WO2000010776A1 - Closed kinematic chain robot arm - Google Patents

Closed kinematic chain robot arm Download PDF

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Publication number
WO2000010776A1
WO2000010776A1 PCT/TR1999/000011 TR9900011W WO0010776A1 WO 2000010776 A1 WO2000010776 A1 WO 2000010776A1 TR 9900011 W TR9900011 W TR 9900011W WO 0010776 A1 WO0010776 A1 WO 0010776A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
kinematic chain
coupler
robot arm
closed kinematic
Prior art date
Application number
PCT/TR1999/000011
Other languages
French (fr)
Inventor
Kenan Koser
Original Assignee
Kenan Koser
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 Kenan Koser filed Critical Kenan Koser
Priority to AU34476/99A priority Critical patent/AU3447699A/en
Publication of WO2000010776A1 publication Critical patent/WO2000010776A1/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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms

Definitions

  • This invention is related to a robot arm, which is mainly constructed by means of closed kinematic chain mechanisms.
  • Robot manipulators are commonly employed in the wide range of the tasks such as, transportation, material handling, loading, welding, miling and drilling, material assembling, part sorting, packaging and measuring in manufacturing processes.
  • Industrial manipulators are essentially open kinematic chain arm like devices and are generally composed of ternary links interconnected to each other by revolute and prismatic joints.
  • open kinematic chain robot arms are relatively simple structures, they generally have insufficient mechanical stiffness and exhibite undesired elastic behaviour under heavy and high speed operation conditions.
  • closed kinematic chain type robot arms are preferable in many industrial applications due to the their high structural stiffness.
  • One of the most powerfull alternatives providing high structural stiffness is the use of a closed chain mechanism, called parallelogram mechanism, as a robot arm.
  • Fanuc Comau supply this type of commercial closed kinematic chain robot arms.
  • Another possible way to design a closed chain basic robot arm is to locate a planar two degrees of freedom closed chain mechanism on a rotatable platform. Asada's robot arm which is mainly constructed by using a five bar planar linkage and ABB's robot arm which is principally designed by using a four bar planar mechanism are included in this class of robot manipulators.
  • closed kinematic chain robot manipulators are massive structures, they have many ideal features such as high mechanical stiffness, direct drive facility, lower positioning error and power requirements, good force-velocity characteristics.
  • Another important criterion related to the performance of a robot arm is the existance of isotropic points within its workspace.
  • a typical and most commonly used open chain robot arm, called anthropomorphic robot manipulator and its parallelogram version have only inplane isotropic points on a circle for a specific link lenght ratio of lower and upper arms.
  • By suitable kinematic synthesis it is possible to construct a closed kinematic chain robot arm having many number of isotropic points within its reachable workspace.
  • This invention is concerned with a closed kinematic chain robot arm having many excellent and superior features of the open and closed kinematic chain robot arms.
  • the closed chain robot arm is designed as a special and serial composition of two planar centric or eccentric slider crank mechanisms.
  • Figure 1 illustrates side view drawing of the robot arm of which numbered components are listed below:
  • robot waist(2) is located on the robot base(l) by a revolute joint and can rotate freely around a fixed axis with respect to the robot base(l).
  • Back crank(3) is connected by a revolute joint to the robot waist(2).
  • Back slider(5) is supported to the robot waist(2) by a prismatic joint.
  • Back coupler(4) is connected by a revolute joint to the back crank(3).
  • Back coupler(4) and back slider(5) are connected by revolute joints to the combination link(9).
  • Front crank(6) is connected to the front coupler(7) and to the combination link(9) by revolute joints.
  • Front slider(8) is supported by a prismatic joint to the combination link(9).
  • Front slider(8) and front coupler(7) are connected to the wrist link(l ⁇ ) by revolute joints.
  • Combination link(9) is formed such that it can be temporary or permanently locked to the back coupler(4) or to the back slider(5).
  • wrist link(l ⁇ ) is formed such that it can be temporary or permenantly locked to the front coupler(7) or to the front slider(8).
  • Back and front compensators(ll) are attached between back crank(3) and coupler(4) ; front crank(6) and coupler(7).
  • An end effector(12) is attached to the final link wrist (10) in an appropriate manner.
  • the closed kinematic chain robot arm created by this invention has also many kinematic and structural advantages.
  • the mechanical structure of closed kinematic chain robot arm realized by this invention is considerably simple. It has high structural stiffness and a free front workspace.
  • the robot arm may have inplane isotropic points along a planned trajectory and can satisfy many number of prescribed force-velocity characteristics in the regions within its reachable workspace.
  • the closed kinematic chain robot arm has originally five degrees of freedom. However, if back coupler(4) or back slider(5) is locked to the combination link(9), then the degrees of freedom of robot arm reduce to four. Furthermore, if front slider(8) or front coupler(7) is locked to the wrist link(l ⁇ ), then its degrees of freedom reduce to three and it transforms to a basic robot arm. As a result of this, the robot arm can be employed as both redundant and nonredundant manipulator.
  • This closed kinematic chain basic robot arm also has similar structural properties of both cylindirical and anthropmorphic robot arms and can be alternatively transformed from one another.
  • the robot arm can be actuated individually from all the movable links; robot waist(2), back and front cranks(3),(6), sliders(5),(8), couplers(4),(7), combination link(9), wrist link(l ⁇ ) and end effector(12).
  • This structural versality and driving flexibility of the robot arm offers high performance characteristics and dexterity for many different operational conditions.
  • the closed kinematic chain robot arm includes much of the excellent and superior features of the conventional open and closed chain robot arms.

