KR20210135970A - Robotics system and contents service providing system using the same - Google Patents

Abstract

Disclosed is a robotic system, which comprises: a control device including a processor for executing a computer program for generating control signals; a base; first vertical frames connected to the base; active joints separately connected to each of the first vertical frames, moved independently of each other in a vertical direction with respect to the base; a truss structure connected to the active joints, and moved in accordance with the movement of each of the active joints; second vertical frames disposed outside the truss structure; and an end-effector disposed outside the truss structure, and connected to the second vertical frames. The truss structure includes: connection devices separately connected between two of corresponding active joints, and separately moved in accordance with the movement of each of the active joints; rigid bodies separately connected to each of the connection devices; and a jig disposed inside the truss structure, and connected to the rigid bodies. Each of the second vertical frame is connected to each of the rigid bodies. Therefore, the range of motion of the end-effector of the robotic system significantly increases.

Description

Robotic system and content service providing system using the same

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robotic system, and more particularly, to a robotic system comprising support columns connected to rigid bodies protruding outside of a truss structure such that an end effector is disposed outside of the truss structure.

Because of the advantages of high stiffness and high speed compared to the existing serial mechanism, the parallel mechanism represented by the Stewart-Gough platform is of interest not only in academia and research institutes but also in industry. It is increasing, and it is being studied in various fields such as the field of high-speed assembly robots, the field of multi-axis computer numerical control (CNC) machining, and the field of virtual reality such as a flight simulator.

Instead of increasing the advantages of parallel mechanisms, studies related to parallel mechanisms include the problem of kinematics inherent in parallel mechanisms (forward kinematics and backward kinematics) and the singular configuration that must be avoided in order to move the robot's end effector. ) Many research results on mathematical and analytical methodologies have been presented in various fields such as analysis and interpretation.

The parallel robot using the existing parallel mechanism has a structure in which the links of the serial robot are directly connected to the end effector by applying kinematic constraints to each other, and through this, the structural rigidity is increased and the accuracy is increased.

However, depending on the posture of the end effector of the robot, stress concentration often occurs in the joints of the parallel robot. This not only acts as a cause of increasing the price of the parallel robot, but also acts as a disadvantage of increasing the size of the parallel robot.

Registered Patent Publication: Registration No. 10-1579550 (2015.01.05.Announcement)

The technical problem to be achieved by the present invention is that the end effector is disposed outside the truss structure in order to increase the range (or angle) in which the end effector moves compared to the range (or angle) in which the end effector of the conventional robotic system moves. An object of the present invention is to provide a robotic system including support columns connected to rigid bodies protruding to the outside of the truss structure as much as possible.

A robotic system according to an embodiment of the present invention includes a control device including a processor executing a computer program generating control signals, a base, first vertical frames connected to the base, and each of the first vertical frames Active joints connected to each of the control signals and moving independently of each other in a vertical direction with respect to the base according to each of the control signals, and a truss connected to the active joints and moving according to the movement of each of the active joints a structure and second vertical frames disposed outside of the truss structure, wherein each of the truss structures is connected between a corresponding two active joints of the active joints, each of the active joints Connecting devices moving according to the movement and rigid bodies each connected to each of the connecting devices, each of the second vertical frames is connected to the end of each of the rigid bodies projecting to the outside of the truss structure.

A robotic system according to an embodiment of the present invention includes a control device including a processor executing a computer program generating control signals, a base, first vertical frames connected to the base, and each of the first vertical frames Active joints connected to each of the control signals and moving independently of each other in a vertical direction with respect to the base according to each of the control signals, and a truss connected to the active joints and moving according to the movement of each of the active joints a structure, second vertical frames disposed outside the truss structure, and an end effector disposed outside the truss structure and connected to the second vertical frames, wherein each of the truss structures comprises the active joint Connecting devices connected between two corresponding active joints among them, each of which moves according to the movement of each of the active joints, rigid bodies each connected to each of the connecting devices, and inside the truss structure and a jig connected to the rigid bodies, wherein each of the second vertical frames is connected to each of the rigid bodies.

