WO1995007793A3 - Force and position controlled manipulator - Google Patents

Force and position controlled manipulator Download PDF

Info

Publication number
WO1995007793A3
WO1995007793A3 PCT/US1994/010091 US9410091W WO9507793A3 WO 1995007793 A3 WO1995007793 A3 WO 1995007793A3 US 9410091 W US9410091 W US 9410091W WO 9507793 A3 WO9507793 A3 WO 9507793A3
Authority
WO
WIPO (PCT)
Prior art keywords
housing
manipulator
force
joint
gimbaled
Prior art date
Application number
PCT/US1994/010091
Other languages
French (fr)
Other versions
WO1995007793A2 (en
Inventor
Thomas W Engel
Randall Roberts
Robert H Dold
John L Kettle
Steve J Mezei
Original Assignee
United Technologies Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by United Technologies Corp filed Critical United Technologies Corp
Priority to AU76456/94A priority Critical patent/AU7645694A/en
Publication of WO1995007793A2 publication Critical patent/WO1995007793A2/en
Publication of WO1995007793A3 publication Critical patent/WO1995007793A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B23Q1/34—Relative movement obtained by use of deformable elements, e.g. piezoelectric, magnetostrictive, elastic or thermally-dilatable elements
    • B23Q1/36—Springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism

Abstract

A manipulator (26) for controlling force and position of a retained device (22) is disclosed. Various construction details are disclosed that provide a manipulator (26) which is back driveable and which provides planar control of both force and position of the device relative to an object being worked on. In a particular embodiment, the manipulator (26) includes an actuator assembly (46) having two pairs of voice coils (58, 59), a housing (56) gimbaled to a frame (45) and engaged with the actuator assembly (46) through a universal joint (54), and a tool (22) retained in a distal end of the housing (56). Excitation of the voice coils (58, 59) produces a planar force on the joint (54). Movement of the joint (54) results in pivoting of the housing (56) about the gimbal (76) and spherical motion of the device. In a further embodiment, the manipulator (26) includes a body (57) gimbaled to the housing (56) and a plurality of force transducers (82) disposed about the body (57) and between the body (57) and housing (56). Forces on the device may be measured by the response of the transducers (82). In another embodiment, the manipulator (26) includes a plurality of position sensors (114, 116) disposed about the gimbal (76) and between the housing (56) and frame (45). The plurality of position sensors (114, 116) respond to pivoting motion of the housing (56) such that the position of the device (22) may be monitored.
PCT/US1994/010091 1993-09-13 1994-09-09 Force and position controlled manipulator WO1995007793A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU76456/94A AU7645694A (en) 1993-09-13 1994-09-09 Force and position controlled manipulator

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US120,262 1987-11-12
US12026293A 1993-09-13 1993-09-13
US17189193A 1993-12-22 1993-12-22
US171,891 1993-12-22

Publications (2)

Publication Number Publication Date
WO1995007793A2 WO1995007793A2 (en) 1995-03-23
WO1995007793A3 true WO1995007793A3 (en) 1995-11-30

Family

ID=26818215

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1994/010091 WO1995007793A2 (en) 1993-09-13 1994-09-09 Force and position controlled manipulator

Country Status (2)

Country Link
AU (1) AU7645694A (en)
WO (1) WO1995007793A2 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2778738B1 (en) * 1998-05-14 2000-07-21 Rech Etude Materiel Ind Remi DEVICE FOR CONTROLLING THE POSITIONING AND CENTERING OF A WORKPIECE
US6974286B2 (en) * 2003-07-25 2005-12-13 Ati Industrial Automation, Inc. Deburring tool
CN102245348B (en) * 2008-10-09 2015-08-12 纽卡斯尔创新有限公司 Navigation system and method
US8020308B2 (en) * 2009-05-29 2011-09-20 General Electric Company Non-destructive inspection system having self-aligning probe assembly