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

Abstract

The closed kinematic chain robot arm consists of a robot waist (2) rotating with respect to the robot base (1) and a closed kinematic chain planar mechanism which is connected to the robot waist (2) by prismatic and revolute joints. The closed kinematic chain planar mechanism is principally constructed as a special design of two centric or eccentric slider crank mechanisms (3, 5, 6, 8) which are interconnected to each other. The closed kinematic chain robot arm has similar structural and topological properties as both cylindrical and anthropomorphic robot manipulators and can be alternatively transformed from one another.

Description

DESCRIPTION
Closed kinematic chain robot arm
This invention is related to a robot arm, which is mainly constructed by means of closed kinematic chain mechanisms.
Robot manipulators are commonly employed in the wide range of the tasks such as, transportation, material handling, loading, welding, miling and drilling, material assembling, part sorting, packaging and measuring in manufacturing processes. Industrial manipulators are essentially open kinematic chain arm like devices and are generally composed of ternary links interconnected to each other by revolute and prismatic joints.
Although open kinematic chain robot arms are relatively simple structures, they generally have insufficient mechanical stiffness and exhibite undesired elastic behaviour under heavy and high speed operation conditions. On the other hand, closed kinematic chain type robot arms are preferable in many industrial applications due to the their high structural stiffness. One of the most powerfull alternatives providing high structural stiffness is the use of a closed chain mechanism, called parallelogram mechanism, as a robot arm. Recently, many robot manufacturers such as Fanuc, Comau supply this type of commercial closed kinematic chain robot arms. Another possible way to design a closed chain basic robot arm is to locate a planar two degrees of freedom closed chain mechanism on a rotatable platform. Asada's robot arm which is mainly constructed by using a five bar planar linkage and ABB's robot arm which is principally designed by using a four bar planar mechanism are included in this class of robot manipulators.
Although closed kinematic chain robot manipulators are massive structures, they have many ideal features such as high mechanical stiffness, direct drive facility, lower positioning error and power requirements, good force-velocity characteristics. Also, another important criterion related to the performance of a robot arm is the existance of isotropic points within its workspace. A typical and most commonly used open chain robot arm, called anthropomorphic robot manipulator and its parallelogram version have only inplane isotropic points on a circle for a specific link lenght ratio of lower and upper arms. On contrast, by suitable kinematic synthesis, it is possible to construct a closed kinematic chain robot arm having many number of isotropic points within its reachable workspace. This invention is concerned with a closed kinematic chain robot arm having many excellent and superior features of the open and closed kinematic chain robot arms. The closed chain robot arm is designed as a special and serial composition of two planar centric or eccentric slider crank mechanisms. Figure 1 illustrates side view drawing of the robot arm of which numbered components are listed below:
(1) Robot base
(2) Robot waist
(3) Back crank (4) Back coupler
(5) Back slider
(6) Front crank
(7) Front coupler
(8) Front slider (9) Combination link
(10) Wrist link
(11) Back and front compensators
(12) End effector