The robotic system further includes a pair of guide posts, each of which is connected to a connection part of each of the connection devices, and the connection part of each of the connection devices moves according to the movement of each of the active joints.

A content service providing system according to the present invention includes a host device that generates motion data and a robotic system, wherein the robotic system executes a computer program that generates control signals using the motion data transmitted from the host device. A control device including a processor for Active joints moving independently of each other in the direction; a truss structure connected to the active joints and moving according to the movement of each of the active joints; second vertical frames disposed outside the truss structure; and an end effector disposed outside of the structure and connected to the second vertical frames, wherein the truss structure is each connected between a corresponding two of the active joints, each of the active joints Connecting devices moving according to each movement, each of the rigid bodies connected to each of the connecting devices, and a jig disposed inside the truss structure and connected to the rigid bodies, wherein each of the second vertical frames comprises: connected to each of the rigid bodies.

The motion data may be motion data that is live streamed from a content acquisition device communicating with the host device, or motion data that is stored in a database accessed by the host device and then streamed video on demand (VOD) by the host device. am.

Since the robotic system according to an embodiment of the present invention includes support columns connected to rigid bodies protruding outside of the truss structure, the range (or angle) in which the end effector of the robotic system moves is the end effector of the conventional robotic system. It has the effect of significantly increasing the range (or angle) of movement.

In order to more fully understand the drawings recited in the Detailed Description of the Invention, a detailed description of each drawing is provided.
1 is a schematic diagram of a robotic system according to an embodiment of the present invention.
FIG. 2 is a detailed schematic diagram of the robotic system shown in FIG. 1 .
FIG. 3 is a plan view of the robotic system shown in FIG. 2 .
4 is an enlarged schematic diagram of a truss structure of the robotic system shown in FIG. 2 .
FIG. 5 is an enlarged schematic view in which the jig is removed from the truss structure of the robotic system shown in FIG. 4 .
6 is a schematic diagram for explaining the connection device shown in FIG. 5 .
7 is a schematic diagram specifically illustrating the connection device shown in FIG. 6 .
8 is a block diagram for explaining the operation of a control device for controlling the components of the robotic system shown in FIGS. 1 to 5 .
9 is a schematic diagram of a system for providing a content service using a content acquisition device, a server, and a robotic system.
FIG. 10 is a flowchart illustrating a method of providing a content service using the system shown in FIG. 9 .

1 is a schematic diagram of a robotic system according to an embodiment of the present invention, FIG. 2 is a detailed schematic diagram of the robotic system in which the end effector is removed from the robotic system illustrated in FIG. 1, and FIG. 3 is the robot illustrated in FIG. It is a plan view of the tick system, FIG. 4 is an enlarged schematic view of the truss structure of the robotic system shown in FIG. 2 , FIG. 5 is an enlarged schematic view of the truss structure of the robotic system shown in FIG. 4 , and FIG. 6 is It is a schematic diagram for explaining the connection device shown in FIG. 5, and FIG. 7 is a schematic diagram showing the connection device shown in FIG. 6 in detail.

1 to 7 , the robotic (or parallel robotic) system 100 or the parallel mechanism 100 includes a base 110, vertical frames (or first vertical frames; 115-1 to 115-) 3), including active joints 120-1 to 120-3, a truss structure, support pillars (or second vertical frames; 150-1 to 150-3), and an end effector 180 do. The robotic system 100 includes connecting parts 135-1 to 135-3 and guide posts (or guide frames; 161-1, 161-2, 163-1, 163-2, 165-1, and 165-2) may be further included.

The robotic system 100 according to an embodiment of the present invention uses a truss structure to reduce the weight of a device (or work object) that can be connected to an end effector (end effector) 180 to connect active joints to each other. Since there is an effect of dispersing each of (120-1 to 120-3), the robotic system 100 can be connected to the end effector 180 relative to the weight of the robotic system 100 itself (or the above There is an effect that the ratio of the weight of the work object) itself can be almost 1.

