FR3098432B1 - ROBOTIC TRACTION MODULE - Google Patents

ROBOTIC TRACTION MODULE Download PDF

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Publication number
FR3098432B1
FR3098432B1 FR1907643A FR1907643A FR3098432B1 FR 3098432 B1 FR3098432 B1 FR 3098432B1 FR 1907643 A FR1907643 A FR 1907643A FR 1907643 A FR1907643 A FR 1907643A FR 3098432 B1 FR3098432 B1 FR 3098432B1
Authority
FR
France
Prior art keywords
cable
module
outside
torus
tensile force
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Fee Related
Application number
FR1907643A
Other languages
French (fr)
Other versions
FR3098432A1 (en
Inventor
- Thomas Daunizeau
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Centre National de la Recherche Scientifique CNRS
Sorbonne Universite
Original Assignee
Centre National de la Recherche Scientifique CNRS
Sorbonne Universite
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 Centre National de la Recherche Scientifique CNRS, Sorbonne Universite filed Critical Centre National de la Recherche Scientifique CNRS
Priority to FR1907643A priority Critical patent/FR3098432B1/en
Priority to PCT/FR2020/051141 priority patent/WO2021005284A1/en
Publication of FR3098432A1 publication Critical patent/FR3098432A1/en
Application granted granted Critical
Publication of FR3098432B1 publication Critical patent/FR3098432B1/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Electric Cable Arrangement Between Relatively Moving Parts (AREA)
  • Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)

Abstract

La présente invention concerne un module robotique de traction (1), caractérisé en ce qu’il comprend : a) un moteur rotatif (5) d’axe longitudinal entraînant en rotation un tambour d’enroulement (6) coaxial au moteur (5) et sur lequel est enroulé un câble de traction (3), b) un système de guidage radial du câble vers l’extérieur du module (1), le système de guidage étant d’orientation radiale et comprenant successivement, en direction de l’extérieur du module, un manchon de guidage et un tore muni d’une surface interne courbe, de manière à ce que le câble (3) issu du manchon de guidage puisse s’appuyer sur le tore, le manchon de guidage et le tore étant coaxiaux et montés radialement à rotation sur un roulement, c) une source d’énergie électrique, d) des capteurs, dont un capteur de la longueur de câble déroulé et un capteur de commande de l’effort de traction du câble (3), e) un système de commande de l’effort de traction à appliquer au câble (3), et f) un système de communication apte à échanger avec l’extérieur du module (1) des données issus des capteurs et à recevoir de l’extérieur du module une commande de l’effort de traction à appliquer au câble (3) par le système de commande. Figure pour l’abrégé : Fig. 1The present invention relates to a robotic traction module (1), characterized in that it comprises: a) a rotary motor (5) with a longitudinal axis rotating a winding drum (6) coaxial with the motor (5) and on which is wound a traction cable (3), b) a radial guide system for the cable towards the outside of the module (1), the guide system being radially oriented and comprising successively, in the direction of the outside the module, a guide sleeve and a torus provided with a curved internal surface, so that the cable (3) coming from the guide sleeve can rest on the torus, the guide sleeve and the torus being coaxial and mounted to rotate radially on a bearing, c) a source of electrical energy, d) sensors, including a sensor for the length of the unwound cable and a sensor for controlling the tensile force of the cable (3), e) a system for controlling the tensile force to be applied to the cable (3), and f) an apt communication system e to exchange data from the sensors with the outside of the module (1) and to receive from the outside of the module a command of the tensile force to be applied to the cable (3) by the control system. Figure for the abstract: Fig. 1

FR1907643A 2019-07-08 2019-07-08 ROBOTIC TRACTION MODULE Expired - Fee Related FR3098432B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1907643A FR3098432B1 (en) 2019-07-08 2019-07-08 ROBOTIC TRACTION MODULE
PCT/FR2020/051141 WO2021005284A1 (en) 2019-07-08 2020-06-30 Robotic traction module

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1907643 2019-07-08
FR1907643A FR3098432B1 (en) 2019-07-08 2019-07-08 ROBOTIC TRACTION MODULE

Publications (2)

Publication Number Publication Date
FR3098432A1 FR3098432A1 (en) 2021-01-15
FR3098432B1 true FR3098432B1 (en) 2021-06-11

Family

ID=68654639

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1907643A Expired - Fee Related FR3098432B1 (en) 2019-07-08 2019-07-08 ROBOTIC TRACTION MODULE

Country Status (2)

Country Link
FR (1) FR3098432B1 (en)
WO (1) WO2021005284A1 (en)

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4666362A (en) * 1985-05-07 1987-05-19 Massachusetts Institute Of Technology Parallel link manipulators
US5585707A (en) * 1994-02-28 1996-12-17 Mcdonnell Douglas Corporation Tendon suspended platform robot
JP3404651B2 (en) * 2000-03-30 2003-05-12 財団法人理工学振興会 3D input device
FR2910833B1 (en) * 2006-12-27 2009-07-31 Commissariat Energie Atomique STRUCTURE WITH TENSILE CABLES FOR HAPTIC INTERFACE OR ROBOT WITH A WIDE ANGLE OF MANEUVER
FR2913625B1 (en) * 2007-03-12 2009-08-21 Haption Sa Sa HINGE INTERFACE WITH TENSILE CABLES IN WHICH THE MOBILE ELEMENT COMPRISES A CENTRAL MEMBER ON WHICH A GRIPPING MEMBER IS REVERSIBLELY COUPLED.
WO2011148004A1 (en) * 2010-05-27 2011-12-01 Fundacion Fatronik Positioning device controlled by cables
CN102114632B (en) * 2011-01-25 2012-05-09 北京航空航天大学 Rope-driven parallel robot capable of realizing rapid reconfiguration
DE102016107514A1 (en) * 2016-04-22 2017-10-26 Airbus Operations Gmbh Processing apparatus and method for operating a processing apparatus
GB2566032B (en) * 2017-08-30 2022-03-09 Mamou Mani Ltd Cable robot and method of large scale production of articles

Also Published As

Publication number Publication date
WO2021005284A1 (en) 2021-01-14
FR3098432A1 (en) 2021-01-15

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Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20210115

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Year of fee payment: 3

ST Notification of lapse

Effective date: 20230305