JPH01252380A - Manipulator by use of multi-dimensional actuators - Google Patents

Abstract

PURPOSE:To make a manipulator small in size and light in weight as well as to contrive to simplify control operations including the compensation of dynamics by making good use of multi-dimensional actuators, and thereby forming a manipulator having six or seven freedoms with the minimum numbers of actuators. CONSTITUTION:A manipulator having six or seven freedoms is formed by three actuators 1 through 3, particularly, a shoulder section and a wrist section are provided with three dimensional actuators, and furthermore an elbow section between the aforesaid sections is provided with one dimensional actuator. The mechanism as set forth herein above has functions substantially similar to those of the arm of human so as to be driven accordingly to the actions of the arm of the human. Thus, since the manipulator is composed of these actuators 1 through 3, the actuators 2 and 3 for the wrist and the elbow sections are only under the loading of the actuator 1 for the shoulder section, the manipulator can sufficiently by made smaller and lighter than conventional ones in size and weight respectively. In addition, since it includes three joints, computation for high level control including the computation of dynamics can thereby be simplified as compared with the conventional manipulator with six or seven joints so that time required for computation is less than one tenth of the conventional one.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates primarily to a manipulator used in a robot, and more specifically to a 41i manipulator using a multidimensional actuator.

[Conventional technology]

Conventional series manipulators require one actuator for one load, resulting in a load of 1,97 actuators or f1 actuators. Therefore, as the actuator approaches the shoulder side, the acceleration increases, and as a result, the weight of the manipulator becomes extremely large considering the Ijfm performance. In particular, as shown in Fig. 2, in the conventional human arm manipulator with 7 degrees of freedom equipped with actuators A, ~^, from 71 countries, the overall weight kk is very large due to the large number of actuators. Become. This tendency appears when using a direct-to-life type manipulator that can perform high-performance control. 1Of1 k+? It becomes 6.

In addition, when considering the control of the manipulator from a static perspective, the coordinates of ■・6 parts are sequentially set to f4g! t..., most importantly, when determining the position of the 14 parts in a sitting system set at the shoulder, it is first-order based on the number of joints, second-order when taking into account the phase 11 action of inertia, and centrifugal force. When reconsidering Tinamics including Coriolica and Coriolika, consider the third-order number (7
3!4! , ) will be required.

This calculation becomes very large, and for example, in a system with phase 4L action between 6 or 7 functions, although the performance of a total machine is improving year by year, the dynamics... There is a problem in that the calculation IA tends to become large in order to perform advanced control including Nox compensation in real time. Nevertheless, since increasingly complex control is required for manufacturers;
Without an F4, it is difficult to perform altitude control.

(Problem to be solved by invention) The first unexplored technical problem is to develop a multidimensional actuator (
6 to 7 with the minimum number of actuators.
The purpose is to make the manipulator smaller and lighter by configuring it to 7 nibilators with 0 mountain degrees, and to greatly simplify the total n for control including dynamic compensation.

[Means for Solving the Problems] The manipulator of the present invention for solving the above problems has the following features:
A multidimensional actuator that rotates around the PAa axis, which is perpendicular to θ at one point, is placed on the shoulder and the 6th part of the hand, and a 1010 degree actuator is placed on the shoulder between them. , these three Acunayueda C6 to 7
1. It is characterized by composing a manipi of 1 mountain degree: LL□-Yu.

Effect 1 Since the unreleased 7 nipulator is composed of 3tj actuators, it is likely to become a load on the wrist actuator and the shoulder actuator or the shoulder side actuator, and if it is a nf transfer star or rotation. , conventional manipulator
It would be difficult to make the manipulator smaller and lighter than the previous model. Also, joints or 3
Since it is a manipulator with 6 or 7 joints, the JtW for advanced control, including compensation of the y/r namittas, is greatly simplified.

[Example] FIG. 1 schematically shows the configuration of a manipulator according to the present invention.

In this manipulator, a multidimensional actuator l capable of rotational drive around multiple axes intersecting at one point is placed in the 11th part, and a similar multidimensional actuator 2 is placed in the 4F, <q part. , and a 1-degree-of-freedom actuator l is placed on the shoulder between them.

As a multidimensional actuator, the present inventor has previously published Japanese Patent Application Laid-Open No. 60-214252%+ and Japanese Patent Application Laid-open No. 61-20381.
J No. 11, JP-A-61-228158 and JP-A-Sho +
A three-dimensional motor proposed in No. 12-230391 or the like can be used.

These three-dimensional sweaters are capable of rotating the output shaft around three orthogonal axes at one point. - For example, the three-dimensional motor proposed by Q in JP-A No. 60-204252 has windings that generate rotating magnetic fields around three orthogonal axes. A rotor supported by rotation I1118 in an arbitrary direction is provided in a stator capable of generating a composite rotating magnetic field D (D).

Further, as the one-degree-of-freedom actuator tacho disposed at the injection point, an appropriate motor that has been commonly used can be used.

Therefore, these three actuators 1.2. :1 constitutes a manipulator with 6 or 7 degrees of freedom. In particular, a configuration in which a three-dimensional actuator is provided on the shoulder, a three-dimensional actuator is also provided on the hand d, and a first-order χ actuator is provided on the shoulder between them is qualitatively similar to that of a human arm. It has a similar function, and is driven in response to the movements of the human arm.

Since the manipulator having the above configuration is composed of three actuators 1, 2, and 3, the load is only on the actuator 2 at the wrist and the actuator J at the elbow, and the layer side actuator. In the case of turning, it is necessary to make the manipulator sufficiently compact and lightweight compared to conventional manipulators.

In addition, since there are only three joints, calculations for advanced control including type mix compensation are greatly simplified and calculation time is reduced compared to conventional manipulators with six or seven joints. is considered to be less than 1/1OF. Therefore, it is possible to perform sophisticated control of the manipulator using a relatively small computer.

Effects of IJj from E] According to the manipulator of the present invention detailed above, a multidimensional actuator is effectively used, a manipulator with 6 to 7 degrees of freedom is configured with the minimum number of actuators, and the manipulator is made smaller and lighter. At the same time, calculations for control including type mix compensation can be significantly simplified.

[Brief explanation of the drawing]

Figure pJ1 is a perspective view showing an outline of an embodiment of the manipulator according to the present invention, and Figure 1g521-4 is a perspective view of a conventional manipulator. 1...Multidimensional actuator for the shoulder, 2...Multidimensional actuator for the wrist, 3...1-degree-of-freedom actuator for the elbow.

Claims (1)

[Claims] 1. Multidimensional actuators that enable rotational drive around multiple axes perpendicular to each other at one point are placed on the shoulder and wrist, and an actuator with one degree of freedom is placed on the elbow between them. A manipulator using a multidimensional actuator, characterized in that three actuators constitute a manipulator with six to seven degrees of freedom.