to an imaginary line horizontally traversing the fixed axis on the fixed axis, Axis, and may be rotated to rotate at an arbitrary second degree of freedom with respect to an imaginary line horizontally traversing the fixed axis.

When the positioning robot is moved to rotate the first main rotation arm to have any arbitrary first degree of freedom rotation angle, the first and second main rotary arms, the first and second working arms, The gravity torque value generated by the self weight of the first and second compensation arms and the handle and the compensation torque value generated by the self weight of the counter mass cancel each other out.

The first and second main rotary arms, the first and second actuating arms, the first and second actuating arms, the first and second actuating arms, and the first and second actuating arms, The gravity torque value generated by the self weight of the first and second compensation arms and the handle and the compensation torque value generated by the self weight of the counter mass cancel each other out.

In the positioning robot, the rotation moment value due to the self-weight of the positioning robot may be always 0 with respect to the fixed axis.

According to the positioning arm according to the embodiment, even if one counter mass is used, it is possible to apply gravity compensation according to two degrees of freedom movement on a plane.

According to the positioning arm according to the embodiment, even if the size, shape, and mass condition of the positioning arm change, it is possible to set the mass of the counter mass and the length of the link appropriate for gravity compensation through the set negative equation.

1 is a side view of a positioning robot according to an embodiment.
2 is a side view showing a first degree of freedom operation of a positioning robot according to one embodiment;
3 is a side view illustrating a second degree of freedom operation of the positioning robot according to one embodiment.
4 is a diagram showing various dimensions of the components of the positioning robot according to one embodiment.
FIG. 5 is a graph showing the gravity compensation effect of the first degree of freedom operation of the positioning robot according to one embodiment.
6 is a graph showing a gravity compensating effect of the second DOF motion of the positioning robot according to an embodiment.

Hereinafter, embodiments will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments, detailed description of known functions and configurations incorporated herein will be omitted when it may make the best of an understanding clear.

In describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected," "coupled," or "connected. &Quot;

The components included in any one embodiment and the components including common functions will be described using the same names in other embodiments. Unless otherwise stated, the description of any one embodiment may be applied to other embodiments, and a detailed description thereof will be omitted in the overlapping scope.

Fig. 1 is a side view of a positioning robot according to an embodiment, Fig. 2 is a side view showing one-degree-of-freedom operation of a positioning robot according to an embodiment, and Fig. 3 is a side view of a positioning robot according to an embodiment, Fig.

Referring to FIGS. 1 to 3, the positioning robot 100 according to an embodiment may be a robot manipulator or a robot arm, which is movable in at least two directions on a plane, and to which a gravity compensation mechanism is applied.

The positioning robot 100 may include a link structure 50, a base 40, a counter mass C and a handle H. [

The link structure 50 may be such that a plurality of links or arms are rotatably connected to each other. The link structure 50 includes a first main rotating arm 11, a second main rotating arm 12, a first working arm 21, a second working arm 22, a first compensating arm 31, a second compensating arm 32, and an operative end.

Each of the arms 11, 12, 21, 22, 31, 32 may be a link or an arm of a shape extending in both ends, 2 and 3, they can be rotatably connected to each other on the same plane. Here, the direction of rotation is defined as a first direction of rotation.

The first main rotary arm 11 is rotatable in order to realize the operation of the link structure 50 and is provided with a first compensation arm 31 on both sides of the first main rotary arm 11, And the second working arm 22 may be rotatably connected in the first rotating direction and may be connected to both ends of the first main rotating arm 11, for example. The first main rotating arm 11 may be provided with a fixed shaft 41 between both ends thereof.

As shown in Fig. 1, the fixed shaft 41 can be rotatably installed between both ends of the first main rotary arm 11. The fixed shaft 41 can be rotatably fixed to the mating member in the first rotational direction. For example, the fixed shaft 41 can be fixed to the base 40 to be described later.

1 to 3, the first main rotating arm 11 and the second main rotating arm 12 to be described later have a fixed shaft 41 rotatably fixed to the base 40, In the first rotation direction.

The second main rotating arm 12 can be rotatably connected to the fixed shaft 41 of the first main rotating arm 11 in the first rotating direction and the first working arm 21 and the second compensating arm 32, respectively.

