DE19940603A1 - Manipulator has joint section with rotary single joint or chain of single joints with rotational axes - Google Patents

Abstract

The manipulator has at least one joint section joining at least two joints by means of a rotary single joint or a kinematic chain of several rotary single joints. The position of rotational axes is matched with the bio-mechanical function inside a human joint part in the shoulder and or arm and or hand. In a reference position the geometry and position of the rotational axes of the joints correspond to the single joints of each joint section, and correspond to the position of the rotational axes of a human joint section in the shoulder and or arm and or hand in the reference position.

Description

This invention relates to a manipulator with at least one egg Nem joint section, the at least two links by means of egg nes rotary single joint or by means of a kinemati chain of several individual rotary joints other connects.

Such a manipulator is known from EP 0 396 752 A1 knows. Inside is a robot with a mechanical arm wrote, which consists of two links, both of them represent a parallelogram. The first and the second link of the mechanical arm are using an intermediate link of individual rotary joints attached to the corners coupled.

Manipulators based on human arm examinations are based as so-called kinematic models for the area robotics. So it is from J. Lenarcic and A. Umek, Simple model of human arm reachable workspace, IEEE Transactions an Systems, Man and Cybernetics, 24 (8), 1994, known, such kinematics models or manipulator joint cuts that, for example, shoulder and elbow joint of the human arm to arise from articular members build, each with only one kinematic degree of freedom ha  ben. It shows that a kinematic simplicity of Models or manipulators can be achieved by the assigned joint axes in the respective joint sections to be placed in such a way that at least on one point cut and in a basic position than according to the main axes of the human body nen. However, this kinematic simplicity becomes he buys that no direct anatomical connection between such kinematic models and a human arm given is. In comparison to the human arm it turns out the mobility of such models as severely restricted, because the joint complexes are oversimplified or these have inner singularities. Accordingly, the dynamic egg properties and constructive designs of such models or manipulators unsatisfactory. This is how it turns out the kinematics model known from the prior art of a human arm accepted that its ge total weight on the drive of a single joint.

The object of the invention is a manipulator of the beginning ge named type to create, compared to the prior art has significantly improved possibilities of movement.

This task is performed by a manipulator with the characteristics of claim 1 solved. In this way, a robot Manipulator created with which the movement is almost exactly of a human arm or arm section to let. Such a manipulator can thus be used universally bar and is ideal for automating up to long manual industrial manufacturing processes. The one derived from the physiology of a human arm Construction also leaves artificial muscles as an on drove for the manipulator.

Due to the features of claims 2, 3 or 4, an over load on the rotary individual joints avoided. The An  Drives can be accommodated in a space-saving manner and the Ka guidance is facilitated.

The embodiment according to claim 5 avoids the complex Providing rotary drives.

The features of the training according to claim 6 Stiffness of the joint sections of the manipulator increased. At the same time, the double, i.e. H. two-legged Suspension a storage without stress from unwanted Tilting or torque achieved, so that the weight of each left limb can rest on the neighboring limb without to load corresponding drives.

Due to the features of claim 7 is an exact definition tion of the geometries and movement functions of all joint ab cuts in the shoulder, arm and hand area achieved by as a reference position always a reference to the global coordi nate system is created.

Further advantages and features of the invention result from the claims and from the following description of preferred embodiments of the invention.

Fig. 1 shows a robot arm designed as a multi-limbed manipulator according to the embodiment of the invention He,

Fig. 2 is a drive concept for a hinge portion of the multi-limbed manipulator,

Fig. 3 different embodiments of one of the corresponding shoulder joint menschli chen unit Gelenkab section in the multi-limbed manipulator,

Fig. 4 shows a detail from a human skeleton,

Fig. 5 is a schematic representation of the human clavicle region,

Fig. 6 is an enlarged representation of the human school terblattes,

Fig. 7 is a made up of rotary joints hinge unit det the human shoulder joint nachgebil,

. 8 suitable for use in a robot shoulder joint unit, the belt unit from the shoulder joint of Fig. 7 Fig derived,

Fig. 9 is a schematic representation of the human shoulder joint, and

Fig. 10 shows a human hand holding a tool handle.

In Fig. 1, a robot arm 1 is Darge provides manipulator. It comprises a support structure 2 , on which a working arm 3 is articulated so as to be pivotable about an axis of rotation zts1. The work arm 3 includes a hinge portion that corresponds to a human shoulder girdle joint, a joint portion 12 that corresponds to a human shoulder joint, a hinge portion that corresponds to a human elbow joint, and a hinge portion that corresponds to a human wrist.

The corresponding to the human shoulder girdle joint section of the robot arm 1 comprises a support support structure 4 , which is pivotally mounted about a rotation axis zts1 on a support structure 2 . On a flank 5 of the support beam structure 4 , a second support beam structure 6 is pivotally mounted about an axis zts2. On one side 8 of the support support structure 6 , a support structure 10 with an associated lever arm 11 is received in a rotary bearing 9 about an axis zts3.

The axis of rotation zts1 and the axis of rotation zts2 intersect at a point O _ij . The axis of rotation zts2 and the axis of rotation zts3 intersect at point O _ai . With a corner point O _{ac of} the two th support beam structure 6 and a corner point of the lever arm 11 belonging to the support structure 10, the point O _ai spans a triangle O _ai , O _ac , O _ts .

