WO2004010043A1

WO2004010043A1 - Device for moving a body or several bodies

Info

Publication number: WO2004010043A1
Application number: PCT/EP2003/006938
Authority: WO
Inventors: Peter Olhöft
Original assignee: Olhoeft Peter
Priority date: 2002-07-02
Filing date: 2003-06-30
Publication date: 2004-01-29
Also published as: AU2003249908A1

Abstract

A device for moving a body (6) or an association of bodies (6, 7) by means of actuating elements (1, 2, 3, 4). The actuating elements (1, 2, 3, 4) transmit forces onto the body (6) or association of bodies (6,7) by means of movements. The inventive device is embodied in such a way that four actuating elements (1, 2, 3,4) engage directly or indirectly with the body (6) or the association of bodies (6,7), and the body (6) can be spatially rotated or spatially pivoted as a result of the interaction of the individual actuating elements (1, 2, 3,4), or the association of bodies (6,7) can be spatially rotated and/or pivoted and can also move per se.

Description

Device for moving one or more bodies

The invention is a novel parallel kinematic device for moving at least one body. The invention relates generally to a device for moving a body through actuating elements, the actuating elements transmitting forces to the body through movements.

In concrete terms, the invention relates to a device with which movements can be transferred simultaneously in up to four degrees of freedom to a body or to a plurality of bodies (body association) that are movably connected to one another (primary purpose). Three of the four degrees of freedom are rotational. The remaining degree of freedom can be either translational or rotational. The body is preferably a ball joint arm, the body association preferably consists of a ball joint arm with an attachment movably attached to it.

In addition, it is possible with the invention to measure the movement states (e.g. position and speed) of the actuating elements. The movement states of the body or body structure can be calculated from these measured variables (secondary purpose).

In general: A body can perform movements in six theoretically possible degrees of freedom. Three of them are rotatory and three are translatory. So far, hinge joints have mainly been used in robotics. On a hinge joint, an electric motor or a pneumatic cylinder connecting the two joint arms can transmit a rotational movement with one degree of freedom. The simultaneous transmission of rotary movements with two straight lines of freedom is already known. The simultaneous transmission of rotary movements with 2 straight lines of freedom is already known. In this way, a ball joint arm of 3 pneumatic cylinders, offset at an angle of 120 °, is brought into any position within a certain range. This range of motion of the ball joint arm is a section of a ball. However, twisting along the ball joint arm is not possible.

The so-called "Flexpicker" from ABB makes it possible to extend a telescopic ball joint arm and also the aforementioned rotation along the longitudinal axis. However, this rotation is carried out by a single rotary motor and not, as in this invention, by the combinations of individual movements of the actuating elements four degrees of freedom.

REPLACEMENT SHEET (R ^ GEL 26) The newly invented device can also realize movements in up to four degrees of freedom. For this purpose, actuating elements 1, 2, 3, 4 are connected in the manner according to the invention to the body 6 to be moved or the body structure 6, 7 to be moved. The interaction of the four actuating elements 1, 2, 3, 4 allows the body 6 or the body structure 6, 7 consisting of several bodies to be moved simultaneously in up to four degrees of freedom.

Other technical devices such as the so-called "hexapod" are based on the simultaneous interaction of several actuating elements. The "hexapod" belongs to the class of robots with so-called parallel kinematics. It has six degrees of freedom.

The present invention is based on the object of designing and developing a generic device in such a way that combinations of rotational movements realized in nature are possible.

The above object is achieved by the features of claim 1. According to this, a generic device for moving a body 6 or a body structure 6, 7 is designed and developed in such a way that at least three actuating elements act directly or indirectly on the body and that the body can be rotated and / or pivoted in space by the interaction of the individual actuating elements ,

With the invention it is possible to simultaneously:

1. Transfer rotary movements to a body 6 in all 3 theoretically possible degrees of freedom (case "A").

2. Transfer rotational movements in 3 rotational degrees of freedom and additionally a translational movement to a body structure 6, 7 (case "B").