1 to 3, one end of the second main rotary arm 12 may be rotatably connected to the fixed shaft 41 of the first main rotary arm 11, and the other end of the second main rotary arm 12 may be rotatably connected to the first Can be rotatably connected to the working arm 21, and between the both ends, the second compensating arm 32 can be rotatably connected.

The first actuating arm 21 may be rotatably connected to the second main rotary arm 12 in the first rotational direction and may be rotatably connected to the second actuating arm 22.

For example, the first working arm 21 may be connected at one end to the second main rotary arm 12, and the other end may be provided with a handle H to be described later. The first working arm 21, The second actuating arm 22 can be rotatably connected between both ends of the second actuating arm 22.

The second working arm 22 can be rotatably connected in the first rotating direction between the first working arm 21 and the first main rotating arm 11 and can be rotatably connected, (11), and the other end may be connected to the first working arm (21).

For example, the distance between the connecting portions of the first working arm 21 and the second main rotating arm 12 and the connecting portions of the first main rotating arm 11 and the second main rotating arm 12, May be the same as the distance from the connecting portion of the first operating arm 21 and the second operating arm 22 to the connecting portion of the first main rotating arm 11 and the second operating arm 22. [ In other words, the length of the second main rotating arm 12 and the length of the second working arm 22 may be the same.

2 and 3, the first main rotating arm 11 is fixed to the first main rotating arm 11 and the first working arm 21 in a state of being fixed to the fixed shaft 41, The first arm 12 and the second arm 22 can be moved parallel to each other and the second arm 12 and the second arm 22 can move in parallel with each other. The other arms can move together at the same time.

The first compensating arm 31 may be rotatably connected to the first main rotating arm 11 in the first rotating direction and rotatably connected to the second compensating arm 32 in the first rotating direction, A counter mass C for gravity compensation may be provided on one side.

For example, the first compensating arm 31 can be connected to the second compensating arm 32 at one end and counter mass C at the other end as shown in Figs. 1 to 3, And may be rotatably connected to the first main rotating arm 11. [

The second compensation arm 32 may be rotatably connected to the first main rotation arm 11 in the first rotation direction and may be rotatably connected to the first compensation arm 31 in the first rotation direction.

For example, the second compensating arm 32 may be connected at one end to the second main rotary arm 12 and at the other end to the first compensating arm 31.

For example, the distance from the connecting portion of the second main rotating arm 12 and the second compensating arm 32 to the connecting portion of the first compensating arm 31 and the second compensating arm 32 is May be the same as the distance between the first compensating arm 31 and the connecting portion of the first main rotary arm 11.

2 and 3, the first main rotating arm 11 is fixed to the first main rotating arm 11 and the second compensating arm 32 while being fixed to the fixed shaft 41, And the second main rotation arm 12 and the first compensation arm 31 can also be moved in parallel with each other.

Accordingly, the first main rotating arm, the first working arm, and the second compensating arm can be kept parallel to each other, and the second main rotating arm, the second working arm, and the first compensating arm can also be in parallel Lt; / RTI >

According to the above-described link structure 50, even if only one arm of the six arms 11, 12, 21, 22, 31, 32 is moved, the remaining five arms can move simultaneously, It may be possible to move two degrees of freedom.

The working end may be the point where an external force is applied from the user or an external device. The working end may, for example, be located at one side of the first working arm 21, but it may be provided at one side of the second working arm 22 as well. For example, the working end may be provided at the distal end of the first working arm 21, as shown in Fig. 1, and at that point a handle H may be provided.

The first main rotating arm 11 and the second main rotating arm 12 are fixed to the base 40 by a fixing shaft 41 fixed to the base 40, (41) in the first rotation direction.

For example, the base 40 may include a base rotation shaft 42 that can be rotatably fixed to the mating structure from above on the first rotation direction and a second rotation direction different from the first rotation direction.

For example, the axis of the second rotation direction may coincide with the vertical direction as shown in Fig. 1, and may be orthogonal to the axis of the first rotation direction.

With the base rotation axis 42, the positioning robot 100 can rotate with respect to the second rotation direction, that is, the vertical direction, in addition to the link structure 50 moving in two planes on the plane , 3 degrees of freedom movement within the available range may be possible.

The handle H may be a device for grasping by a user to manipulate the positioning robot 100, or may be an additionally attached controller.