Relative to a fixed to the support structure 2 Cartesian co ordinate system 100, preferably a global coordinate system 100 ', as explained in detail with reference to FIG. 4, whose origin is placed at the point O _ij, applicable in a reference position of the working arm 4 for the model points h _ai , h _ac , h _{ts of} the points O _ai , O _ac , O _ts

h _ac = (165, -96, 58)

h _ai = (119, -160, -109)

h _ts = (86, -163, 0),

being units for this and all subsequent countries mm are selected.

The axis of rotation zts2 is articulated on the axis of rotation zts1 in the origin of the Cartesian coordinate system 100 and forms an angle with it of α ₁ = 61.3 °. With respect to the Cartesian coordinate system 100 , the axis of rotation zts1 runs along the normalized direction vector

η _ts1 = (0, 0, 1),

with its origin at the origin. The axis of rotation zts2 runs along the normalized direction vector

η _ts2 = (0.524, -0.704, -0.480),

with its origin also at the origin. From a stood a = 227.2 on the axis of rotation zts2 from the origin O _ij of the coordinate system 100 , the axis of rotation zts3 is articulated at an angle α ₂ = 57 °, so that in the reference position the points O _ai , O _ac , O _ts applies to the normalized direction vector of the axis of rotation zts3 in the coordinate system 100

η _ts3 = (0.251, 0.343, 0.905).

The joint section corresponding to the human shoulder girdle of the working arm 3 is assigned a joint section by a three-axis roll pitch yaw joint unit 12 , which corresponds to a human shoulder joint. This roll pitch yaw joint unit 12 has axes of rotation zsh1, zsh2, zsh3 which are perpendicular to one another and intersect at a point O _sh . In the reference position of the shoulder girdle joint section applies to the location vector h _{sh of} this intersection O _sh in the coordinate system 100

η _sh = (178, -69, 18),

wherein the axis of rotation zsh1 runs parallel to the triangular plane spanned by the points O _ac , O _ai , O _ts and is at an angle of β ₁ = 135 ° to the joint axis zts3. The distance of the point O _sh , at which the axes of rotation zsh1, zsh2, zsh3 intersect, from the point at which the axis zsh1 is mounted on the axis zts3 is approximately 57.3 mm. This bearing point on the axis zsh1 on the axis zts3 is approximately 120.8 au from the point O _ai along the axis zts3. A reference position for the orientation of the joint unit corresponding to the human shoulder joint is specified by specifying the starting point h _shi and the normalized direction vectors η _{shi of} the axes of rotation zhsi (i = 1, 2, 3) as follows

h _sh1 = h _sh = (178.0, -69.0, 18.0),

h _sh2 = h _sh

h _sh3 = h _sh

η _sh1 = (-0.730, -0.584, -0.355)

η _sh2 = (-0.271, -0.218, 0.937)

η _sh3 = (-0.626, 0.780, 0).

The articulated section 12 is adjoined by an upper arm part 13 , which is pivotally mounted at one end in an articulated fork 14 about an axis zh2 and at another end has an articulated fork 15 in which an axis zhu, which functions as an elbow joint, is held. Upper arm part 13 with Ge steering fork 14 and joint fork 15 are dimensioned such that when the reference position of both the joint section, which corresponds to the human shoulder girdle joint, and the joint section 12 , which speaks ent to the human shoulder joint, the upper arm part 13 parallel to the axis z _ij des Coordinate system 100 is aligned, wherein the center of rotation O _{sh of} the joint section 12 and the axis acting as an elbow joint zhu are projected perpendicularly into the plane spanned by the x _ij -x _ij axes of the coordinate system 100 , the distance of the projection from that Point O _sh for the projection of the axis acting as an elbow joint zhu parallel to the upper arm part is 13 345 mm.

The axis zhu acting as an elbow joint forms an angle of γ ₁ = 81 ° with the upper arm part 13 and is at the reference position of the joint section corresponding to the human shoulder girdle joint and the joint section 12 which corresponds to the human shoulder joint, parallel to that of the axes x _ij and z _ij spanned plane of the coordinate system 100 aligned.

On the axis zhu acting as an elbow joint, a first forearm part 16 is deflected to form a 90 ° angle, which has the function of a human spoke.

At the end of the forearm part 16 , a second forearm part is articulated in a joint unit 17 about an axis of rotation, which has the function of a human ulna. Here, the forearm part 16 is received in an end region in the fixed Ge steering unit such that the axis of rotation zru and the axis acting as the elbow joint zhu intersect at a point O _ru to form a 90 ° angle, with the reference to the human shoulder girdle joint corresponding joint section and joint section 12 , which corresponds to the human shoulder joint, for the point of origin O _ru in the coordinate system 100 :

h _ru = (221.0, -59.1, -320.3).

If the forearm part 16 or 18 is angled so far that the axis of rotation zru is perpendicular to the plane spanned by the axes x _ij , z _{ij of} the coordinate system 100 , which is hereinafter referred to as the reference position of the forearm section, then applies to the Direction vector η _{ru of} the axis of rotation zru in the coordinate system 100

η _ru = (-0.004, 0.999.0).