3. Transfer rotary movements in 4 rotational degrees of freedom to a body structure 6, 7 (case "C").

The following is a description for case "A". The principle of the invention has already been implemented in nature. For example, the human thigh can simultaneously perform combinations of three rotational movements in relation to the hip. These movements are: forward or backward, sideways and a twist along the thigh.

The rotary movements given by nature can be mimicked according to the invention. Practical applications are expected in robot technology. By combining several rotational degrees of freedom in a single joint, three hinge joints can be saved. Applied to robots, this results in space and weight savings.

The invention is explained in more detail below with the aid of examples and with reference to the accompanying drawings. The drawings are provided with a number and an i index (e.g. Fig. La). Drawings with the index "a" always show a perspective image of the invention. Drawings with the index "b" show the view from above (top view). The index “c” denotes a side view, the XZ or YZ plane being selected depending on the more advantageous representation.

A Cartesian reference coordinate system with the axes X, Y and Z is defined. The axes of rotation Rx, Ry, Rz of the body 6 are fixed in the coordinate system XYZ. The position of the body 6, which is movably mounted in three rotational degrees of freedom, is described by the body-fixed Cartesian coordinate system with the axes U, V and W.

The figures Fig. 1 (a, b, c) to Fig. 5 (a, b, c) show the principle of operation of the invention for the case "A". The component 5 represents one or more arbitrary devices in which or in which the body 6 is mounted so that it can rotate in three degrees of freedom In the example shown, component 5 is the socket of a ball joint.

Forces are transferred to the body 6 from the reference system XYZ in a manner according to the invention. Any force-transmitting actuating elements 1, 2, 3, 4 are suitable for this. In the example shown in the drawings Fig. 1 (a, b, c) to Fig. 5 (a, b, c), the power transmission takes place with lifting cylinders.

In the figures la, lb and lc, the device according to the invention is shown in its basic position. In the basic position, the X-axis runs parallel to the U-axis, the Y- Axis parallel to the V axis and the Z axis parallel to the W axis. In it, the rotation axes Rx, Ry, and Rz overlap with the body-fixed coordinate system UVW.

Now the tilts around the three base axes are to be shown first. These three individual rotations, hereinafter referred to as basic rotations, are then combined into a combined rotation.

In the following, the ends of the actuating elements facing away from the body 6 or 7 are called foot points. The ends of the actuating elements facing the body 6 or 7 are called head points. The route that connects the two end points of an actuating element by the shortest route is their connecting route.

Figures 2a, 2b and 2c show a tilt about the Rx axis. It is achieved in that the actuating elements move or are moved as follows.

The foot and the Kopφpunkt of the actuator 3 approach. The foot and head point of actuator 4 are approaching. The foot and the Kopφpunkt of actuator 1 move away from each other. The base and the Kopφpunkt of actuator 2 move away from each other.

The rotation takes place in the opposite direction if the connecting sections of the actuating elements 1, 2, 3, 4 change in the opposite direction to the directions just described.

A tilt about the Ry axis is shown in Figures 3a, 3b and 3c. It is achieved in that the actuating elements move or are moved as follows.

The foot and the Kopφpunkt of the actuator 2 approach. The foot and the Kopφpunkt of the actuator 3 approach. The foot and the Kopφpunkt of actuator 1 move away from each other. The foot and the Kopφpunkt of actuator 4 move away from each other.

The rotation takes place in the opposite direction if the connecting sections of the actuating elements 1, 2, 3, 4 change in the opposite direction to the directions just described. Figures 4a, 4b and 4c show a tilt about the Rz axis. It is achieved in that the actuating elements move or are moved as follows.

The foot and the Kopφpunkt of the actuator 2 approach. The foot and the Kopφpunkt of the actuator 4 approach. The foot and the Kopφpunkt of actuator 1 move away from each other. The base and the Kopφpunkt of the actuator 3 move away from each other.