Referring to Figure 1, robot waist(2) is located on the robot base(l) by a revolute joint and can rotate freely around a fixed axis with respect to the robot base(l). Back crank(3) is connected by a revolute joint to the robot waist(2). Back slider(5) is supported to the robot waist(2) by a prismatic joint. Back coupler(4) is connected by a revolute joint to the back crank(3). Back coupler(4) and back slider(5) are connected by revolute joints to the combination link(9). Front crank(6) is connected to the front coupler(7) and to the combination link(9) by revolute joints. Front slider(8) is supported by a prismatic joint to the combination link(9). Front slider(8) and front coupler(7) are connected to the wrist link(lθ) by revolute joints. Combination link(9) is formed such that it can be temporary or permanently locked to the back coupler(4) or to the back slider(5). In the same way, wrist link(lθ) is formed such that it can be temporary or permenantly locked to the front coupler(7) or to the front slider(8). Back and front compensators(ll) are attached between back crank(3) and coupler(4) ; front crank(6) and coupler(7). An end effector(12) is attached to the final link wrist (10) in an appropriate manner. The closed kinematic chain robot arm created by this invention has also many kinematic and structural advantages. The mechanical structure of closed kinematic chain robot arm realized by this invention is considerably simple. It has high structural stiffness and a free front workspace. If the robot arm is synthesized properly, it may have inplane isotropic points along a planned trajectory and can satisfy many number of prescribed force-velocity characteristics in the regions within its reachable workspace. The closed kinematic chain robot arm has originally five degrees of freedom. However, if back coupler(4) or back slider(5) is locked to the combination link(9), then the degrees of freedom of robot arm reduce to four. Furthermore, if front slider(8) or front coupler(7) is locked to the wrist link(lθ), then its degrees of freedom reduce to three and it transforms to a basic robot arm. As a result of this, the robot arm can be employed as both redundant and nonredundant manipulator. This closed kinematic chain basic robot arm also has similar structural properties of both cylindirical and anthropmorphic robot arms and can be alternatively transformed from one another. The robot arm can be actuated individually from all the movable links; robot waist(2), back and front cranks(3),(6), sliders(5),(8), couplers(4),(7), combination link(9), wrist link(lθ) and end effector(12). This structural versality and driving flexibility of the robot arm offers high performance characteristics and dexterity for many different operational conditions. In general, the closed kinematic chain robot arm includes much of the excellent and superior features of the conventional open and closed chain robot arms.

Claims

1) A closed kinematic chain robot arm includes a robot base(l), a robot waist(2) supported by a revolute joint to the robot base(l), a back crank (3) connected by a revolute joint to the robot waist(2), a back slider(5) supported by a prismatic joint to the robot waist(2), a back coupler(4) connected by a revolute joint to the back crank (3), a combination link(9) connected by revolute joints to both back slider(5) and back coupler(4), a front crank (6) connected by a revolute joint and a front slider(8) supported by a prismatic joint to the combination link(9), a front coupler (7) connected by a revolute joint to the front crank (6), a wrist link(lθ) to which front coupler (7), front slider(8) and end effector(12) are connected by revolute joints.
2) A closed kinematic chain robot arm according to claim 1 wherein the structure of the robot arm consists of a closed kinematic chain planar mechanism which is formed by a serial and special composition of two centric or eccentric slider crank mechanisms located on the robot waist(2).
3) A closed kinematic chain robot arm according to claim 1 wherein the combination link(9) may be locked to the back slider(5) or to the back coupler(4) ; the wrist link(lθ) may be locked to the front slider(8) or to the front coupler(7) temporary or permenantly.
4) A closed kinematic chain robot arm according to claim 1 wherein all or some group of movable links; robot waist(2), back crank(3), back coupler(4), back slider(5), combination link(9), front crank (6), front coupler(7), front slider(8) and wrist link(lθ) may be actuated individually and independently.
5) A closed kinematic chain robot arm according to claim 1 wherein the compensators(l 1) are attached between back crank (3) and back coupler(4); between front crank (6) and front coupler(7).
PCT/TR1999/000011 1998-08-19 1999-03-15 Closed kinematic chain robot arm WO2000010776A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU34476/99A AU3447699A (en) 1998-08-19 1999-03-15 Closed kinematic chain robot arm