In addition, the end effector included in the conventional robotic system is implemented inside the truss structure, but the end effector 180 included in the robotic system 100 according to the present invention is implemented outside of the truss structure. The range (eg, angle) in which the end effector 180 of the system 100 can move has an effect greater than the range in which the end effector of the conventional robotic system can move.

According to embodiments, the robotic system 100 may be implemented as a simulator for various simulations, such as flying an airplane, steering a ship, driving a car, or virtual reality.

The base 110 is also called a base plate and functions to support the robotic system 100 .

The vertical frames 115-1 to 115-3 disposed at a predetermined angle (eg, 120°) are connected to (or fixed to) the base 110 . Each of the vertical frames 115-1 to 115-3 may be referred to as a ball screw, a ball screw shaft, or a screw axis, but is not limited thereto.

Each active joint 120-1 to 120-3 may move in the first direction D1, for example, up or down along the corresponding vertical frame 115-1 to 115-3.

In the present specification, an active joint includes an actuator (eg, a motor) capable of moving the active joint, and an encoding device (eg, an encoder) that provides information about the position of the active joint at a specific time, and It means a joint that moves actively, and a passive joint is a joint that does not include the actuator and the encoding device, and may mean a joint that passively moves according to the movement of the active joint.

In some embodiments, the active joint may be defined as a device including the active joint and a vertical frame. According to an embodiment, each of the active joints 120 - 1 to 120 - 3 may be an active joint using a ball screw, but is not limited thereto.

The truss structure is connected to the active joints 120-1 to 120-3, and moves according to the movement of each active joint 120-1 to 120-3. That is, the movement of the truss structure is determined according to the movement of each active joint 120-1 to 120-3.

The truss structure is formed by the connection devices 130-1 to 130-3 connected to the active joints 120-1 to 120-3, but according to embodiments, the truss structure is formed by the connection devices 130-1 130-3), rigid bodies 140-1 to 140-3, a jig 175, and a structure including support pillars (or support devices; 150-1 to 150-3) . When the truss structure is a triangle or an equilateral triangle, each connection device 130 - 1 to 130 - 3 corresponds to each side of the triangle or the equilateral triangle.

Each of the connecting devices 130-1, 130-2, and 130-3 includes two corresponding active joints 120-1, 120-2, and 120-2 among the active joints 120-1 to 120-3. and 120-3, and 120-3 and 120-1), and each connection device 130-1 to 130-3 moves according to the movement of each active joint 120-1 to 120-3.

For example, the first connection device 130-1 is connected to the first active joint 120-1 and the second active joint 120-2, and the second connection device 130-2 is connected to the second active joint ( 120-2) and the third active joint 120-3, and the third connecting device 130-3 is connected to the third active joint 120-3 and the first active joint 120-1. .

In some embodiments, each of the active joints 120 - 1 to 120 - 3 may be a prismatic joint.

The first rigid body 140-1 is connected (or mechanically connected) to the first connecting device 130-1, and the second rigid body 140-2 is connected to (or mechanically connected to) the second connecting device 130-2. mechanically connected), and the third rigid body 140-3 is connected (or mechanically connected) to the third connecting device 130-3. Each of the rigid bodies 140-1 to 140-3 may be implemented as a cylindrical rod, but the shape of each rigid body 140-1 to 140-3 is not limited to the cylindrical rod. According to embodiments, each connection device 130-1 to 130-3 may be implemented as a spherical joint. A first end (eg, an end inside the truss structure) of each rigid body 140-1 to 140-3 is connected (or fixed) to a jig 175 . 5 and 6 show a view in which the jig 175 is removed so that the truss structure is more clearly seen.