The handle H may be provided at the operative end located in the first operative arm 21 or the second operative arm 22 and the operative end may be located in the first operative arm 21, The handle H can also be provided at the distal end of the first working arm 21. In this way,

The counter mass C is capable of generating torque and energy further generated by the own load of the components of the positioning robot 100 such as the link structure 50 and the handle H when the positioning robot 100 moves It may be one mass attached to the link structure 50 for offsetting.

For example, the counter mass C may be installed at one side of the first compensating arm 31 or the second compensating arm 32. In this specification, the counter mass C is defined as being installed at the end of the first compensating arm 31 as shown in Figs. 1 to 3. Fig.

1, the counter mass C is arranged at a first distance l_2 (see Fig. 4) from the connecting portion of the first main rotating arm 11 and the first compensating arm 31 along the first compensating arm 31, ). ≪ / RTI > The mass M_1 (see Fig. 4) and the first distance l_2 of the counter mass C can be selected based on the following equation for the gravity compensation of the positioning robot 100.

The two-degree-of-freedom motion of the positioning robot 100 will be described with reference to Figs. 2 and 3. Fig.

Referring to FIG. 2, it can be seen that the positioning robot 100 moves in the first degree of freedom. Specifically, the first main rotary arm 11 is rotatably supported on the fixed shaft 41 in a state in which the second main rotary arm 12 is parallel to the fixed shaft 41 in the vertical direction, that is, It can rotate in one rotation direction.

In this case, the angle between the imaginary line orthogonal to the fixed axis 41 and the y-axis, that is, the angle between the x-axis and the first main rotary arm 11 can be defined as the first degree of freedom rotation angle?

The first working arm 21 and the second compensating arm 32 are also rotated in the first main rotating axis 11 with the first main rotating arm 11 rotated about the fixed axis 41 at the first degree of freedom rotational angle? Can be rotated about the y-axis by the first degree of freedom rotation angle [theta] _ 1 in parallel with the rotary arm 11. [

Referring to FIG. 3, it can be seen that the positioning robot 100 moves in the second degree of freedom. Specifically, the first main rotary arm 11 is fixed to the fixed shaft 41 in the horizontal direction, that is, in the x-axis direction, and the second main rotary arm 12 is fixed to the fixed shaft 41 It can rotate in one direction.

In this case, the angle between the imaginary line orthogonal to the fixed axis 41 and the x-axis, that is, the y-axis and the second main rotary arm 12 can be defined as the second degree of freedom rotation angle? _2. The first working arm 21 and the second compensating arm 32 are also rotated in the first main arm 12 as the second main rotating arm 12 rotates at the second degree of freedom rotational angle? Can be rotated by the second degree of freedom rotation angle? _2 with respect to the y-axis in parallel with the rotary arm 11.

As described above, as the first main rotation arm 11 and the second main rotation arm 12 rotate at the first degree of freedom rotation angle? _ 1 and the second degree of freedom rotation angle? _ 2 with respect to the fixed axis, respectively , The link structure 50 can perform two degrees of freedom motion on the xy plane.

Fig. 4 is a view showing dimensions of components of a positioning robot according to an embodiment. Fig.

Referring to FIG. 4, dimensions necessary for calculation for applying gravity compensation to the positioning robot 100 can be confirmed.

The counter mass C may be provided to apply the gravity compensation to the positioning robot 100 and more specifically the mass of the counter mass C and the counter mass C may be provided from the first main rotary arm 11 The first distance l_2 spaced apart along the first compensating arm 31 can be adjusted to perform the gravity compensation of the positioning robot 100. [

Can be obtained using the Euler-Lagrange equation under a condition satisfying the static equilibrium state with respect to the positioning robot 100 system to obtain the mass of the counter mass C and the first distance l_2 .

The Lagrangian (L) of the positioning robot (100) system for obtaining the Euler-Lagrangian equation can be obtained by the following equation (1).

here,

L: Lagrangian

T: kinetic energy

V: Position energy

According to Equation (1), since the kinetic energy of the positioning robot 100 in the static equilibrium state is zero, Lagrangian can be -V.

In order to obtain the positional energy of the positioning robot 100, the position and the position of the mass and the center of gravity of the link structure 50 of the positioning robot 100, the handle and the countermesh, respectively, Is the origin of the xy plane, the position of the center of gravity of each component and the vertical position from the y-axis are shown in Fig.