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR98/01599 1998-08-19
TR9801599 1998-08-19

Publications (1)

Publication Number Publication Date
WO2000010776A1 true WO2000010776A1 (en) 2000-03-02

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Family Applications (1)

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WO (1) WO2000010776A1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1800794A1 (en) * 2005-12-21 2007-06-27 Tornos SA A device for moving a tool carrier
CN102069593A (en) * 2009-11-17 2011-05-25 空中客车运营简易股份公司 Machine for wrapping cylindrical composite parts
KR101237893B1 (en) 2011-04-28 2013-02-27 (주)미래컴퍼니 Surgical joint, surgical tool, and apparatus
CN103737581A (en) * 2013-12-07 2014-04-23 广西大学 Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space
CN108127640A (en) * 2018-02-06 2018-06-08 东北大学 A kind of have wide-angle and bend the wheeled anthropomorphic robot of function

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1983001407A1 (en) * 1981-10-23 1983-04-28 Us Robots Inc Robotic manipulator arm
SU1313709A1 (en) * 1986-01-06 1987-05-30 Северо-Западный Заочный Политехнический Институт Manipulator gripping device link pin
SU1484677A1 (en) * 1987-06-05 1989-06-07 Univ Kazakhsky Master arm of tracing manipulator
FR2637832A1 (en) * 1988-09-23 1990-04-20 Ledent Claude Stabilising and manipulating arm
DE3509879C2 (en) * 1984-03-16 1996-07-18 Steeper Hugh Ltd Elbow joint

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1983001407A1 (en) * 1981-10-23 1983-04-28 Us Robots Inc Robotic manipulator arm
DE3509879C2 (en) * 1984-03-16 1996-07-18 Steeper Hugh Ltd Elbow joint
SU1313709A1 (en) * 1986-01-06 1987-05-30 Северо-Западный Заочный Политехнический Институт Manipulator gripping device link pin
SU1484677A1 (en) * 1987-06-05 1989-06-07 Univ Kazakhsky Master arm of tracing manipulator
FR2637832A1 (en) * 1988-09-23 1990-04-20 Ledent Claude Stabilising and manipulating arm

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
SOVIET PATENTS ABSTRACTS Section P Week 8802, Derwent World Patents Index; Class P6, AN 1988-012896/02 *
SOVIET PATENTS ABSTRACTS Section P Week 9013, Derwent World Patents Index; Class P62, AN 1990-097261/13 *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1800794A1 (en) * 2005-12-21 2007-06-27 Tornos SA A device for moving a tool carrier
CN102069593A (en) * 2009-11-17 2011-05-25 空中客车运营简易股份公司 Machine for wrapping cylindrical composite parts
US20110132548A1 (en) * 2009-11-17 2011-06-09 Airbus Operations (S.A.S.) Cylindrical composite part tape laying machine
KR101237893B1 (en) 2011-04-28 2013-02-27 (주)미래컴퍼니 Surgical joint, surgical tool, and apparatus
CN103737581A (en) * 2013-12-07 2014-04-23 广西大学 Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space
CN103737581B (en) * 2013-12-07 2016-06-15 广西大学 The many bars six degree of freedom welding robot containing parallel closed loop subchain that space is controlled
CN108127640A (en) * 2018-02-06 2018-06-08 东北大学 A kind of have wide-angle and bend the wheeled anthropomorphic robot of function
CN108127640B (en) * 2018-02-06 2023-12-12 东北大学 Wheel type humanoid robot with large-angle bending function

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Publication number Publication date
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