NL2004167C2 - Robot with multiple degrees of freedom. - Google Patents

Robot with multiple degrees of freedom. Download PDF

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Publication number
NL2004167C2
NL2004167C2 NL2004167A NL2004167A NL2004167C2 NL 2004167 C2 NL2004167 C2 NL 2004167C2 NL 2004167 A NL2004167 A NL 2004167A NL 2004167 A NL2004167 A NL 2004167A NL 2004167 C2 NL2004167 C2 NL 2004167C2
Authority
NL
Netherlands
Prior art keywords
robot
legs
tool
tools
base
Prior art date
Application number
NL2004167A
Other languages
Dutch (nl)
Inventor
Patrice Lambert
Original Assignee
Univ Delft Tech
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 Univ Delft Tech filed Critical Univ Delft Tech
Priority to NL2004167A priority Critical patent/NL2004167C2/en
Priority to EP11703503A priority patent/EP2528715A1/en
Priority to PCT/NL2011/050051 priority patent/WO2011093703A1/en
Application granted granted Critical
Publication of NL2004167C2 publication Critical patent/NL2004167C2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • 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
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Description

Robot with multiple degrees of freedom
The invention relates to a robot with multiple degrees of freedom comprising multiple legs linked at a first of their ends to a base, and at a second of their ends opposite to the first ends to a mobile platform, which platform carries at least 5 one tool, and wherein the robot further comprises an actuator for operating the tool or tools.
Such a robot is known from EP-A-1 870 214. The known robot has a single tool mounted on the mobile platform which is made up of four members linked together by means of articulated 10 linkages. The robot also has four legs and is thus provided with four degrees of freedom pertaining to the movement of the tool. The tool itself has an actuator that is mounted on the mobile platform.
Generally speaking a robot, has to satisfy conflicting 15 demands. At the one hand it is desirable to have a low mass in order to reduce inertia and improve the speed of operation. On the other hand a robot preferably shows a high stiffness which allows to maintain accuracy when operating with high amplitudes and frequencies. In most cases these requirements conflict with 20 each other and a trade off must occur in the design of the robot between mass and stiffness. A measure of the quality of the design can be found in the so called P/M ratio wherein P stands for payload and M stands for total mass. The higher this P/M ratio is, the better the design.
25 A problem of the design known from EP-A-1 870 214 is that the actuator that is mounted on the mobile platform reduces the P/M ratio in that it increases the weight of the mobile platform at the expense of the load that, may be supported or handled by the tool or tools that are provided on the platform. 30 It is one of the objectives of the invention to provide a solution for this problem. A further objective is to provide a design which allows to provide a robot with improved P/M ratio. Still a further objective of the invention is to provide a robot which can represent a viable alternative for the robot or robots 35 that are known from the prior art.
To meet one or more of the abovementioned objectives of the invention and/or to provide a solution to any other objective problem which is not yet described above but may become apparent during processing of this application, the robot, of the 2 invention is provided with the features of one or more of the appended claims .
In a first aspect of the invention the robot comprises five legs, wherein each leg connects at its extremities to the 5 base and the platform. This essentially provides the possibility of equipping the robot with five degrees of freedom, wherein the additional degree of freedom as compared to the prior art can be used for operating the tool or tools.
To support meeting this possibility of providing the 10 robot with five degrees of freedom, the platform is embodied with members that are rotationally connected to each other with links, wherein each link is provided at an extremity of one leg.
For ease of operation it is further preferable that the tool or tools are supported by a member and/or a link.
15 It is possible to provide the mobile platform with only a single tool as in the prior art. Advantageously however, the mobile platform supports two tools occupying a distance between each other that is adjustable by the operation of the actuator.
It is further preferred that the actuator is placed 20 distant from the tool or tools at the base. This effectively reduces the weight of the mobile platform, and improves the earlier mentioned P/M ratio.
