SU501864A1 - Sensible Remote Copy Manipulator - Google Patents

Description

joints 10, 12-17 links; brushes, foreplay, shoulders and each icycTaiB 12-17 setting the icoiCTOHT from the drive joint 18, sensor: angle 19, with feedback sensor on position.

Between two (ciliac joints 10 and 12 of the master mouth of the controller. 6 force sensor and torque points 11, (NON-RELAXED 9 which is € 0 with 2 joint, and the link 8 - with joint 10 (s. Gripper, m The outputs of the six-degree force sensor and Moments // are connected. With the input; The calculator 20, the outputs of the KOTOipOiro,: In its own state,. Connected. With the input (Actuators 27 of the corresponding joints 21-26 of the actuator. Each of the joints 2,1- 26 of the executive body contains the actuator 27, the torque sensor 29. vl unlis feedback sensor a receptacle in the force transmission system, n angle sensor 28, whose output is coupled to the input 18 of the respective actuator joint 12-17 master authority.

The manipulator works as follows. The forces or moments created by the operator, through; padvizh1} link 8, define the elastic elements / string-like elements of forces and moments 11.

Signals,: pro.pio9dional deformations of up-and-out elementary elements of the ./, .s. From the outputs of the measurement tools 2-7 are fed to the 3 computations of the personal device 20, which rotates the voltage 1 to the inputs of the actuators 27 of the joint 21 -25 "IO, nrotortsialalnye efforts, creating a .JIM th IB with each IB susta.z 12-17 defining authority. The actuators 27 of each of the joints 21-26 "liO work out the postunal 1 | N. marry up to those i.p., as long as they are not.: RG |. (They are from the MAL sensor of the 29; IO.

3 | D.: Camping (. There may be two characteristic cases: either the link "IO does not encounter obstacles H. is not affected by the load and then free movement" IO, since the feedback signal on the load is sent. is equal to zero, or in some position “IO

1no.dvolyaetsya such vozdstviyu anesthesh.noi load from the object manilulirovain that the system l.retret in balance and the EUT will stop. iB anyway the case “IO

The changes in the position of the links are measured by angle sensors 28 "EUT, the signals from which are installed on the inputs of the actuators 18 of the respective joints. 12-17 of the master organ, and this is the last. it tracks the position.

"IO until agreement is made by the force sensor of the angle sensors 28 with the angle sensors. The angle sensors /.9 set by the organ. On. The change in the position of the links "AOR relative to each other, basis or 30" and the operator's hands (leads to the deformation of other elements 7 of the six-pointed sensor and, "A. G. The load is transmitted 1 to the hand of the operator and | The force acting on the "IO." Thus, the executive and the specifying authorities at the request of the operator make .rair movements and develop the static forces that are applied to the object of manipulation.

Form. L and and 3 about b ete e. And

Ouve.stvenny remote .ko.piruyuschy Manipulator containing the master and the executive body with wrist joints, sensors .moments (efforts) and sensors

feedback ino position of the master body, nude sensors and reverse link sensors (NO.) at the joint (force) in the joints of the filling organ, connected by the control system according to the first position and time

(force), which has a computing device, with the input of the switch. The outputs of the feedback sensors are connected to the position, and the outputs are connected to the actuators of the joints of the body, differing from

What is the purpose of simplifying the design is asking the general organ and increasing the accuracy of the force produced on the actuator, between the two-st. cyst 1 joints of the defining domain, the sensor is installed

efforts and moments, the outputs of which are connected to the corresponding inputs of the first-order device.

F1 / g.2