At another end of the forearm portion 18 which functions as a ulna, a wrist and grip unit 19 is arranged. The wrist and handle unit 19 has a first rotary joint unit with an articulated axis zrc1, on which a wrist member 20 is fixed, in which a second rotary joint unit with an articulated axis zrc2 is received in order to hold a second wrist member 21 with the handle part 23 in a pivotable manner . The distance between the zhu and zrc1 axes, measured along the zru axis, is 296 mm. The articulated axes zrc1 and zrc2 are approximately 20 apart from each other and are perpendicular to each other.

In the reference position of the joint section corresponding to the human shoulder girdle, the joint section 12 , which corresponds to the human shoulder joint and in the reference position of the forearm section, the position of the joint axis zrc1 in the coordinate system 100 is defined as follows:

h _rc1 = (223, 237, -332)

and orientation

η _rc1 = (0.966, 0.003, 0.259).

In this case, for the hinged at the hinge axis ZrC1 Handge steering 22, a reference position means the condition defi ned in that the articulation axis is zrc2 inclined by 20 ° from the vertical that of acting as a radius and ulna arm parts 16 and 18 the plane formed in the direction of the forearm. Thus, when the reference position of the joint section corresponding to the human shoulder girdle joint, the joint section 12 which speaks to the human shoulder joint applies, when the forearm section and wrist member 22 are in the reference _position, the starting point h _{rc2 of} the joint axis zrc2 in the coordinate system 100

h _rc2 = (244, 256., -322)

and the direction vector (orientation)

η _rc2 = (-0.251, -0.226, 0.941).

On the wrist member 22 , a grip part 23 is arranged, which is formed by a half-shell, the shape of which is intended to represent the inner surface of a human hand and which is provided on one side with a ring 24 , which has the meaning of a human thumb and index finger. The half-shell has an axis ztcp which, when the other links of the robot arm 1 are in the reference position, by a point of origin

h _tcp = (236.6, 262.8, -311.6)

and a direction vector

η _tcp = (0.860, 0.510, .0.00)

is defined.

As a drive concept for the robot arm, spindle and linear drives and cable pulls, which correspond to a human muscle connects different limbs.

For the joint section, which corresponds to the human shoulder girdle joint, a drive concept for the pivotally attached to the support structure 2 Ge joint unit is shown in FIG. 2. Insofar as components match those of FIG. 1, they have the same reference numerals. The articulated on the support structure 2 about the axis zts1 support support structure 4 is assigned a first linear drive 30 , which is fixed at the point O _ai and is supported in a region 31 on the support structure 2 . It connects the rocker formed by the support support structure 4 to the support structure 2 , creating a tetrahedron. A second linear drive 32 is articulated at a point 33 on the carrier structure 2 and is connected in an area of the point O _ac to the support carrier structure 6 in order in turn to form a tetrahedral structure in accordance with the linear drive 30 . A third linear drive 34 is supported at a point 35 on the side 5 of the support carrier structure 4 and is fixed at a point Ots with the lever arm 11 belonging to the pivot bearing 9 . The three linear drives 30 , 32 and 34 thus brace the joint section of the robot mechanism corresponding to the human shoulder girdle joint such that each movable member is accommodated therein in a stable tetrahedral structure. The fact that all drives are arranged in a space-saving manner in the joint section also leads to the fact that sufficient space for an arrangement of drives is available, which may be assigned to the other joint units of the robot mechanism shown in FIG. 1.

In FIG. 3, alternative embodiments are 12 a, 12 b, 12 c, 12 d and 12 e of the shoulder joint assembly 12 of FIG. 1 is formed from, which the embodiment 12 corresponds to f in Fig. 3. The embodiments of a shoulder joint unit shown in FIG. 3 have three joint degrees of freedom in common, as is the case with the human shoulder joint. In principle, these three degrees of joint freedom enable six different joint configurations of vertically superimposed joint axes, all of which intersect at one point. The joint units 12 a and 12 b form so-called roll-pitch-roll joints, which are characterized in that a third axis of rotation of the joint is aligned par allel to the longitudinal axis of a subsequent arm element. A joint unit designed in this way may offer advantages in the case of a necessary cable guide and is frequently used in robot arms with an antropomorphic design. However, they have a serious disadvantage that lies in the fact that a singularity occurs in the center of their working space, namely when the upper arm in the Ge direction unit 12 a in the x direction or in the Ge steering unit 12 b the upper arm in the y direction shows. In contrast, the joint units 12 c to 12 f are designed as so-called roll pitch yaw joint units, in which a third axis is perpendicular to a longitudinal axis of a subsequent arm element. Compared to roll-pitch-roll joints, a little more space is therefore required, but there are no singularities in the center of a work space with these joint units. However, the working space of roll pitch yaw joint units is smaller than that of roll pitch roll joints. If the working area of a robot arm is not to be restricted unnecessarily, a careful selection must be made. A preferred joint configuration is the roll pitch yaw joint 12 f, which corresponds to the joint unit 12 corresponding to the human shoulder joint in the robot arm 1 from FIG. 1.

The position of the axes of each of the rotary individual joints in the articulated sections of a robot arm explained with reference to FIGS. 1, 2 and 3 is matched due to their arrangement to the shape and biomechanical function of a human joint section in the shoulder and / or hand area. It goes without saying that for a matching of the robot arm to the shape and biomechanical function of the human arm, it is primarily the aspect ratio of the sections of the robot arm that is important. The kinematic characteristics of a robot arm, as described above, change only insignificantly if the length dimensions in a relative fluctuation range of approximately ± 20% and the angles formed by axes of rotation or assemblies in the robot arm are changed by approximately ± 10 ° relative to one another .

