SU1650428A2 - Device for control over remote manipulator - Google Patents

Abstract

The invention relates to robotics and can be used to create remote copy manipulators. The aim of the invention is to expand the functionality of the device by reducing the load moments on the hand of the operator. To do this, a nonlinear element, an integrator, and an adder are introduced into the device, which ensures that the operator is deprived of the moment of load from freely moving objects. 1 il.

Description

The invention relates to robotics, can be used to create remote copying manipulators, and is an improvement of the device according to aut. St., no. 582960.

The purpose of the invention is to enhance the functionality of the device by reducing the magnitude of the load moments on the operator’s hand.

The drawing shows the functional diagram of the device.

The diagram shows: electric drive 1, elastic element 2, torque sensor 3, first adder 4, amplifier 5, power steering device 6, hydraulic actuator 7, pressure sensor 8, actuator angle sensor 9, second adder sensor 10, driver body angle sensor 11, the third adder 12, the nonlinear element 13 of the dry friction type, the integrator 14, the operator 15 and the load 16 (exchangeable tool).

The device operates in two modes: the mode of performing operations with free objects and in the mode of performing operations with objects, on the motion of which external mechanical links are imposed.

The difference in the modes of operation of the device is based on the difference in the magnitudes of the rate of change of moments when the manipulator device performs operations with objects having external mechanical connections and with objects (tools) that do not have these connections. So, when working with free objects, the maximum values (dMrni / dt) MaKc of the rate of change of the moment acting on the hydraulic actuator 7 do not exceed the value

fd M g PL,., p.ac.s

dt

 Shmako tl PoltC, (1)

Max

where Shmax is the maximum value of the angular velocity of the object relative to the output shaft of the hydraulic drive;

h is the arm of the moment brought to the shaft of the hydraulic actuator 7 from the action of the object 16;

Robmax - loading capacity of a manipulator;

I is the serial number of the joint of the manipulator.

Operations with objects that have an external mechanical connection are accompanied by a sharp change in the moment Mrm. Magnitude of the rate of change

h

fe

ON

Sya

about

four

Yu

00

Yu

Moment of momentum of its analog signal with pressure sensor 8 is proportional to the rigidity of the mechanical connection and the rigidity of the mechanical characteristic of the hydraulic actuator 7 and more than one, two orders of magnitude higher than the value determined by expression (1).

In the limiting case, when these stiffnesses are absolute, even at how low the speed of approach of the link of the executive body with an object such as an emphasis is, the moment response changes abruptly during a collision.

In the device operation mode with free objects, when the condition

d Mrn,

d M g ni

dt

dt

the operator 15 acts on the elastic element 2, the twist angle of which is measured by the torque sensor 3, and produces a signal proportional to the force action of the operator 15. This signal arrives at the first input of the first adder 4. At the second input of the first adder 4, the signal is absent Characteristics of the element 13 of the type dry friction is proportional to the value (dMrni / dt) MaKc. The signal from the first adder 4 is fed through the amplifier 5 and the electrohydraulic 6 to the hydraulic drive 7. The output shaft of the hydraulic drive 7 moves with not depending on the mass of the object 16 (tool), which reduces the physical loads on the operator 15. The actuator 1 tracks its output shaft following the position of the output shaft of the hydraulic drive 7 according to the signal of the second adder 10 proportional to the difference of the angular positions of the electric and hydraulic actuators 1 and 7. Angular position information is taken from sensors 11 and 9, respectively.

0

five

In the process of working with an object 16 that has an external connection, such as a wrench, the measurement of the moment dMrm / dt associated with a change in its position is small. The component, proportional to the coupling reaction, is almost completely separated at the output of the third adder 12. The signal from the integrator 14 in a properly adjusted device is almost unchanged and proportional to the moment load of the hydraulic actuator 7 of the object mass 16, since the value (dMrni / dt) MaKc is rather small compared to the average value d M r n,

dt

in this mode. Therefore, on the second

five

0

five

0

The first input of the adder 4 is given a signal proportional to the coupling reaction, and the speed of movement of the output shaft of the hydraulic actuator 7 is proportional to the difference in force between the operator 15 and the coupling reaction of the object 16. Here the operator senses the force action of the object 16 on the elastic element 2, which is absolutely necessary for kind of operations. The functions of drive 1 do not change here.

The application of the invention allows to significantly reduce the load on the operator’s hand when moving unrelated objects.

Claims (1)

Claim device A device for controlling a remote manipulator using an apt. Kb 58 5860, characterized by a heme that, in order to expand the functionality of the device by reducing the magnitude of the load moments on the operator’s hand, the device additionally contains a series-connected nonlinear element, an integrator and a third adder, through the second input of which the output of the pressure sensor is connected to the second input of the first adder and the input of the nonlinear element.