Referring to FIG. 4, the values of the vertical positions of the respective components of the positioning robot 100 can be obtained by the following equations (2) to (5) using the trigonometric ratio.

here,

? 1: first degree of freedom rotation angle? _2: second degree of freedom rotation angle

h1: Vertical position of the counter mass (C)

h2: vertical position of the center of gravity of the first main rotating arm (11)

h3: vertical position of the center of gravity of the second compensating arm 32

h4: vertical position of the center of gravity of the second main rotating arm (12)

h5: vertical position of the center of gravity of the second acting arm 22

h6: vertical position of the center of gravity of the first acting arm 21

h7: vertical position of the center of gravity of the first compensating arm (31)

h8: Vertical position of the center of gravity of the handle (H)

l_1: distance between the fixed shaft 41 and the connecting portion of the first main rotating arm 11 and the first compensating arm 31

l_2 is the distance between the counter mass C and the connecting portion of the first main rotating arm 11 and the first compensating arm 31

l_3: distance between the fixed axis 41 and the center of gravity of the first main rotating arm 11

l_4 is the distance between the center of gravity of the second compensating arm 32 and the connecting portion of the second compensating arm 32 and the second main rotating arm 12

l_5: distance between the fixed shaft 41 and the connecting portion of the second compensating arm 32 and the second main rotating arm 12

l_6: distance between the center of gravity of the fixed shaft 41 and the center of gravity of the second main rotating arm 12

l - 7: distance between the fixed shaft 41 and the connecting portion of the first main rotating arm 11 and the second working arm 22

l_8 is the distance between the center of gravity of the second working arm 22 and the connecting portion of the first main rotating arm 11 and the second working arm 22

l_9: Distance between the fixed shaft 41 and the connecting portion of the second main rotating arm 12 and the first working arm 21

l_10: Distance between the center of gravity of the first working arm 21 and the connecting portion of the second main rotating arm 12 and the first working arm

l_11 is the distance between the center of gravity of the first compensating arm 31 and the connecting portion of the first main rotating arm 11 and the first compensating arm 31

12: distance between the center of gravity of the handle H and the connecting portion of the second main rotating arm 12 and the second working arm 22

The position energy of the positioning robot 100 can be calculated and calculated according to the following Equation (6) through the vertical position values of the components obtained in Equations (2) to (5).

here,

M_1: Mass of the counter mass (C)

M_2: Mass of the first main rotating arm (11)

M_3: mass of the second compensation arm 32

M_4: Mass of the second main rotating arm (12)

M_5: mass of the second acting arm 22

M_6: Mass of the first acting arm (21)

M_7: Mass of first compensation arm 31

M_8: Mass of handle (H)

The Lagrangian value can be obtained through the potential energy obtained from the equation (6), and the calculation result obtained by substituting Lagrangian (L) into the Euler-Lagrange equation is shown in the following equation (7).

here,

k: degree of freedom k (k = 1, 2)

θ_k: kth degree of freedom rotation angle

Here, the derived equation can be summarized by a formula relating to a torque according to a first degree of freedom rotation angle [theta] _ 1 corresponding to the first degree of freedom and a second degree of freedom rotation angle [theta] __ corresponding to the second degree of freedom, The formulas of the torques for the first degree of freedom rotation angle [theta] _ 1 and the second degree of freedom rotation angle [theta] _2 may be summarized as the following equations (8) and (9).

here,

? _? 1: first degree of freedom torque

τ_θ_2: second degree of freedom torque

If Equations 8 and 9 can be satisfied, the positioning robot 100 can compensate for gravity at any angle.

Referring to Equations (8) and (9), the first degree of freedom torque? (? _? _ 1) and the second degree of freedom torque? (? __2) can distinguish the term to which the mass value M_1 of the counter mass , The former and the latter can be defined as compensation torque and gravity torque, respectively.

Here, the gravity torque may be a torque generated by the own weight of the components of the positioning robot 100, excluding the counter mass C, and the compensation torque may be a torque generated by the weight of the counter mass C .

In Equations (8) and (9), each equation can be summarized as Equations (10) and (11) as a function of mass and distance only, excluding sin and cos functions.