Similar to the prior art the robot of the invention also has legs, each leg having a motor drive at the base. Con-25 trary to the prior art however and very cleverly, in the design of the robot of the invention the actuator of the tool or tools is embodied by the joint operation of the motor drives of the legs .
In order to simplify the actuation of the tool or 30 tools, desirably the positions of the motor drives at the base are symmetrical and form an imaginary pentagram. The pentagram accords to the five legs of the robot.
It is further preferable that each of the legs comprises a rotational joint connected to a parallelogram construc-35 tion comprising the leg's link that connects to the members of the platform at a side distant from the rotational joint.
In its most preferred embodiment the robot of the invention with multiple degrees of freedom comprises five legs linked at a first of their ends to a base, and at. a second of 40 their ends opposite to the first ends to a mobile platform, wherein the legs have motor drives that are positioned at the 3 base, which platform carries at least one tool, and wherein the robot further comprises an actuator for operating the tool or tools, which actuator is embodied by the joint operation of the motor drives of the legs.
5 The invention will hereinafter be further elucidated with reference to a schematic drawing pertaining to a robot according to the invention.
In the drawing: -figure 1 shows a schematic isometric drawing of a ro-10 bot according to the invention in a first embodiment; -figure 2 provides a detailed view of the platform of the robot shown in figure 1; and -figure 3 provides a detailed view of the platform of a robot according to a second embodiment.
15 Wherever in the figures the same reference numerals are applied, these numerals refer to the same parts.
With reference first to figure 1 the robot with multi ple degrees of freedom of the invention is denoted with reference 1, comprising multiple legs 2 linked at a first of their 20 ends to a base 3, and at a second of their ends opposite to the first ends to a mobile platform 4. The platform 4 supports in this embodiment two tools 5, 6, and the robot 1 further comprises an actuator for operating the tools 5, 6, the operation of which actuator will become apparent from the following de-25 scription. The mobile platform 4 is in a detailed view shown in figure 2. In the shown embodiment the two tools 5, 6 may be embodied as vacuum grippers, but also other types of tools are feasible .
As figure 1 clearly shows, the robot 1 comprises five 30 legs 2, wherein each leg 2 connects at its extremities to the base 3 and the platform 4. Each of the legs 2 comprises a rotational joint 10 connected at one end to the base 3, and at the other end to a parallelogram construction 11 that connects to the platform 4. The platform 4 in turn is embodied with members 35 7 that are rotationally connected to each other with links 8, wherein each link 8 is provided at an extremity of one leg 2. Each leg's link 8 is thus positioned at a side distant from the rotational joint 10 of the concerning leg 2.
It is further shown in figure 1, but more clearly in 40 figure 2 that the tool or tools 5, 6 are supported by either a member 7 or a link 8. It may be preferable that the mobile plat- 4 form 4 supports two tools 5, 6 as in the shown case, which tools 5, 6 then may occupy a distance between each other that is adjustable by the operation of the robot providing the actuator for said tools 5, 6.
5 The legs 2 of the robot 1 of the invention each have a motor drive 9 at the base 3, so as to arrange that, the actuator of the tool or tools 5, 6 is embodied by the joint operation of these motor drives 9 of the legs 2. The actuator is thus placed distant from the tool or tools 5, 6 and at the base 3 so as to 10 reduce weight on the platform 4. To simplify the operation of the robot 1 it is then desirable that the positions of the motor drives 9 at the base 3 are symmetrical and form an imaginary pentagram.
With reference to figure 3 another embodiment of the 15 platform 4 of the robot of the invention is shown, in which the tool is embodied with gripper fingers 12', 12'' which are actuated by the above described operation in which the motor drives 9 of the legs 2 operate to control the platform 4 in a manner to arrange that the gripper fingers 12', 12'' occupy a preselected 20 distance between each other. Figure 3 also shows that an additional prismatic joint 13 may be placed between the respective gripper fingers 12', 12''.

Claims (9)