Each support column 150-1 to 150-3 is connected to a second end of each rigid body 140-1 to 140-3 (eg, an end outside of the truss structure). Each support column 150-1 to 150-3 is provided at the second end of each rigid body 140-1 to 140-3 protruding to the outside of the truss structure so that the end effector 180 is disposed outside the truss structure. deployed (connected or implemented). Each of the support pillars 150 - 1 to 150 - 3 serves as a pedestal for supporting the end effector 180 .

In the conventional robotic system, the end effector was located at the position of the jig 175 and the end effector was present inside the truss structure. had been limited

In the present invention, since the end effector 180 is connected to the supporting pillars 150-1 to 150-3 disposed outside the truss structure, the range in which the end effector 180 can move is limited to the inside of the truss structure. However, there is an effect that the conventional end effector is larger than the range that can be moved. The end effector 180 may be referred to as a moving platform, and is not directly connected to the active joints 120 - 1 to 120 - 3 . The end effector 180 is formed through active joints ( 150-1 to 150-3), rigid bodies 140-1 to 140-3, and connecting devices 130-1 to 130-3. 120-1 to 120-3) (or indirectly connected).

Each of the connecting devices 130-1 to 130-3 includes a slider block including a passive joint (eg, a spherical joint), a first slider (eg, a passive joint), and a second slider (eg, a passive joint). include Since the structure and operation of each connection device 130-1 to 130-3 are identical to each other, the structure and operation of the first connection device 130-1 will be representatively described with reference to FIGS. 6 and 7 .

The slider block (or fixed link) 131-2 of the first connecting device 130-1 includes a passive joint 131-3, a first slider (or a first sliding link); 131-4), and a second slider (or second sliding link; 131-5).

Each slider 131-4 and 131-5 adjusts the movement (or position) of each active joint 120-1 and 120-2 moving up or down along each vertical frame 115-1 and 115-2. It can move along or rotate by a certain angle.

The passive joint 131-3 may be connected to the first rigid body 140-1 and disposed (or installed) in the center of the first connection device 130-1. As each active joint 120-1 to 120-3 moves in the first direction D1, for example, up or down, the first rigid body 140-1 moves in the second direction (D1) by the passive joint 131-3. D2) or in the second direction D2.

The first slider 131-4 is connected between the first active joint 120-1 and the slider block 131-2, and can move forward or backward in the first internal space of the slider block 131-2. .

The second slider 131 - 5 is connected between the second active joint 120 - 2 and the slider block 131 - 2 and can move forward or backward in the second inner space of the slider block 131 - 2 . .

The slider block of each connection device 130-2 and 130-3 includes a passive joint, a first slider 132-4 or 133-4, and a second slider 132-5 or 133-5.

The first guide posts 161-1 and 161-2 are connected to the first connection part 135-1 of the first connection device 130-1, and the first guide posts 161-1 and 161-2 are moved by the passive joint 131-3. It functions to guide the rigid body 140-1 so that it is always positioned at the center of the first connection device 130-1. The first connection part 135 - 1 may move up or down along the first guide pillars 161-1 and 161 - 2 .

When each active joint 120-1 and 120-2 independently moves up or down, each slider 131-4 and 131-5 of the first connecting device 130-1 moves, and the first connecting device ( When 130-1) moves up or down along each of the vertical frames 115-1 and 115-2, the first connection part 135 connected to the first connection device 130-1 is connected to the first guide posts ( 161-1 and 161-2) to move up or down.

The second guide posts 163-1 and 163-2 are connected to the second connection part 135-2 of the second connection device 130-2, and are passive joints of the second connection device 130-2. The function of guiding the second rigid body 140 - 2 moving by the is always positioned at the center of the second connecting device 130 - 2 is performed.

The third guide posts 165-1 and 165-2 are connected to the third connection part 135-3 of the third connection device 130-3, and are passive joints of the third connection device 130-2. It performs a function of guiding the third rigid body 140-3 moving by , so that it is always positioned at the center of the third connecting device 130-3.