In the following it will now be explained in detail how the dimensions of the robot arm described with reference to FIGS. 1, 2 and 3 are motivated by function and position on natural joint units in the shoulder girdle arm and hand area in a human arm.

FIG. 4 shows a section of a human skeleton tes 40 to a chest (thorax) 41. The breastbone (sternum) 42 of the chest 41 is articulated about the articulation 43 sternoclavicularis the clavicle (clavicle) 44 on the sternum 42nd The scapula 45 is located on the clavicle 44 . Shoulder blade 45 and clavicle 44 are connected to one another via the Articulatio Acromioclavicu laris 46 . A connection between the rib cage 41 and the shoulder blade 45 is effected in the region of the shoulder blade 45 facing the spine by means of the articulation Torah coscapularis.

The human shoulder girdle area thus comprises three joints and forms a kinematically closed chain. Movements of the human shoulder girdle always prove to be movements of these individual joints. The position of the shoulder blade 45 can be described using three characteristic points, namely the center O ' _{ac of} the Articu latio Acromioclavicularis 46 , and the end points "Trigonum Spinae"O' _ts and "Angulus Inferior" O ' _{ai of} the shoulder blade 45 .

If a global coordinate system 100 'is anchored in the chest at the Incisura Jugularis 47 , then in Geometry parameters of musculos keletal modeling of the shoulder mechanism applies in "FCT von der Helm, HEJ Veeger, GM Pronk, LHV von der Woude and RH Rozendal ; Journal of Boi mechanics, 25 (2): 129-144, 1992 "specified reference position of the shoulder girdle for the location vectors of the points O _ac , O _ts and O _ai

h ' _ac = (165 mm, -96 mm, 58 mm)

h ' _ts = (86 mm, -163 mm, 0 mm)

h ' _ai = (119 mm, -160 mm, -109 mm).

The location vectors of these points thus correspond in their position to the location vectors of the points O _ac , O _ts and O _ai from FIGS. 1 and 2 in the event that the robot arm shown in FIG. 1 is in a reference position with respect to the coordinate system 100 located. Consequently, the dimensions of the lever arm 11 attached to the pivot bearing 9 from FIG. 1 are motivated by the dimensions of a human school leaf 45 shown in FIG. 4.

The articular surfaces of the articulation Sternoclavicularis are but not saddle-shaped in humans quite congruent This leads to a mismatch between the two Articular surfaces created by the so-called Diskus Articularis is compensated, which, as in "B. Tillmann and G.  Töndury, musculoskeletal system, Georg Thieme, Stuttgart, 1987 ", described a limited rotation of the clavicle around its longitudinal axis enables.

Fig. 5 illustrates the rotary joint degrees of freedom of articulation sternoclavicularis a schematic representation of the human clavicle region. The ar ticulatio sternoclavicularis can be broken down into a kinematic chain consisting of three individual rotatory joints. If the orientation of the joint axes is described by means of the global coordinate system 100 'anchored to the incisura jugularis in the chest, a first joint axis zsc1 runs almost vertically from the convex surface of the saddle joint from cranial-medial to caudal-lateral and it applies to its normalized one Direction vector

η _sc1 = (-0.253, 0.146, 0.956).

Movement around this axis of rotation allows the shoulder belt to flex and extend. The second axis zsc2 of the concave surface of the joint runs horizontally from dorsal-medial to frontal-lateral and is perpendicular to the axis zsc1. For its standardized direction vector, expressed in the coordinate system firmly anchored to the incisura jugularis:

η _sc2 = (0.500, 0.866, 0)

This joint axis enables the elevation and depression of the Shoulder girdle.

The distance between the two joint axes zsc1 and zsc2 in humans is controversial among experts. However, a simulation and motion sharing study described in "GM Pronk, F. von der Helm, and LA Rozendaal, Interaction between the joints in the shoulder mechanism, Proc. Instn. Mech. Eng., Volume 207, London, 1993" shows that a distance between these two joint axes is of no importance and that they can be seen as intersecting at a point O _sc , where the following applies for the intersection:

h _sc1 = h _sc2 = (50 mm, -10 mm, 20 mm).

In the case of an average, fully grown person, the third rotary joint axis zsc3 intersects the other two joint axes at the point O _sc , where η _sc3 and the point of origin h _sc3 apply to the direction _vector

η _sc3 = (0.828, -0.478, 0.292)

h _sc3 = h _sc2 .

Fig. 6 shows the area of Articulatio Acromioclavicu laris in an enlarged compared to Fig. 1 presen- tation.

The articulatio acromioclavicularis 46 connects the clavicle 44 to the shoulder blade 45 . Their articular surfaces are slightly convex. A discus ar ticularis is present in 30% of all individuals, which compensates for this convexity. In addition, the Articulatio Acromioclavicularis 46 is relatively loose. Movement of the joint is not so much guided by the shape of the joint but by three bands. A first band (ligamentum acromioclaviculare) encloses and strengthens the joint capsule. A second band, (Ligamentum Trape zoideum) attaches on the one hand to the Processus Coracoideus and on the other hand to the front of the clavicle and runs parallel to the surface of the joint in order to absorb the shear forces of the joint. A third band (Ligamentum Conoi deum) connects the coracoid process to the back of the clavicle, which severely limits the mobility of the shoulder blade to the clavicle.