In FIGS. 2 (a, b, c) to 4 (a, b, c) it is exemplified how the three basic rotations can be realized by lengthening or shortening two of the four force-transmitting actuating elements in pairs. Four input variables (lengths of the actuating elements 1, 2, 3, 4) thus become three output variables (rotation angle φ _x , φ _y , φ _z ). An explanation follows for the basic rotations:

One of the actuating elements 1, 2, 3, 4 has exactly three possibilities to form a pair "A" with another of these actuating elements, which together lengthens or shortens. The remaining pair "B" moves in the opposite direction to "A". If "A" was chosen, "B" is therefore also known.

If an elongating pair "A" and a shortening pair "B" have been selected, a basic rotation can be implemented with it. Since there are three ways of forming lengthening and shortening pairs "A" and "B", the rotary movements around the three axes (Rx, Ry, Rz) can be realized. It is thus shown for the basic rotations how the three output data (rotation angle φ _x , φ _y , φ ₂ ) are generated from four input data (lengths of the actuating elements 1, 2, 3, 4).

The actual advantage of the invention consists in being able to carry out any desired combinations of the basic rotations on the rotatably mounted body 6 within a range. This is done as follows:

For this purpose, the changes in length of the actuating elements 1, 2, 3, 4 necessary for the basic rotations are superimposed. A combination of the basic rotations discussed can be seen in FIGS. 5 (a, b, c). The body 6 is rotated about the X, Y and Z axes. The actuating elements 1, 2, 3, 4 shorten or lengthen accordingly.

There is a clear connection between the four input variables (lengths of the actuating elements 1, 2, 3, 4) and the three output variables (rotation angle φ _x , φ _y , φ _z ). This is used to transfer rotations (primary purpose).

There is also a clear connection between the three input variables (rotation angle φ _s , φ _y , φ _z ) and the four output variables (lengths of the actuating elements 1, 2, 3, 4). This relationship is used to measure the rotation angle (secondary purpose). The actuating elements 1, 2, 3, 4 are then assigned sensors which enable the determination of lengths. This can be done directly via a length measurement or via the measurement of another physical quantity that allows the length and / or the position to be calculated.

The actuating elements 1, 2, 3, 4 can experience a change in direction through an additional device. This is shown, for example, by the perforated circular disk used on the body 6 in FIG. 6 for guiding the actuating elements (here threads with winches). Such an additional device can enable an increased range of rotation.

In addition, the body 6, which is rotatably mounted in three degrees of freedom, can itself be a force-transmitting device, for example a pneumatic cylinder. Then an additional translational degree of freedom is present in the invention. Equipped in this way, the invention could be used, for example, to lift and rotate workpieces as follows:

A workpiece, e.g. B. a tube, lie lengthwise in a U-shaped rail. It should be placed in a different U-shaped rail at a stop. Both rails run horizontally, but not parallel.

The actuating elements 1, 2, 3, 4 and the component 5 in which the body to be moved is movably mounted are attached to the ceiling. The body 6 here is a lifting cylinder the one at the outer end of which a gripping device is attached. The gripper takes the pipe from the first rail. To do this, the movably mounted lifting cylinder must be aligned with the pipe. Then the lifting cylinder must be extended and retracted a bit after gripping.

Now the workpiece is placed in the second rail. For this purpose, the actuating elements align the pipe carried so that it runs parallel to the second rail. Then the lifting cylinder extends and the gripper places the tube in the rail.

A conventional robot, which is supposed to do the same task, is composed of considerably more components than the invention. Accordingly, cheaper robots can be produced by the invention.

A variant of the power transmission with flexible elements such as threads or ropes is also conceivable. The structure of the device according to the invention is different from the previous example, but the principle of force guidance is the same.