8 is a block diagram for explaining the operation of a control device for controlling the components of the robotic system shown in FIGS. 1 to 5 . The robotic system 100 further includes the control device 200 which is an electronic component in addition to the mechanical components described above. According to embodiments, the robotic system 100 may further include an audio execution device 255 and/or a video execution device 265 .

In combination with the hardware 200 , the computer program PROG is stored in the data storage device 220 , such as the memory device 220 , to control the robotic system 100 . When the control device 200 is executed or booted, the computer program PROG is loaded from the memory device 220 to the processor 230 .

The memory device 220 is a generic term for a nonvolatile memory device and a volatile memory device, and the nonvolatile memory device is a hard disk drive (HDD), a solid state drive (SSD), or a flash. memory-based devices and the like, wherein the volatile memory devices include random access memory (RAM), static RAM (SRAM), or dynamic RAM (DRAM).

Although the memory device 220 is shown outside the processor 230 in FIG. 8 , the memory device 220 may mean a memory device implemented inside the processor 230 . The memory device 220 refers to a memory device related to the operation of the computer program PROG, regardless of the type and location of the memory device 220 .

The control device 200 includes a first interface 210 , a memory device 220 , a processor 230 , and a second interface 240 , and according to embodiments, the control device 200 includes an audio driver 250 . and/or a video driver 260 may be further included.

The first interface 210 is an interface for communication with the host device, and as shown in FIG. 9 , a function of exchanging signals (or data) with the server 330 through the second communication network 360 is performed. can

The memory device 220 may store the computer program PROG and data necessary for the operation of the control device 200 .

The processor 230 may execute a computer program PROG and may control operations of the components 210 , 220 , 240 , 250 , and 260 . The first control signals CTR1-1 to CTR1-3 generated by the processor 230 or the computer program PROG executed by the processor 230 are transmitted to the active joints 120 through the second interface 240 . -1 to 120-3). According to each control signal CTR1-1 to CTR1-3, each active joint 120-1 to 120-3 moves independently.

The control device 200 or the computer program PROG is configured such that each of the active joints 120-1 to 120-3 moves independently of each other along the first direction D1, the active joints 120-1 to 120 -3) Control each.

Between the corresponding two second active joints (120-1 and 120-2, 120-2 and 120-3, and 120-3 and 120-1) of the active joints (120-1 to 120-3) Each of the connected connecting devices 130-1 to 130-3 is dependent on each of the independently moving active joints 120-1 to 120-3.

The control device 200 or the computer program PROG controls the first interface 210 of the robotic system 100 to receive motion data from a host device connected to the robotic system 100 .

The control device 200 or the computer program PROG uses the motion data transmitted from the host device to control the control signals CTR1-1 for controlling the motion of each of the active joints 120-1 to 120-3. ~CTR1-3) can be generated.

The motion data transmitted from the host device may include motion data that is live streaming from a content acquisition device communicating with the host device, or stored in a database accessed by the host device, and then transmitted by the host device on video on demand (VOD). demand) may be streamed motion data.

According to embodiments, when the robotic system 100 further includes sensors, the control device 200 or the computer program PROG generates motion data using the detection signals output from the sensors, and the movement Control signals CTR1-1 to CTR1-3 may be generated using the data.

The sensors include an image sensor capable of generating color image information, a depth sensor capable of generating depth (or distance) information, a sensor capable of generating the color image information and the depth information together, and a moving robotic system ( 100) may include a sensor capable of generating information on angular velocity and information on acceleration.

When the robotic system 100 further includes an audio execution device 255 and a video execution device 265 , the control device 200 or the computer program PROG is configured to move the audio data and video data from the host device. The first interface 210 of the robotic system 100 may be controlled to receive it together with the data.

The control device 200 or the computer program PROG outputs an audio signal AS generated using the audio data to the audio execution device 255 and/or a video signal VS generated using the video data may control the output to the video playback device 265 .

The audio driver 250 that generates the audio signal AS by using the audio data may be implemented as a hardware device or may be implemented as a part of the computer program PROG.