In addition, because the articulation Acromioclavicularis 46 is designed very differently from individual to individual, it is not possible to determine a precisely defined center of rotation of the joint by means of the joint anatomy alone. The investigations described in "F. von der Helm, Analysis of the kinematic and dynamic behavior of the shoulder mechanism, Journal of Biomechanics, 27 (5), 1993" have shown that the center point O _{ac of} each joint is viewed as a center of rotation for simplicity can. For a technical realization of the three degrees of freedom of the Articulatio Acromioclavicularis, three individual rotary joints are required, the joint axes of which intersect in a rotation center O _ac .

In humans, the shoulder blade is approximately perpendicular to the clavicle and the clavicle axis acts as the axis of rotation for the shoulder blade. This axis of articulation of the Acromioclavicularis 46 is thus identical to the zsc3 axis of the Articulatio Sternoclavicularis 43 . In the coordinate system 100 'anchored to the incisura jugularis 47 from FIG. 4, the following applies to the _starting point h _ac1 and the direction _vector η _{ac1 of} the axis of rotation zac1 of the articulation Acromioclavicularis:

η _ac1 = (-0.560, -0.705, 0.434),

h _ac1 = (165 mm, -96 mm, 58 mm),

and for point h _ac2 and normalized direction _vector η _{ac2 of} the axis zac2 of the articulation Acromioclavicularis:

η _ac2 = (0.257, 0.350, 0.901),

h _ac2 = h _ac1 .

The third joint in the shoulder blade area closes Lich, as already mentioned above, the Articulatio Thoracoscapu laris the kinematic chain of the shoulder girdle. In the Re The shoulder blade rests on the chest and  it is only a slight lift off in extreme situations possible. The shoulder can be on the wall of the rib cage slide in horizontal and vertical direction and turn on the chest. The importance of articulation However, Thoracoscapularis is not in their kinematics son in that they have a large power transmission between arm and chest.

Fig. 7 shows a joint unit 70 , which is principally suitable for use in a robot arm and is modeled on a human shoulder girdle joint. A support arm 72 is articulated on a support structure 71 about an axis of rotation zsc1 and is pivotally mounted at one end about axes of rotation zsc2 and zsc3 in order to simulate the human articulation Sternoclavicularis. The point and orientation of these axes of rotation zsc1, zsc2 and zsc3 correspond to the associated axes in humans, which have been described with reference to FIG. 5.

At the other end of the support arm 72 , a joint unit with axes of rotation zac1 and zac2 is arranged in order to connect the support arm 72 to a triangular support structure 73 which corresponds to the dimensions of the shoulder blade and which corresponds to the characteristic points on the shoulder plate, points O _ac , O _ai and O _ts . This joint unit thus corresponds to the human articulation Acromioclavicularis, whose disassembly into rotational joint axes was explained with reference to FIG. 6. On the other hand, no joint unit corresponding to the human thoracoscapular articula is provided, since, as mentioned above, this is of no kinematic importance. On the dimensions of this joint unit 70 now be based on the dimensions of the joint unit of the robot arm 1 shown in FIG. 1 , which corresponds to the human shoulder girdle joint.

In order to show how the joint unit in the robot arm 1 corresponding to the human shoulder belt is derived from the joint unit 70 shown in FIG. 7, the joint unit of the robot arm corresponding to the human shoulder belt joint is shown again in FIG . The joint unit 80 shown in FIG. 8 consists of three triangular members 81 , 82 and 83 which are held by a support structure 47 and thus has three joint degrees of freedom. The triangular structure of the first two links increases the rigidity of the joint arrangement on the one hand, and on the other hand it also enables the bearings on the respective axes of rotation to be kept free of torque due to the double suspension. The weight of an arm 85 can thus rest on the three corner member 81 without the drives not shown being loaded. The triangular member 83 , which is pivotally attached to the arm 85 , the functional importance of the human shoulder blade 45 comes from FIG. 4.

The joint unit 80 is derived from the joint unit 70 shown in FIG. 7 by forming a joint corresponding to the human articulation Acromioclavicularis at point O _ac . In contrast to the joint unit 70 from FIG. 7, the joint unit 80 thus has only three joint degrees of freedom. Furthermore, the axis of rotation zsc1, according to which the shoulder girdle joint unit is articulated on the support structure, is tilted into the perpendicular to the axis zts1. The axis zsc3 from FIG. 7 corresponds to the axis zts2, which runs from the origin of the reference system 100 from FIG. 1 to the point O _ai ver. The axis zac2 from FIG. 7 corresponds to the axis zts3 in FIG. 8, which is located from point O _ai over point O _ac . The point and direction vectors of the axis of rotation zts1, zts2 and zts3 have already been specified with reference to the description of FIG. 1.

The one based on a human shoulder girdle Robot joint unit represents a compromise between stabilizers properties and kinematics. A possible association fold this joint unit can for example in a  Neglect or stiffening of the joint with the joint axis zts3 exist. So it is possible a simpler and provide more stable mechanism.

