WO2001087550A1 - Bras de commande - Google Patents
Bras de commande Download PDFInfo
- Publication number
- WO2001087550A1 WO2001087550A1 PCT/FR2001/001529 FR0101529W WO0187550A1 WO 2001087550 A1 WO2001087550 A1 WO 2001087550A1 FR 0101529 W FR0101529 W FR 0101529W WO 0187550 A1 WO0187550 A1 WO 0187550A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- wrist
- segments
- control arm
- arm
- axis
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
Definitions
- the subject of this invention is a control arm, and more precisely of the kind of the master arms or for controlling a virtual reality simulation.
- the condition of the arm is read by position sensors.
- the arm is actuated normally by hand and it is generally equipped with force feedback motors to transmit to the operator forces corresponding to the interactions, real or simulated, between the slave arm and the environment or to the dynamic forces arising within the arm, without these motors being strictly essential.
- the complex control arms are based on the exploitation of the six degrees of freedom of position and orientation in the space that the manipulation member located at the free end of the arm can take, or on most of them .
- the arm must be composed of a number of elements (called segments) sufficient to allow all these movements of the gripping member. But experience shows that there then appear singularities, that is to say positions of the manipulation member which are inaccessible or do not correspond to a determined state of the arm.
- the main reasons for these singularities are couplings between the movements of same direction at successive joints of segments, and more generally of states where the degrees of freedom of the arm which are free to manifest themselves are too few or too numerous.
- the control arm comprising a train of segments ending on a base and a wrist articulated to the train of segments with an articulation axis
- the train of segments is constructed so that the axis of articulation is maintained at a constant angle with respect to a fixed plane.
- This arrangement allows both to clearly separate the translational and rotational control movements, which are carried out respectively by the train segments and the wrist elements, on either side of the articulation which connects them, and facilitate the balancing of the wrist, as well as of the rest of the arm, by making constant the force exerted by the wrist holder on the train of segments.
- the train of segments can then be fully balanced by spring devices, without the need for locking or friction mechanisms at the joints which would make the maneuvering painful.
- a return means suitable for keeping the angle of the wrist constant with a fixed plane comprises a succession of pulleys arranged at successive articulation pivots of the train segments, from the base to the wrist holder, and freely rotating around said pivots, except two end pulleys which are respectively connected to the base and the wrist holder, and belts stretched between the pulleys, parallel to the segments and forming a chain.
- a suitable wrist is made up of elements hinged together, in particular with concurrent axes of rotation, since maintaining its center of gravity at a constant position becomes easy to obtain.
- the train is advantageous for the train to be composed of two segments connected to each other and to the base by pivots with a horizontal axis and the base is connected to a fixed element by a pivot with a vertical axis. : all translational movements of the arm are then authorized, and the static balancing of the segments by springs becomes easy.
- Figure 1 shows a general view of the arm and Figure 2 shows a variant end of the arm.
- the arm is mounted on a base 1 pivoting about a vertical axis XI on a fixed support 2.
- An arm segment 3 rotates on the base 1 around a horizontal axis X2, the orientation of which depends on the rotations inflicted on the base 1.
- a forearm segment 4 is articulated to the arm segment 3, being able to rotate around an axis X3 (parallel to X2) by varying the angle made by these segments.
- the other end of the forearm segment 4 ends on the articulation of a wrist holder 5; the axis X4 of articulation formed between them is parallel to the previous two.
- a handling member constituted here by a handle 7
- two stirrups 8 and 9 the first of which is articulated by its center to the wrist holder 5 around an axis X5, by the ends of its two branches 10 at the ends of the branches 11 of the other stirrup 9 by an axis X6; finally, the stirrup 9 is articulated by its center to the handle 7 by a last axis X7.
- This arm therefore has seven apparent degrees of freedom, at axes XI to X7, and six reals excluding X4, as will be explained below, and sensors such as angle encoders are arranged at the real degrees of freedom XI , X2, X3, X5, X6 and X7 to measure the angles made by the articulated segments at these joints, or the movements of these segments, to deduce commands to be imposed on another device, - according to a specific programming. As nothing which is not already known is proposed here concerning these sensors, we will not describe them further.
- the axes X5, X6, X7 are concurrent at a point 0, and the stirrups 8 and 9 are substantially symmetrical, so that the center of gravity of the stirrup 8 falls on the axis X5.
- the center of gravity of the compound of the other stirrup 9 and of the handle 7 falls on the axis X7, and possibly on the point of competition 0, therefore also on the axis X5. If the center of gravity of the wrist 6 thus remains stationary at a point G of the axis X5 whatever the movements which are inflicted on its elements around the axes X5, X6 and X7, it therefore remains in a state of equilibrium indifferent .