1. Robot (1) met meerdere vrijheidsgraden omvattende een aantal poten (2) die aan een eerste van hun uiteinden verbonden zijn met een basis (3), en aan een tweede van hun uiteinden die tegenover de eerste uiteinden liggen met een mobiel 5 platform (4), welk platform ten minste één gereedschap (5, 6, 12', 12'') draagt, en waarin de robot (1) verder een actuator omvat voor het bedienen van het gereedschap (12', 12'') of gereedschappen (5, 6) met het kenmerk, dat deze vijf poten (2) omvat, waarbij iedere poot (2) aan haar uiteinden verbonden is met 10 de basis (3) en het platform (4).A robot (1) with a plurality of degrees of freedom comprising a number of legs (2) connected at one of their ends to a base (3), and at a second of their ends that are opposite the first ends with a mobile platform (4), which platform carries at least one tool (5, 6, 12 ', 12' '), and wherein the robot (1) further comprises an actuator for operating the tool (12', 12 '') or tools (5, 6), characterized in that it comprises five legs (2), each leg (2) being connected at its ends to the base (3) and the platform (4). 2. Robot volgens conclusie 2, met het kenmerk, dat het platform (4) is uitgevoerd met leden (7) die rotationeel met. elkaar verbonden zijn met behulp van verbindingselementen (8), waarbij ieder verbindingselement (8) voorzien is aan een uitein- 15 de van één been (2) .Robot according to claim 2, characterized in that the platform (4) is provided with members (7) that are rotational with. are connected to each other by means of connecting elements (8), wherein each connecting element (8) is provided at one end with one leg (2). 3. Robot volgens conclusie 1 of 2, met het kenmerk, dat het gereedschap (12', 12'') of gereedschappen (5, 6) gedragen wordt door een lid (7) en/of een verbindingselement (8).Robot according to claim 1 or 2, characterized in that the tool (12 ', 12' ') or tools (5, 6) is supported by a member (7) and / or a connecting element (8). 4. Robot volgens één der voorgaande conclusies, met het 20 kenmerk, dat het. mobiele platform (4) twee gereedschappen (5, 6) ondersteunt die een afstand ten opzichte van elkaar innemen die instelbaar is door de werking van de actuator.4. Robot as claimed in any of the foregoing claims, characterized in that it. mobile platform (4) supports two tools (5, 6) that take a distance with respect to each other that is adjustable by the operation of the actuator. 5. Robot volgens één der conclusies 1-4, met het kenmerk, dat de actuator op een positie verwijderd van het gereed- 25 schap (12', 12'') of gereedschappen (5, 6) op de basis (3) geplaatst is.5. Robot as claimed in any of the claims 1-4, characterized in that the actuator is placed on the base (3) at a position away from the tool (12 ', 12' ') or tools (5, 6) is. 6. Robot volgens één der conclusies 1-5, waarin de benen (2) ieder een motoraandrijving (9) in de basis (3), bezitten, met het kenmerk, dat de actuator van het gereedschap (12', 30 12'') of gereedschappen (5, 6) is uitgevoerd door de gemeen schappelijke werking van de motoraandrijvingen (9) van de benen (2) .6. Robot as claimed in any of the claims 1-5, wherein the legs (2) each have a motor drive (9) in the base (3), characterized in that the actuator of the tool (12 ', 12' ' ) or tools (5, 6) are implemented by the joint operation of the motor drives (9) of the legs (2). 7. Robot volgens conclusie 6, met het kenmerk, dat de posities van de motoraandrijvingen (9) op de basis (3) symme- 35 trisch zijn en gevormd als een denkbeeldig pentagram.7. Robot according to claim 6, characterized in that the positions of the motor drives (9) on the base (3) are symmetrical and shaped as an imaginary pentagram. 8. Robot volgens één der voorgaande conclusies, met het kenmerk, dat ieder van de benen (2) een rotatiekoppeling (10) omvat die verbonden is met een parallellogramconstructie (11) - 6 - waarbij het verbindingselement (8) van het been ligt aan een zijde verwijderd van de rotationele koppeling (10).A robot according to any one of the preceding claims, characterized in that each of the legs (2) comprises a rotation coupling (10) which is connected to a parallelogram construction (11) - 6 - wherein the connecting element (8) of the leg lies on one side away from the rotational coupling (10). 9. Robot met meer vrijheidsgraden, omvattende vijf benen (2) die gekoppeld zijn aan een eerste van hun uiteinden met 5 een basis (3), en aan een tweede van hun uiteinden tegenover de eerste uiteinden met een mobiel platform (4), waarin de benen (2) motoraandrijvingen (9) bezitten die gepositioneerd zijn op de basis (3), welk platform (4) ten minste één gereedschap (5, 6, 12', 12'') draagt, en waarin de robot (1) verder een actuator 10 omvat voor het bewerken van het gereedschap (12', 12'') of gereedschappen (5, 6), welke actuator is uitgevoerd door de gezamenlijke werking van de motoraandrijvingen (9) van de benen (2).A robot with more degrees of freedom, comprising five legs (2) coupled to a first of their ends with a base (3), and to a second of their ends opposite the first ends with a mobile platform (4), wherein the legs (2) have motor drives (9) positioned on the base (3), which platform (4) carries at least one tool (5, 6, 12 ', 12' '), and in which the robot (1) further comprises an actuator 10 for machining the tool (12 ', 12' ') or tools (5, 6), which actuator is implemented by the joint action of the motor drives (9) of the legs (2).
NL2004167A 2010-01-28 2010-01-28 Robot with multiple degrees of freedom. NL2004167C2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
NL2004167A NL2004167C2 (en) 2010-01-28 2010-01-28 Robot with multiple degrees of freedom.
EP11703503A EP2528715A1 (en) 2010-01-28 2011-01-27 Parallel kinematics robot with five legs
PCT/NL2011/050051 WO2011093703A1 (en) 2010-01-28 2011-01-27 Parallel kinematics robot with five legs