If the triangular member corresponding to a human shoulder blade is positioned in a reference position, the coordinates of the points with respect to the coordinate system 100 shown in FIG. 1 take the corresponding coordinates of the location vectors of the characteristic points of the human shoulder blade in the coordinate system 100 anchored to the incisura jugularis 'from Fig. 4.

Further, the Fig. 4 it can be seen how the shoulder joint 48, the scapula 45 and the humerus 49 det verbin each other. The shoulder joint 48 enables a high mobility of the human arm and complements the shoulder girdle therein.

Fig. 9 shows a schematic representation of the human shoulder joint (Articulatio humeri). The shoulder joint 90 comprises a joint head 94 formed on the humerus 91 , which fits into a concave joint socket 92 of the shoulder blade 93 . This makes the shoulder joint a spherical joint with three degrees of freedom. In an average, fully grown human, the center of the shoulder joint 90 is located at the upper part of the lateral shoulder blade edge (O _ac , O _ai ) approximately 2 cm in front of the shoulder blade plane (O _ac , O _ai , O _ts ). A closer examination of the joint head 94 on the humerus 91 shows that the joint surface covers approximately one third of the surface of the joint ball. In the average person, the diameter of this sphere is in the order of 25 mm to 30 mm. The orientation of the articular surface can be seen in FIG. 9. In the reference position, the vertical diameter of the articular surface is about 3 mm to 4 mm larger than the horizontal-frontal diameter. The surface curvature thus increases upwards, which leads to abduction movements of the humerus that the center of rotation moves slightly towards me dial. X-ray studies have shown that the rotation centers for ante-retroversion and for the external and internal rotation of the arm coincide. In contrast, two phases with slightly different rotation centers can be determined for abduction of the human arm. However, these differences are only minor and continue to have no influence on an overall model of the human arm. For this reason, a single center of rotation is assumed for the human shoulder joint.

The counterpart of the humeral head 94 is the joint socket 92 . The surface of the socket 92 is approximately three to four times smaller than the surface of the humeral head 94 . It is oriented laterally-ventrally and slightly cranially. The best surface congruence between the socket and the humeral head is achieved with an abduction of approx. 90 °. A lip delimits the articular surface. At the top, the joint is supplemented by bursa not shown. These allow the movement of the humeral head 94 relative to the muscles of the shoulder blade 93 , which covers the joint. For an average individual, the following position vector for the center of rotation of the shoulder joint can be specified for the shoulder girdle with reference to the coordinate system anchored to the incisura jugularis:

h ' _sh = (178 mm, -69 mm, 18 mm).

The rotation center Osh of the joint unit 12 from FIG. 1 corresponding to the human shoulder blade corresponds to the rotation center at the natural shoulder joint, as can be seen from a comparison of the location vectors of the points O _sh in the robot arm from FIG. 1 and O ' _sh for a natural arm. Because, from a technical point of view, ball joints have serious disadvantages, particularly with regard to the lubrication behavior, the joint unit 12 from FIG. 1 is broken down into a kinematic chain consisting of three individual rotary joints. Three degrees of joint freedom can be achieved by any arrangement of the joint axes, provided that these are not arranged in a linear manner. The joint unit 12 corresponding to the human shoulder joint in the robot arm 1 from FIG. 1 makes it possible to come very close to the dynamic properties of the human arm and also has movement limits which correspond to those of the human arm. An analysis of the working space density of this joint unit, which is designed as a roll-pitch-yaw joint, shows good agreement with that of the human shoulder joint.

The elbow joint 50 shown in FIG. 4 connects the upper arm bone 49 and forearm to the ulna 51 and spoke 52 . The elbow joint 50 has two degrees of joint freedom that allow the arm to bend and extend and include internal and external rotations of the forearm. Both movements can be carried out independently of one another. If an elbow joint unit for a robotic arm is designed in accordance with FIG. 1, then movements can be carried out which are in accordance with, for example, in "Y. Youm, R. Dryer, T. Thambyrajah, A. Flatt, and B. Sprague, Biomechani cal analysis of forearm pronation-supination and elbow flexi on-extension, Journal of Biomechanics, 1979 "and" RV Gonza lez, EL Hutchins, RE Barr, and LD Abraham, Development and evaluation of a musculoskeletal model of the elbow joint complex, Journal of Biomechanical Engineering, 1996 "movement examinations. From a kinematic point of view, the elbow joint unit of the robot arm from FIG. 1 with the joint axes zhu and zru is identical to a human elbow joint.

The section of a human skeleton shown in Fig. 4 also includes a wrist 53 , which consists of a hand root bone block, which is connected to the spoke 52 . The wrist allows a flexion and extension movement of the hand to the inside or outside of the forearm and further a radial and ulnar abduction movement, ie a movement of the hand in the direction of the spoke and ulna.

In contrast to all other joints of the arm are in the hand but not just two, but a whole assembly of bones involved in the movements. Anatomically leaves but divide the wrist into two lower joints, the Articulatio Radiocarpea and the Articulatio Mediocarpea.

The bone structure of the wrist corresponds to the base these two mutually independent lower joints, however the movements of all carpal bones are strong with each other coupled. A network of bands connects the individual Bones so that the wrist resembles one with stones filled bag behaves. The agility of the individual Bone in relation to the secondary bones is strongly contracted limits.