The video driver 260 for generating the video signal VS by using the video data may be implemented as a hardware device or as a part of the computer program PROG. The control device 200 or the computer program PROG may transmit the audio data to the audio driver 250 and may transmit the video data to the video driver 260 .

9 is a schematic diagram of a system for providing a content service using a content acquisition device, a server, and a robotic system, and FIG. 10 is a flowchart illustrating a method for providing a content service using the system shown in FIG. .

1 to 10 , the content service providing system 300 for providing the content service includes a content acquiring device 310 , a server 330 , and a robotic system 100 .

The content acquisition device 310 and the server 330 may exchange signals (information or data) through the first communication network 320 , and the server 330 and the robotic system 100 may communicate with the second communication network ( 360), a signal (information or data) may be exchanged. The first communication network 320 may be the Internet or a Wi-Fi network, but is not limited thereto. The second communication network 360 may be a wired communication network or a Bluetooth communication network, but is not limited thereto.

The content acquisition device 310 refers to a device capable of generating the second content data CTD2 including visual and/or auditory data. The content acquisition device 310 includes a camera 312 , sensors 314 , and a processor 316 .

The camera 312 may generate video data (eg, still images or moving pictures), and the sensors 314 may generate information about the angular velocity and/or information about the acceleration of the content acquisition device 310 , The processor 316 may control operations of the camera 312 and the sensors 314 . Sensors 314 include devices capable of generating audio information.

The processor 316 may generate motion data representing the motion of the content acquisition device 310 by using the information on the angular velocity and/or the information on the acceleration output from the sensors 314 . The processor 316 synchronizes the video data (video data including audio data according to an embodiment) and the motion data to generate second content data CTD2, and generates the second content data CTD2. It can be transmitted to one communication network 320 .

In the method of providing a content service using the content acquisition device 310 , the server 330 , and the robotic system 100 , the robotic system 100 receives the first content data CTD1 from the server 330 . Receive (S330).

The robotic system 100 generates control signals CTR1-1 to CTR1-3 based on the first content data CTD1 (or by using the motion data included in the first content data CTD1). (S340).

The robotic system 100 uses the control signals CTR1-1 to CTR1-3 to independently move each of the active joints 120-1 to 120-3 along the first direction D1. To this end, each of the active joints 120-1 to 120-3 is controlled (S345).

Between the corresponding two second active joints 120-1 and 120-2, 120-2 and 120-3, and 120-3 and 120-1 among the active joints 120-1 to 120-3 Each of the connected connection devices 130-1 to 130-3 moves according to the movement of each of the active joints 120-1 to 120-3 (S350).

In the method for providing the content service, the content acquisition device 310 generates video data using the camera 312 , measures the angular velocity and acceleration of the content acquisition device 310 using the sensors 314 , and , generates motion data corresponding to the measurement result, synchronizes the video data and the motion data with each other to generate second content data CTD2 , and sends the generated second content data CTD2 to the server 330 . transmit (S310). According to embodiments, when the sensors 314 are sensors capable of generating obio data, the second content data CTD2 may include motion data, video data, and audio data synchronized with each other.

In the method for providing the content service, the server 330 transmits the second content data CTD2 as the first content data CTD1 to the robotic system 100 (S330).

In the method for providing the content service, the processor 332 of the server 330 analyzes (or determines) the transmission mode signal stored in the memory device 334 (S320), and the transmission mode signal indicates live streaming. When it is a signal, the processor 332 live-streams the second content data CTD2 transmitted from the content acquisition device 310 as the first content data CTD1 to the robotic system 100 (S326).

However, in the method for providing the content service, when the transmission mode signal is a signal indicating VOD streaming, the processor 332 stores the second content data CTD2 transmitted from the content acquisition device 310 in the database 350 . do (S322). The processor 332 retrieves the second content data CTD2 from the database 350 in response to the VOD data transmission request transmitted from the robotic system 100 , and uses the retrieved second content data CTD2 as a second VOD streaming is performed as the second content data CTD2 through the communication network 360 (S324).