Citations (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4084323A (en) * 1975-05-13 1978-04-18 Rolls-Royce Limited Measuring apparatus
US4087729A (en) * 1975-04-21 1978-05-02 Nippon Telegraph & Telephone Public Corporation Position finely adjusting apparatus
GB2056063A (en) * 1979-07-03 1981-03-11 Secr Defence Stabilized platforms
EP0113267A1 (en) * 1982-12-07 1984-07-11 ETAT-FRANCAIS représenté par le Délégué Général pour l' Armement Electromechanical converter with several degrees of freedom
JPS6097256A (en) * 1983-11-02 1985-05-31 Olympus Optical Co Ltd Vibration applying apparatus of ultrasonic microscope
DE3432842A1 (en) * 1983-11-30 1985-06-05 Jenoptik Jena Gmbh, Ddr 6900 Jena X-Y AREA DRIVE WITH LIMITED (PHI) ROTATION AND Z-SHIFT
JPS61221565A (en) * 1985-03-27 1986-10-01 Agency Of Ind Science & Technol Double freedom degree dc motor capable of positioning
JPS63156625A (en) * 1986-12-19 1988-06-29 Hitachi Ltd Working tool holder for robot
US4808063A (en) * 1987-11-03 1989-02-28 Westinghouse Electric Corp. Robot system employing force/position control
US4808892A (en) * 1985-12-13 1989-02-28 Kulick And Soffa Ind. Inc. Bi-directional drive motor system
US4836722A (en) * 1985-08-10 1989-06-06 Toyoda Gosei Co., Ltd. Method and apparatus for removing flash of polymeric molded products
DE3827656C1 (en) * 1988-08-16 1989-08-10 C. Stiefelmayer Kg, 7300 Esslingen, De Holding device for measuring and/or marking-off tools
EP0331265A2 (en) * 1988-03-01 1989-09-06 Hitachi Construction Machinery Co., Ltd. Position/force controlling apparatus for working machine with multiple of degrees of freedom
DE8907618U1 (en) * 1988-07-22 1989-11-09 Boecker, Heinrich-Georg, Dipl.-Ing., 4712 Werne, De
DE3827960A1 (en) * 1988-08-17 1990-02-22 Siemens Ag Device for the mutual alignment of two bodies
US4988904A (en) * 1989-02-02 1991-01-29 Shinano Kenshi Kabushiki Kaisha Voice coil motor with an encoder
GB2235067A (en) * 1989-05-25 1991-02-20 Toyoda Chuo Kenkyusho Kk Co-ordinated position and force control for a manipulator
EP0453328A2 (en) * 1990-02-22 1991-10-23 Societe D'applications Generales D'electricite Et De Mecanique Sagem D.C. motor with two axis of rotation, in particular for a view finder
EP0508205A2 (en) * 1991-04-09 1992-10-14 Hewlett-Packard Company System for hybrid position and force control
US5239246A (en) * 1992-07-08 1993-08-24 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Force reflection with compliance control

Patent Citations (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4087729A (en) * 1975-04-21 1978-05-02 Nippon Telegraph & Telephone Public Corporation Position finely adjusting apparatus
US4084323A (en) * 1975-05-13 1978-04-18 Rolls-Royce Limited Measuring apparatus
GB2056063A (en) * 1979-07-03 1981-03-11 Secr Defence Stabilized platforms
EP0113267A1 (en) * 1982-12-07 1984-07-11 ETAT-FRANCAIS représenté par le Délégué Général pour l' Armement Electromechanical converter with several degrees of freedom
JPS6097256A (en) * 1983-11-02 1985-05-31 Olympus Optical Co Ltd Vibration applying apparatus of ultrasonic microscope
DE3432842A1 (en) * 1983-11-30 1985-06-05 Jenoptik Jena Gmbh, Ddr 6900 Jena X-Y AREA DRIVE WITH LIMITED (PHI) ROTATION AND Z-SHIFT
JPS61221565A (en) * 1985-03-27 1986-10-01 Agency Of Ind Science & Technol Double freedom degree dc motor capable of positioning
US4836722A (en) * 1985-08-10 1989-06-06 Toyoda Gosei Co., Ltd. Method and apparatus for removing flash of polymeric molded products
US4808892A (en) * 1985-12-13 1989-02-28 Kulick And Soffa Ind. Inc. Bi-directional drive motor system
JPS63156625A (en) * 1986-12-19 1988-06-29 Hitachi Ltd Working tool holder for robot
US4808063A (en) * 1987-11-03 1989-02-28 Westinghouse Electric Corp. Robot system employing force/position control
EP0331265A2 (en) * 1988-03-01 1989-09-06 Hitachi Construction Machinery Co., Ltd. Position/force controlling apparatus for working machine with multiple of degrees of freedom
DE8907618U1 (en) * 1988-07-22 1989-11-09 Boecker, Heinrich-Georg, Dipl.-Ing., 4712 Werne, De
DE3827656C1 (en) * 1988-08-16 1989-08-10 C. Stiefelmayer Kg, 7300 Esslingen, De Holding device for measuring and/or marking-off tools
DE3827960A1 (en) * 1988-08-17 1990-02-22 Siemens Ag Device for the mutual alignment of two bodies
US4988904A (en) * 1989-02-02 1991-01-29 Shinano Kenshi Kabushiki Kaisha Voice coil motor with an encoder
GB2235067A (en) * 1989-05-25 1991-02-20 Toyoda Chuo Kenkyusho Kk Co-ordinated position and force control for a manipulator
EP0453328A2 (en) * 1990-02-22 1991-10-23 Societe D'applications Generales D'electricite Et De Mecanique Sagem D.C. motor with two axis of rotation, in particular for a view finder
EP0508205A2 (en) * 1991-04-09 1992-10-14 Hewlett-Packard Company System for hybrid position and force control
US5239246A (en) * 1992-07-08 1993-08-24 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Force reflection with compliance control

Also Published As

Publication number Publication date
WO1995007793A2 (en) 1995-03-23
AU7645694A (en) 1995-04-03

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