For the two axes of movement of the wrist arise a total of four kinematic degrees of freedom. A movement of the However, hand is severely restricted by the fact that a network the individual carpal bones with each other connects. Studies show that with weak deflections movements of the wrist initially only one movement in the ar ticulatio Radiocarpea takes place. With medium deflections the movement will then be approximately the same on both joints divided and only moves with extreme deflections still the Articulatio Mediocarpea.

If the human wrist is now broken down into two rotary individual joints, there is the difficulty that, due to the barrel-shaped articular surfaces of the human wrist, as in the case of a rotary hand movement around the Ar ticulatio Mediocarpea, the position of the axis belonging to the Articulatio Ra diocarpea with respect to the forearm is unchangeable. This cannot be modeled with a kinematic chain consisting of two rotating joints. Another difficulty is that the joint axes in natural human hands are close together. For technical implementation reasons, the joint unit in the human wrist with the joint axes zrc1 and zrc2 from FIG. 1 is therefore only designed with two joint axes. These two joint axes largely correspond to the functional axes of the human wrist. It can be seen that a comparison of the courses of the joint variables in the configuration space for the rotational movements on the axes zrc1 and zrc2 agree perfectly with trajectories that were determined on physiological replacement joints. Accordingly, the joint unit with the joint axes zrc1 and zrc2 from FIG. 1 very well reproduces the functional movement of the natural wrist model.

It should be noted that the wrist units drive offer fundamentally different concepts. On the one hand it is conceivable to provide drives in which motors are direct act on the joint axis. With this drive concept is the wrist is easier to control, but takes more Place one. It also leads to a relatively difficult one Wrist because motors and gears are placed in the wrist Need to become. Indirect motors, on the other hand, look like artificial che muscles. You can, like in humans, in the forearm close to the elbow. Your disadvantage is that such drives steel cables or control linkage ge require. However, this disadvantage is compounded by the advantages a cheaper mass distribution and the possibility of one weighed constructively simpler wrist.

Fig. 10 shows a rod-shaped tool handle is gripped as typified by a human hand. The thumb and index finger form an overlapping ring and the rod-shaped tool handle lies on the palm of the hand, which forms a half cylinder with an axis ztcp 'with the middle finger, ring finger and little finger. In a reference position of the human arm, in which the axis corresponding to the articulatio radiocarpea is inclined 6 ° from the horizontal and the axis of the articulatio mediocarpea is inclined to the vertical in the direction of the forearm by 20 °, the axis ztcp 'is approximately horizontal and forms an angle of δ = 60 ° with the longitudinal axis of the forearm. If a tool handle is held in this way, high forces can be transmitted and still good fine control is possible.

The at the end of the robot arm shown in FIG. 1 formed from grip part 23 is positioned on the joint unit of the robot arm corresponding to a human wrist so that it corresponds to the typical tool handle of man shown in FIG. 10, the handle being by egg NEN half cylinder with ring is modeled, whose axis ztcp corresponds exactly to the course of the axis ztcp 'in humans in a reference position.

A preferred use of the manipulator according to the invention is a robot manipulator, a demonstrator in the field of Biomechanics, as a kinematics model for the visualization of human arm movements and as a prosthesis in the field of medicine as well as animation of people in the computer area, esp especially in computer games.

Claims (16)

1. Manipulator with at least one joint section, which connects at least two links by means of a single rotary joint or by means of a kinematic chain of several single rotary joints, characterized in that the position of axes of rotation (zts1, zts2, zts3, zsh1, zsh2, zsh3, zhu, zru, zrc1, zrc2) is matched to the biomechanical function within a human joint section in the shoulder and / or arm and / or hand area and in a reference position the links in their geometries and the position of the axes of rotation (zts1, zts2, zts3, zsh1, zsh2, zsh3, zhu, zru, zrc1, zrc2) of the individual joints of each joint section ( 46 , 48 , 50 , 53 ) with a length tolerance of ± 20% and an angular tolerance of ± 10 ° of the geometry and the Position of axes of rotation of a human joint section in the shoulder and / or arm and / or hand area correspond in the reference position. 2. Manipulator according to claim 1, characterized in that the working areas of the rotary individual joints with the axes (zts1, zts2, zts3) are designed so that they include a maximum of 90 °. 3. Manipulator according to claim 1, characterized in that the working areas of the rotary individual joints with the axes (zsh1, zsh2, zsh3) are designed so that they include a maximum of 140 °. 4. Manipulator according to claim 1, characterized in that the working areas of the rotary individual joints with the axes (zhul, zru, zrc1, zrc2) are designed so that they cover a maximum of 175 °. 5. Manipulator according to one of the preceding claims, characterized in that the terms by linear An are connected to each other like levers, that the linear drive means the biomechanical function of associated human muscles.   6. Manipulator according to one of the preceding claims, characterized in that at least one link by a two-legged triangular swing arm is formed. 7. Manipulator according to one of the preceding claims, characterized in that the geometries of the limbs and the position of the axes of rotation on the basis of a reference position of a shoulder belt of an adult human, starting from a global coordinate system anchored to the incisura jugularis of the chest (x, y, z; xij, yij, zij) are defined, with the following characteristic bone points defining the reference position, namely a center (O _ac ) of the articulation Acromioclavicularis and two corner points (O _ts , O _ai ) of the shoulder blade, namely Trigonum Spinae and Angulus Inferior are selected, which are defined in relation to the global coordinate system by the following points with a length tolerance of ± 20% and a relative angle tolerance of ± 10 °:
h _ac = (165 mm, -96 mm, 58 mm)
h _ts = (86 mm, -163 mm, 0 mm)
h _ai = (119 mm, -160 mm, -109 mm). 8. Manipulator according to claim 7, characterized in that a joint section is matched to the human shoulder girdle and comprises a first support structure ( 2 ) with a first axis of rotation (zts1), on which a second carrier structure ( 4 ) with a second axis of rotation (zts2 ) is steered, on which a third support structure ( 10 ) with a third axis of rotation (zts3) is pivotally attached, with respect to a fixed on the first support structure ( 2 ) coordinate system for orientations ( η _tsi ) and point of incidence ( h _tsi ) respective axes of rotation (zts1, zts2, zts3) in a reference position up to a relative length tolerance of ± 20% and a relative angle tolerance of ± 10 °:

