JPH0275400U

JPH0275400U -

Info

Publication number: JPH0275400U
Application number: JP15485188U
Authority: JP
Priority date: 1988-11-30
Filing date: 1988-11-30
Publication date: 1990-06-08

Description

[Brief explanation of the drawing]

第１図から第６図は本考案の一実施例に係るマ
ニプレータの運動シミユレーシヨン装置であつて
、第１図は本考案の全体構成を示す斜視図、第２
図は第１関節軸の平面図、第３図は第２図のＡ―
Ａ線断面図、第４図は第２関節軸の平面図、第５
図は空気軸受の平面図、第６図は関節軸の調和減
速機の断面図である。図面中、１はシミユレーシヨン用アーム、２は
定盤、３は制御用コンピユータ、４はモータドラ
イバ、５はエアポンプ、６は支柱、７は第１関節
軸、８，１１はリンク、９は第２関節軸、１０，
１３は空気軸受、１２は先端荷重、１４，１５は
歪ゲージ、１６，１７は空気配管、１８は電気配
線、１９は角度検出器、２０は角速度検出器、２
１はＤＣモータ、２３，４２は出力軸筒、２４は
回転軸、２５，４３はブラケツト、３０，４１は
ケーシングである。 1 to 6 show a manipulator motion simulation device according to an embodiment of the present invention, in which FIG. 1 is a perspective view showing the overall configuration of the present invention, and FIG.
The figure is a plan view of the first joint axis, and Figure 3 is A- in Figure 2.
A-line sectional view, Fig. 4 is a plan view of the second joint axis, Fig. 5 is a plan view of the second joint axis.
The figure is a plan view of the air bearing, and FIG. 6 is a sectional view of the harmonic reducer of the joint shaft. In the drawing, 1 is a simulation arm, 2 is a surface plate, 3 is a control computer, 4 is a motor driver, 5 is an air pump, 6 is a column, 7 is a first joint shaft, 8 and 11 are links, and 9 is a second joint shaft. Joint axis, 10,
13 is an air bearing, 12 is a tip load, 14 and 15 are strain gauges, 16 and 17 are air piping, 18 is electrical wiring, 19 is an angle detector, 20 is an angular velocity detector, 2
1 is a DC motor, 23 and 42 are output shaft cylinders, 24 is a rotating shaft, 25 and 43 are brackets, and 30 and 41 are casings.

Claims

[Claims for Utility Model Registration] (1) A fixed joint shaft that projects perpendicularly to a horizontal surface plate, and an arm that is formed of a single link that is rotatably attached to the fixed joint shaft. In this manipulator motion simulation device, the link is formed into a flat plate with a thin wall in the rotation direction, and the fixed joint shaft has an angle detection device for detecting the rotation position of the link. and an angular velocity detector for detecting the turning speed, and for the load, compressed air is jetted from the lower end onto the surface of the surface plate to reduce friction with the surface plate as the link turns. A manipulator motion simulation device characterized by being equipped with a bearing. (2) A fixed joint shaft that projects perpendicularly to a horizontal surface plate, at least one pivotable intermediate joint shaft, and a horizontally pivotable connection in series to the fixed joint shaft via the intermediate joint shaft. In a motion simulation device for a manipulator, the arm is composed of a plurality of links, and a load is provided at the tip of the arm. The intermediate joint shaft is provided with an angle detector for detecting the turning position of the link and an angular velocity detector for detecting the turning speed, and the intermediate joint shaft and the load are connected to the surface of the surface plate from the lower end thereof. A motion simulation device for a manipulator, characterized in that each link is provided with an air bearing that blows out compressed air to reduce friction with the surface plate as the link rotates.