- the wrist holder 5 is maintained at the same elevation angle, that is to say at the same orientation relative to a horizontal plane, by means of a transmission described elsewhere in more detail. It follows that the bending moment exerted by the wrist 6 is supported by this transmission and that the arm segments 3 and forearm 4 must only support the self-weight of the wrist 6, for all their positions and all those of the wrist 6. It then becomes easy to balance the forearm segment 4 by a static balancing device 12 disposed on the base 1; another balancing device 13, likewise arranged on the base 1, serves to balance the arm segment 3.
- the wrist holder 5 maintained at a constant orientation relative to a fixed plane makes it possible to decouple the degrees of freedom of translation of the arm, accomplished by the movements of the base '1 and of the segments 3 and 4, • those of orientation of the handle 7, accomplished by the movements of the wrist 6, which simplifies learning and maneuvering of the arm while helping to eliminate kinematic singularities. It is indeed visible that these singularities, which appear especially when two segments have been put in extension, can only occur here in extreme states of extension or folding of the arm, when the angle of segments 3 and 4 becomes close to zero or half a turn.
- the concept of one invention can be applied to different arms, possibly less complex: it is thus frequent that five degrees of freedom of maneuver are sufficient; we then have the option of blocking or making inactive, for example, the rotation of the handle 7 around the axis X7 since this movement is the least convenient to accomplish.
- Static balancing of the arm in the relaxed state is completed by ordinary force feedback motors which stop the rotations around axes XI, X2 and X3.
- a first (14) is fixed to the fixed support 2 and is connected to the base 1 by a belt stretched around it, a gear or any other means; two other motors, invisible in the figure, are mounted on the base 1 and connected to the arm segment 3 by a pulley 30 and to the forearm segment 4 by a pulley 25, a belt 24 and a pulley 23 placed on the X3 axis.
- a reference pulley 18 is arranged on the axis X2 of articulation of the arm segment 3, but it remains fixed on the base 1; a belt 19 is tensioned between it and a transmission pulley 20 disposed on the axis X3 of articulation of the arm segments 3 and forearm 4 so as to rotate freely; a second belt 21 is stretched between another transmission pulley groove 20 and a retaining pulley 22 rotating about the axis X4 but fixed to the wrist holder 5. It follows from this construction that the pulleys 20 and 22 undergo no rotation, no more than the wrist holder 5, since they are connected to the reference pulley 18 which is fixed, whatever the movements of the arm segments 3 and forearm 4.
- the balancing of the arm 3 and forearm 4 segments is ensured at least partially by spring devices and possibly supplemented by the force feedback motors.
- a peg 26 is placed at the periphery of a circular cheek of the balancing pulley 25, and a cable 27 is attached thereto; its opposite end is wound around a shaft 28 parallel to the axis X2, and which is held in rotation by a spiral spring 29 hooked between it and the base 1.
- the pulleys 23 and 25 rotate and the unwound length of the cable 27 is modified, which proportionally increases or decreases the force in the spiral spring 29 due to the rotation of the shaft 28.
- the cable 27 then plays the same role as a straight spring which would be stretched between the stud 26 and the shaft 28, so that the teaching of French patent 70 13606 cited above becomes applicable: by choosing the constant of the spiral spring 29 suitably, the segment d forearm 4 can be balanced regardless of its inclination; the position of the peg 26 is chosen so that the unrolled length of the cable 27 is maximum when the forearm segment 4 exerts the highest bending movement (when it is in the horizontal position).
- 3 is similar and also includes a spiral spring, a shaft, a cable, a peg and a pulley (bearing the reference 30 in the figure) rotating around the axis X2, but the latter is fixed to the arm segment 3.
- static balancing devices 12 and 13 lightens the arm by making it possible to use only smaller force feedback motors to balance the arm around the axes X2 and X3, where the forces to be balanced are 'precisely the most importants .
- a particular shape of a wrist 106 will now be evoked by means of FIG. 2, at the end of an arm devoid of the wrist holder, a first stirrup 108 being directly mounted in rotation about the axis
- X104 transverse at the end of forearm segment 104, just like the previous X4 axis.
- a second bracket 109 is articulated to the first 108 about an axis X106, and a handle 107 pivots on the second bracket 109 around an axis X107.
- the principle of the gyroscopic mount, with the three axes X104, X106 and X107 concurrent, is preserved for the convenience of the maneuver of the wrist and the ease of balancing. It is still useful, to satisfy this advantage, that the point of competition 0 of the three axes is in alignment with the main portion of the forearm segment 104, which encourages place the wrist 106 on a loose end 140 of the segment 104.
- the center of gravity G of the wrist 106 should be located on the axis X104 so that it exerts an invariable force on the forearm segment 104, this which can be obtained by placing a counterweight 139 on the first stirrup 108, at the end of a branch 110 opposite to that 210 which carries the second stirrup 109 and the handle 107; advantageously, the common center of gravity of these two elements can be placed on the axis X106 so that the second stirrup 109 is also in equilibrium indifferent.