When the robotic system 100 further includes a head mounted display (HMD) 265 as the video execution device 265 , in the method for providing the content service, the robotic system 100 includes the first content data CTD1 ) extracts video data and motion data from the HMD 265, generates control signals CTR1-1 to CTR1-3 by using the extracted motion data, and transmits a video signal VS corresponding to the extracted video data to the HMD 265 ) is sent to As described above, the method of providing a content service performed in the robotic system 100 may be performed under the control of the program PROG.

Although the present invention has been described with reference to the embodiment shown in the drawings, this is merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Accordingly, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

100: robotic system, parallel robotic system, parallel mechanism
110: base or base plate
115-1~115-3: vertical frames or screw shafts
120-1~120-3: active joints
130-1~130-3: connecting devices
131-3: passive joint
131-4: first slider
131-5: second slider
140-1 to 140-3: force or rod
150-1~150-3: support columns 0
180: end effector (end effector)
200: control device
210: first interface
220: memory device or data storage device
230: processor
240: second interface
250: audio driver
255: audio execution device
260: video driver
265: video execution device
310: content acquisition device
330: server
350: database

Claims (5)

a control device comprising a processor executing a computer program for generating control signals;
Base;
first vertical frames connected to the base;
active joints each connected to each of the first vertical frames, each of which moves independently of each other in a vertical direction with respect to the base according to each of the control signals;
a truss structure connected to the active joints and moving according to the movement of each of the active joints; and
and second vertical frames disposed outside of the truss structure,
The truss structure is
connecting devices each connected between two corresponding active joints among the active joints, each of which moves according to the movement of each of the active joints; and
each comprising rigid bodies connected to each of the connecting devices;
Each of the second vertical frames is connected to an end of each of the rigid bodies protruding to the outside of the truss structure. a control device comprising a processor executing a computer program for generating control signals;
Base;
first vertical frames connected to the base;
active joints each connected to each of the first vertical frames, each of which moves independently of each other in a vertical direction with respect to the base according to each of the control signals;
a truss structure connected to the active joints and moving according to the movement of each of the active joints;
second vertical frames disposed outside the truss structure; and
an end effector disposed outside the truss structure and connected to the second vertical frames;
The truss structure is
connecting devices each connected between two corresponding active joints among the active joints, each of which moves according to the movement of each of the active joints;
rigid bodies each connected to each of the connecting devices; and
It is disposed inside the truss structure and includes a jig connected to the rigid bodies,
each of the second vertical frames is connected to each of the rigid bodies. 3. The method of claim 2,
Each of the connecting devices further comprises a pair of guide posts connected to the respective connecting portion,
The connecting portion of each of the connecting devices moves according to the movement of each of the active joints. a host device that generates motion data; and
including a robotic system;
The robotic system is
a control device including a processor executing a computer program that generates control signals using the motion data transmitted from the host device;
Base;
first vertical frames connected to the base;
active joints each connected to each of the first vertical frames, each of which moves independently of each other in a vertical direction with respect to the base according to each of the control signals;
a truss structure connected to the active joints and moving according to the movement of each of the active joints;
second vertical frames disposed outside the truss structure; and
an end effector disposed outside the truss structure and connected to the second vertical frames;
The truss structure is
connecting devices each connected between two corresponding active joints among the active joints, each of which moves according to the movement of each of the active joints;
rigid bodies each connected to each of the connecting devices; and
It is disposed inside the truss structure and includes a jig connected to the rigid bodies,
Each of the second vertical frames is a content service providing system connected to each of the rigid bodies. 5. The method of claim 4,
The motion data may be motion data that is live streamed from a content acquisition device communicating with the host device or motion data that is stored in a database accessed by the host device and then streamed video on demand (VOD) by the host device. In-content service provision system.

Images