The mass M1 and the counter mass C of the counter mass C for gravity compensation of the positioning robot 100 are calculated by the first main rotary arm 11 and the first compensation A first distance l_2 that is a distance from the connecting portion of the arm 31 can be obtained.

According to the above Equations 1 to 11, even if the positions of the mass and the center of gravity of the respective components of the positioning robot 100 are arbitrarily set, even if one counter mass C is used, the proper position and mass necessary for gravity compensation The gravity compensation of the positioning robot 100 can be realized.

FIG. 5 is a graph showing the effect of gravity compensation of a first degree of freedom operation of a positioning robot according to an embodiment, and FIG. 6 is a graph showing the effect of gravity compensation of a two degrees of freedom operation of a positioning robot according to an embodiment Graph.

Specifically, FIG. 5 illustrates a relationship between the first degree of freedom rotation angle? _ 1 and the first degree of freedom rotation angle? _ 1 as the positioning robot 100 to which gravity compensation is applied performs the first degree of freedom movement, ), The compensation torque, and the difference between the gravity torque and the compensation torque.

5, it can be seen that the difference between the gravity torque and the compensation torque with respect to the first degree of freedom rotation angle [theta] _ 1 converges to 0, which indicates that the positioning robot 100 performs the first degree of freedom operation This means that the gravity torque due to the self weight of the link structure 50 of the positioning robot 100 is always canceled by the compensation torque by the weight of the counter mass C. [

Specifically, FIG. 6 shows a relationship between the second degree of freedom rotation angle? _2 and the second degree of freedom rotation angle? _2 as the positioning robot 100 to which gravity compensation is applied performs the second degree of freedom movement, ), The compensation torque, and the difference between the gravity torque and the compensation torque.

6, it can be seen that the difference between the gravity torque and the compensation torque with respect to the second degree of freedom rotation angle [theta] _2 converges to 0, which means that the positioning robot 100 performs the second degree of freedom operation This means that the gravity torque due to the self weight of the link structure 50 of the positioning robot 100 is always canceled by the compensation torque by the weight of the counter mass C. [

According to the above structure, even if the positioning robot 100 performs the first degree of freedom and the second degree of freedom operation so as to have the arbitrary first degree of freedom rotation angle? 1 and the second degree of freedom rotation angle? In other words, even if the positioning robot 100 is at any position and angle, the torque and energy due to the own weight of the positioning robot 100 are not generated. Therefore, in using the positioning robot 100, It may be possible to steer.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. For example, it is contemplated that the techniques described may be performed in a different order than the described methods, and / or that components of the described structures, devices, and the like may be combined or combined in other ways than the described methods, Appropriate results can be achieved even if they are replaced or replaced.

Therefore, other implementations, other embodiments and equivalents to the claims are within the scope of the following claims.

Claims (14)

A link structure including an action end having at least two degrees of freedom motion on one plane;
One counter mass located on the link structure opposite the working end; And
Wherein the link structure includes a base having a fixed shaft connected to be rotatable on the one plane,
If no external force acts on the link structure, the link structure maintains a constant state,
The link structure includes:
A first main rotation arm rotatable with respect to the fixed shaft;
A second main rotation arm rotatable with respect to the fixed shaft;
A first actuating arm rotatably connected to the second main rotating arm;
A second actuating arm rotatably connected to the first main rotating arm;
A first acting arm rotatably connected between the second working arm and the second main rotating arm, respectively;
A first compensation arm rotatably connected to the second main rotation arm; And
And a second compensation arm rotatably connected between the first compensation arm and the second main rotation arm, respectively.
delete The method according to claim 1,
Wherein the first main rotating arm, the first working arm and the second compensating arm are parallel to each other,
Wherein the second main rotating arm, the second working arm, and the first compensating arm are parallel to each other.