- the main axis (X104) of articulation of the wrist 106 to the train of segments remains at a constant angle with a fixed plane (here-horizontal), since the train of segments cannot be turned in torsion; here it is horizontal (like the axes of articulation X2 and X3 of the segments 3 and 4 between them and at the base 1) and therefore hardly aligns with the axis X107 of the handle 107, which would produce peculiarities: the situation is actually the same as in figure 1 with the axis X5 of the wrist holder 5.
- the end of the arm is asymmetrical and that the wrist 106 extends only on one side of the handle 107, leaving the other side free for the operator's hand and arm.
- the arrangement shown is very good for maneuvers of the right arm, but much less suitable for those of the left arm.
- a wrist reversing device 106 such as a pin 141 from which the lipped end 140 is suspended and which unites it to the rest of the forearm segment 104.
- pin 141 is designed to allow the lodged part 140 to pivot by half a turn about the axis of segment 104 by arrow Z and place it in two opposite and symmetrical abutment states; the other state is shown in dotted lines.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/276,354 US20040099081A1 (en) | 2000-05-18 | 2001-05-18 | Robotic arm |
CA002408823A CA2408823A1 (fr) | 2000-05-18 | 2001-05-18 | Bras de commande |
JP2001583989A JP2004515369A (ja) | 2000-05-18 | 2001-05-18 | 制御アーム |
EP01936577A EP1282487A1 (fr) | 2000-05-18 | 2001-05-18 | Bras de commande |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR00/06365 | 2000-05-18 | ||
FR0006365A FR2809048B1 (fr) | 2000-05-18 | 2000-05-18 | Bras de commande |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001087550A1 true WO2001087550A1 (fr) | 2001-11-22 |
Family
ID=8850374
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2001/001529 WO2001087550A1 (fr) | 2000-05-18 | 2001-05-18 | Bras de commande |
Country Status (6)
Country | Link |
---|---|
US (1) | US20040099081A1 (fr) |
EP (1) | EP1282487A1 (fr) |
JP (1) | JP2004515369A (fr) |
CA (1) | CA2408823A1 (fr) |
FR (1) | FR2809048B1 (fr) |
WO (1) | WO2001087550A1 (fr) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1876505A1 (fr) * | 2006-07-03 | 2008-01-09 | Force Dimension S.à.r.l | Compensation gravitationnelle d'un dispositif haptique |
US8667860B2 (en) | 2006-07-03 | 2014-03-11 | Force Dimension S.A.R.L. | Active gripper for haptic devices |
EP3125214A1 (fr) * | 2015-07-31 | 2017-02-01 | Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi | Manipulateur d'outil pour dispositif médical d'entraînement et de test |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2853983A1 (fr) * | 2003-04-17 | 2004-10-22 | Philippe Bellanger | Procede et dispositif d'interaction pour l'assistance au geste "metier-matiere" |
GB2420634A (en) * | 2004-11-24 | 2006-05-31 | Perry Slingsby Systems Ltd | Control system for articulated manipulator arm |
CN100348377C (zh) * | 2006-01-18 | 2007-11-14 | 河北工业大学 | 二自由度解耦球面并联机构 |
CN100348378C (zh) * | 2006-01-24 | 2007-11-14 | 河北工业大学 | 一种三自由度解耦并联机构 |
DE102007023847B4 (de) | 2007-05-23 | 2011-12-08 | Siemens Ag | Schultergelenk |
DE102007023848B4 (de) | 2007-05-23 | 2012-08-02 | Siemens Ag | Schultergelenk |
DE102008033778A1 (de) | 2008-07-18 | 2010-01-21 | Sensordrive Gmbh | Gelenkarmroboter |
US20120067354A1 (en) * | 2009-06-03 | 2012-03-22 | Moog B.V. | Skewed-axis three degree-of-freedom remote-center gimbal |
EP2590786A4 (fr) * | 2010-07-08 | 2014-05-28 | Ross Hime Designs Inc | Manipulateur robotique |
KR101454851B1 (ko) | 2012-04-30 | 2014-10-28 | 삼성중공업 주식회사 | 구동 장치 및 이를 가지는 로봇 |
DE102012223063A1 (de) * | 2012-12-13 | 2014-06-18 | Kuka Roboter Gmbh | Roboterarm |
FR3014348B1 (fr) * | 2013-12-06 | 2016-01-22 | Commissariat Energie Atomique | Dispositif de commande a retour d'effort multidirectionnel |
JP6247200B2 (ja) | 2014-12-10 | 2017-12-13 | ファナック株式会社 | ロボット手首のためのツールアダプタ及びツールアダプタを取り付けたロボット |