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2004167A NL2004167C2 (en) 2010-01-28 2010-01-28 Robot with multiple degrees of freedom.
NL2004167 2010-01-28

Publications (1)

Publication Number Publication Date
NL2004167C2 true NL2004167C2 (en) 2011-07-29

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Application Number Title Priority Date Filing Date
NL2004167A NL2004167C2 (en) 2010-01-28 2010-01-28 Robot with multiple degrees of freedom.

Country Status (3)

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EP (1) EP2528715A1 (en)
NL (1) NL2004167C2 (en)
WO (1) WO2011093703A1 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102975197A (en) * 2012-12-04 2013-03-20 天津大学 Parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom
NL2010970C2 (en) * 2013-06-14 2014-12-17 Penta Robotics Patents B V MAGNETIC GLOBE HINGE AND ROBOT EQUIPPED WITH THE GLOBE HINGE.
NL2013948B1 (en) * 2014-12-10 2016-10-11 Univ Delft Tech Robot with multiple degrees of freedom.
CN105171717B (en) * 2015-08-03 2017-04-19 电子科技大学 Foldable six-freedom-degree parallel motion platform
JP6765221B2 (en) * 2016-05-30 2020-10-07 Ntn株式会社 Work equipment using a parallel link mechanism

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DE2800273A1 (en) * 1978-01-04 1979-07-12 Farkas Gyoergy Dipl Ing Programmed robot control system - has position control devices connected by amplifiers to tape recorder heads for programming purposes
US4776749A (en) * 1986-03-25 1988-10-11 Northrop Corporation Robotic device
DE19840886A1 (en) * 1998-09-08 2000-03-23 Juergen Hesselbach Platform for machine tool consists of two parallel platforms linked by five articulated levers providing five degrees of freedom for machine tool spindle
JP2004291166A (en) * 2003-03-27 2004-10-21 Toyoda Mach Works Ltd Four degree-of-freedom parallel robot
US20040211284A1 (en) * 1999-08-05 2004-10-28 Roy Shambhu Nath Parallel kinematics mechanism with a concentric spherical joint
US7104746B2 (en) * 2001-11-02 2006-09-12 Metrom Mechatronische Maschinen Gmbh Device for the displacement and/or positioning of an object in five axes
EP1870214A1 (en) * 2005-02-17 2007-12-26 Fundacion Fatronik High-speed parallel robot with four degrees of freedom

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DE2800273A1 (en) * 1978-01-04 1979-07-12 Farkas Gyoergy Dipl Ing Programmed robot control system - has position control devices connected by amplifiers to tape recorder heads for programming purposes
US4776749A (en) * 1986-03-25 1988-10-11 Northrop Corporation Robotic device
DE19840886A1 (en) * 1998-09-08 2000-03-23 Juergen Hesselbach Platform for machine tool consists of two parallel platforms linked by five articulated levers providing five degrees of freedom for machine tool spindle
US20040211284A1 (en) * 1999-08-05 2004-10-28 Roy Shambhu Nath Parallel kinematics mechanism with a concentric spherical joint
US7104746B2 (en) * 2001-11-02 2006-09-12 Metrom Mechatronische Maschinen Gmbh Device for the displacement and/or positioning of an object in five axes
JP2004291166A (en) * 2003-03-27 2004-10-21 Toyoda Mach Works Ltd Four degree-of-freedom parallel robot
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Also Published As

Publication number Publication date
WO2011093703A1 (en) 2011-08-04
EP2528715A1 (en) 2012-12-05

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