The method of claim 3,
The working end is disposed in either the first working arm or the second working arm,
Wherein the counter mass is disposed on any one of the first compensation arm and the second compensation arm.
The method of claim 3,
A positioning robot mounted on the working end and further comprising a handle operable by a user,
6. The method of claim 5,
Wherein the action end is provided at an end of the first action arm,
Wherein the counter mass is provided on the first compensation arm at a position spaced apart from the connection portion of the first main rotation arm and the first compensation arm by a first length,
Wherein the mass of the counter mass and the first length are determined according to the following equation.
[Equation 1]

&Quot; (2) "

(here,
M ₁ : mass of the counter mass,
M ₂ : mass of the first main rotating arm,
M ₃ : Mass of the second compensating arm,
M ₄ : mass of the second main rotating arm,
M ₅ : mass of secondary acting arm,
M ₆ : mass of primary acting arm,
M ₇ : mass of the first compensation arm,
M ₈ : Mass of handle,
l ₁ : distance between the fixed shaft and the connecting portion of the first main rotating arm and the first compensating arm,
l ₂ : a distance between the first length or the counter masses and the connection of the first main rotating arm and the first compensating arm
l ₃ : distance between the fixed axis and the center of gravity of the first main rotating arm,
l ₄ is the distance between the center of gravity of the second compensating arm and the connecting portion of the second compensating arm and the second main rotating arm,
l ₅ : distance between the fixed shaft and the connecting portion of the second compensating arm and the second main rotating arm,
l ₆ : Distance between the fixed axis and the center of gravity of the second main rotating arm,
l ₇ : distance between the fixed shaft and the connecting portion of the first main rotating arm and the second working arm,
l ₈ is the distance between the center of gravity of the second working arm and the connecting portion of the first main rotating arm and the second working arm,
l ₉ : Distance between the fixed shaft and the connecting portion of the second main rotating arm and the first working arm
l ₁₀ : Distance between the center of gravity of the first acting arm and the connecting portion of the second main rotating arm and the first acting arm.
l ₁₁ is the distance between the center of gravity of the first compensating arm and the connecting portion of the first main rotating arm and the first compensating arm,
l ₁₂ is the distance between the center of gravity of the handle and the connecting portion of the second main rotating arm and the first working arm.
The method according to claim 1,
The base includes a base rotation shaft rotatably installed in the mating structure,
Said working end having a three degree of freedom motion.
8. The method of claim 7,
Wherein the direction of the base rotation axis with respect to the mating structure is parallel to the gravity direction.
6. The method of claim 5,
The fixed shaft
A second main arm connected to the first main arm and the first main arm,
Wherein the connecting portion of the first working arm and the second working arm is formed by a non-
And a second operating arm disposed between the handle and the connecting portion of the first main rotating arm and the first working arm,
The connecting portion of the first main rotating arm and the first compensating arm may be formed,
A second compensating arm which is located between the counter masses and the connecting portions of the first compensating arm and the second compensating arm,
And the connecting portion of the second compensating arm and the second main rotating arm,
And a connecting portion of the first main rotating arm and the second main rotating arm and a connecting portion of the second main rotating arm and the first working arm.
10. The method of claim 9,
And a distance from the fixed shaft to the connection portion of the second main rotating arm and the first working arm,
Is equal to a distance from a connecting portion of the first main rotating arm and the second working arm to a connecting portion of the first working arm and the second working arm,
The distance from the connecting portion of the second main rotating arm and the second compensating arm to the connecting portion of the first compensating arm and the second compensating arm,
And a distance from the fixed shaft to the connecting portion of the first compensating arm and the first main rotating arm.
6. The method of claim 5,
The first main rotation arm
Wherein the fixed shaft is rotated so as to have an arbitrary first degree of freedom rotation angle with respect to an imaginary line horizontally traversing the fixed shaft,
Wherein the second main rotation arm comprises:
And rotates on the fixed axis so as to have an arbitrary second degree of freedom rotation angle with reference to an imaginary line horizontally traversing the fixed axis.
12. The method of claim 11,
When the positioning robot is moved to rotate the first main rotating arm to have any of the first degrees of freedom rotation,
A gravity torque value generated by the self weight of the first and second main rotary arms, the first and second actuating arms, the first and second compensating arms, and the handle with respect to the fixed shaft is generated by the self weight of the counter mass The compensating torque values are canceled each other.
12. The method of claim 11,
When the positioning robot is moved to rotate the second main rotation arm to have any second degree of freedom rotation angle,
A gravity torque value generated by the self weight of the first and second main rotary arms, the first and second actuating arms, the first and second compensating arms, and the handle with respect to the fixed shaft is generated by the self weight of the counter mass The compensating torque values are canceled each other.
The method of claim 3,
Wherein the positioning robot is such that a moment value due to the self weight of the positioning robot is always 0 on the basis of the fixed axis.

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