US9889874B1 (en) * | 2016-08-15 | 2018-02-13 | Clause Technology | Three-axis motion joystick |
US9823686B1 (en) * | 2016-08-15 | 2017-11-21 | Clause Technology | Three-axis motion joystick |
US11860662B2 (en) * | 2017-01-28 | 2024-01-02 | Excel Industries, Inc. | Control device |
AT520763B1 (de) * | 2017-12-21 | 2022-09-15 | Hans Kuenz Gmbh | Kransteuerung |
CN111571565A (zh) * | 2019-02-18 | 2020-08-25 | 沈阳新松机器人自动化股份有限公司 | 一种七轴工业机器人 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3350956A (en) * | 1965-07-06 | 1967-11-07 | Gen Dynamics Corp | Six-degree of freedom integrated controller |
FR2559283A1 (fr) * | 1984-02-02 | 1985-08-09 | Univ Limoges | Articulation pour manipulateur utilise a la programmation ou a la commande d'un robot et manipulateur articule |
JPH04152081A (ja) * | 1990-10-12 | 1992-05-26 | Hitachi Ltd | マニピュレータの操作装置 |
US5625576A (en) * | 1993-10-01 | 1997-04-29 | Massachusetts Institute Of Technology | Force reflecting haptic interface |
JPH09272082A (ja) * | 1996-04-08 | 1997-10-21 | Nippon Steel Corp | 遠隔操作用マスター・アーム装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2244001A (en) * | 1990-04-30 | 1991-11-20 | Victor Paul Melech | Hand and forearm cleaning device |
US5193963A (en) * | 1990-10-31 | 1993-03-16 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Force reflecting hand controller |
JPH04122482U (ja) * | 1991-04-23 | 1992-11-04 | 株式会社安川電機 | マスタ・スレーブロボツトのマスタ装置 |
US5652603A (en) * | 1994-06-16 | 1997-07-29 | Abrams; Daniel Lawrence | 3-D computer input device |
US6522906B1 (en) * | 1998-12-08 | 2003-02-18 | Intuitive Surgical, Inc. | Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure |
-
2000
- 2000-05-18 FR FR0006365A patent/FR2809048B1/fr not_active Expired - Lifetime
-
2001
- 2001-05-18 CA CA002408823A patent/CA2408823A1/fr not_active Abandoned
- 2001-05-18 US US10/276,354 patent/US20040099081A1/en not_active Abandoned
- 2001-05-18 WO PCT/FR2001/001529 patent/WO2001087550A1/fr active Application Filing
- 2001-05-18 JP JP2001583989A patent/JP2004515369A/ja active Pending
- 2001-05-18 EP EP01936577A patent/EP1282487A1/fr not_active Withdrawn
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3350956A (en) * | 1965-07-06 | 1967-11-07 | Gen Dynamics Corp | Six-degree of freedom integrated controller |
FR2559283A1 (fr) * | 1984-02-02 | 1985-08-09 | Univ Limoges | Articulation pour manipulateur utilise a la programmation ou a la commande d'un robot et manipulateur articule |
JPH04152081A (ja) * | 1990-10-12 | 1992-05-26 | Hitachi Ltd | マニピュレータの操作装置 |
US5625576A (en) * | 1993-10-01 | 1997-04-29 | Massachusetts Institute Of Technology | Force reflecting haptic interface |
JPH09272082A (ja) * | 1996-04-08 | 1997-10-21 | Nippon Steel Corp | 遠隔操作用マスター・アーム装置 |
Non-Patent Citations (3)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 016, no. 440 (M - 1310) 14 September 1992 (1992-09-14) * |
PATENT ABSTRACTS OF JAPAN vol. 1998, no. 02 30 January 1998 (1998-01-30) * |
See also references of EP1282487A1 * |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1876505A1 (fr) * | 2006-07-03 | 2008-01-09 | Force Dimension S.à.r.l | Compensation gravitationnelle d'un dispositif haptique |
WO2008003417A1 (fr) * | 2006-07-03 | 2008-01-10 | Force Dimension S.A.R.L. | Compensation de gravité pour dispositif haptique |
US8188843B2 (en) | 2006-07-03 | 2012-05-29 | Force Dimension S.A.R.L. | Haptic device gravity compensation |
US8667860B2 (en) | 2006-07-03 | 2014-03-11 | Force Dimension S.A.R.L. | Active gripper for haptic devices |
EP3125214A1 (fr) * | 2015-07-31 | 2017-02-01 | Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi | Manipulateur d'outil pour dispositif médical d'entraînement et de test |
Also Published As
Publication number | Publication date |
---|---|
CA2408823A1 (fr) | 2001-11-22 |
FR2809048A1 (fr) | 2001-11-23 |
JP2004515369A (ja) | 2004-05-27 |
FR2809048B1 (fr) | 2002-10-11 |
US20040099081A1 (en) | 2004-05-27 |
EP1282487A1 (fr) | 2003-02-12 |
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