first axis of rotation: η _ts1 = (0, 0, 1) h _ts1 = (0, 0, 0)
second axis of rotation: η _ts2 = (0.524, -0.704, -0.480) h _ts2 = (0, 0, 0)
third axis of rotation: η _ts3 = (0.251, 0.343, 0.905) h _ts3 = (119, -160, -109),
each in mm. 9. Manipulator according to one of claims 1 to 7, characterized in that a joint section is matched to the human shoulder joint ( 48 ) and as a three-axis roll pitch roll joint unit ( 12 a, 12 b) or as a roll pitch yaw - Joint unit ( 12 c, 12 d, 12 e, 12 f) is formed, whose rotational axes (zsh1, zsh2, zsh3) intersect in a center of rotation (O _sh ) that is in the reference position of the shoulder belt in relation to the global coordinate system is defined as follows: h _sh = (178 mm, -69 mm, 18 mm) with a longitudinal tolerance of ± 20% and an angular tolerance of ± 10 °. 10. Manipulator according to claim 9, characterized in that the orientations ( η _shi (i = 1, 2, 3)) of the axes of rotation (zsh1, zsh2, zsh3) to a relative length tolerance of ± 20% and a relative angle tolerance of ± 10 ° are defined as follows:
first axis of rotation: η _sh1 (-0.730, -0.584, -0.355)
second axis of rotation: η _sh2 (-0.271, -0.218, 0.937)
third axis of rotation: η _sh3 (-0.826, 0.780, 0),
each in mm. 11. Manipulator according to one of the preceding claims, characterized in that a joint section is matched to the human elbow joint ( 50 ), wherein a non-parallel kinematic chain of the rotatory individual joints links a link forming the humerus with a link forming the ulna and that forming the ulna Link links via two articulation points with a link forming the spoke. 12. Manipulator according to claim 11, characterized in that the axes of rotation (zhu and zru) intersect in the center of the capitu lum humeri of the elbow, the center with reference position based on the global coordinate system with a length tolerance of ± 20% and an angular tolerance of ± 10 ° is defined as follows:
Point h _ru = (221.0, -59.1, -320.3),
each in mm. 13. Manipulator according to claim 11 or 12, characterized in that a first (zhu) and a second (zru) Rotati onsachse, on which a forearm part ( 16 , 18 ) with the function of a cubit ( 51 ) and with the function of a Spoke ( 52 ) is articulated, are provided, with respect to the global coordinate system ( 100 ) for the orientations ( η _hu , η _ru ) and their points ( h _hu , h _ru ) up to a relative length tolerance of ± 20% and a relative angular tolerance of ± 10 ° applies:
first axis of rotation η _hu = (0.988, 0, 0.156)
Starting point of the first axis of rotation h _hu = (178, -59, -327)
second axis of rotation η _ru = (-0.004, 0.999.0)
Point of the second axis of rotation h _ru = (221.0, -59.1, -320.3),
each in mm. 14. Manipulator according to one of the preceding claims, characterized in that a joint section is matched to the human wrist ( 53 ) and comprises a first (zrc1) and a second (zrc2) axis of rotation, with respect to the global coordinate system ( 100 ) for the ori entations ( η _rci ) and the points ( h _rci (i = 1, 2)) except for a relative length tolerance of ± 20% and a relative angular tolerance of ± 10 °:
first axis of rotation η _rc1 = (0.966, 0.003, 0.259)
_Starting point of the first axis of rotation h _rc1 = (223, 237, -332)
second axis of rotation η _rc2 = (-0.251, -0.226, 0.941)
_{Point of} rotation second axis h _rc2 = (244, 256, -322),
each in mm. 15. Manipulator according to claim 14, characterized in that the articulated section is adapted to a human hand in the simplified tool handle as a geometric cylinder, for its orientation ( η _tcp ) and point ( h _tcp ) with respect to the global coordinate system ( 100 ) except for a relative length tolerance of ± 20% and a relative angular tolerance of ± 10 ° applies:
Orientation of the central longitudinal axis of the tool handle η _tcp = (0.860, 0.510, 0)
Point of the central longitudinal axis of the tool handle h _tcp = (236.6, 262.8, -311.6),
each in mm. 16. Manipulator according to one of the preceding claims, characterized in that the limb ( 13 ) bil dende limb and the forearm part ( 16 , 18 ) are in a length ratio of 1.17 ± 20% to each other.