There is also the possibility of power transmission with artificial muscles, e.g. with pneumatic, chemical or electrochemical muscles. The principle of power management is repeated here too.

Case "B" refers to the simultaneous transmission of movements in three rotational degrees of freedom and one translational degree of freedom. The device according to the invention remains the same. However, it is now applied to a body structure 6, 7. FIG. 7 shows an exemplary implementation.

The body bandage can consist of two or more bodies. For example, one body 6 is a ball joint arm which is designed as a sleeve and the other body 7 is a solid cylinder which passively slides in the sleeve.

If, in case "A", equally strong and directionally directed forces (either pulling or pushing) were to act on all actuating elements, this would have no effect on a change in position of the body 6. The body itself would be compressed or stretched. In case "A" the four input variables (lengths of the actuating elements 1, 2, 3, 4) are only offset by three output variables (angle of rotation). But it is possible with four independent input variables to control four independent output variables. This happens in the cases "B" and "C".

In case "B", the action of forces directed in the same direction results in a movement of the body 7. This movement can be linear. However, depending on the design of the bodies 6, 7, it can also be curved. It is in any case, it is possible to change the distance between the bodies 6, 7. In the following, it is assumed that the movement caused by forces acting in the same direction is linear (translation movement), which is illustrated by FIG.

If the extensions or shortenings of the connecting sections of the actuating elements 1, 2, 3, 4 resulting from the translational movement are superimposed on the extensions and shortening of the connecting sections of the actuating elements 1, 2, 3, 4 resulting from the rotary movements, the result is for the body 6 a rotation in three degrees of freedom. For the linearly movably mounted body 7, however, there is an additional translational degree of freedom.

In the case "A" it is sufficient that the actuating elements 1, 2, 3, 4 are only single-acting, for example on pull. For case "B", on the other hand, actuating elements 1, 2, 3, 4 are required which both pull - Can also exert pressure and thus actively lengthen or shorten the distance between their respective base and head points. These actuating elements 1, 2, 3, 4 can, for example, be double-acting pneumatic cylinders or linkages with motors.

The transmission of three rotational movements and one translational movement in a single component could find wide application in robotics. The example of the gripper arm described in "A" is even simpler using "B". Since the gripper arm now extends or retracts passively through the actuating elements 1, 2, 3, 4, instead of the five cylinders required in case "A" (body 6 is itself an active lifting cylinder), only four cylinders are needed.

In case "C" the simultaneous transmission of four rotary movements to a body structure 6, 7 takes place. FIGS. 8a and 8b illustrate this connection. The rotations about the Rx, Ry and Rz axes take place exactly as in cases "A" and "B" by mutually lengthening and shortening the connecting sections of the beta actuating elements. However, a simultaneous shortening or lengthening of all connecting sections of the actuating elements results in a tilting of the body 7 in relation to the body 6 by the angle α. Here, too, there is a clear mathematical relationship between the four lengths of the actuating elements and the angles of rotation φ _x , φ _y , φ _z and α.

On the body 6 and / or 7 e.g. a gripping device or another tool can be attached. The invention applied to case "C" also has applications in robotics.

9 to 11, actuating elements 1, 2, 3, 4 are shown, which do not transmit the movements directly, but indirectly to the body 6 or the body structure 6, 7. In these figures, the actuating elements 1, 2, 3, 4 consist, for example, of a linear drive anchored in the floor and a linkage. The linear drive moves the linkage and this acts on the body 6 or the body structure 6, 7.

It is also possible for at least one actuating element to contain two or more drives. This case is shown by way of example in FIG. 11. There the base of the cylinder moves in the horizontal linear drive. The cylinder can also move the piston.

Instead of the linear drives, drives that generate curved paths are also conceivable. This is shown by way of example in FIG. 12. There, for example, motors that generate at least one rotary movement act on the body or body structure via a linkage.

This construction is very close to the construction of the "Flexpicker" from ABB. With the Flexpicker, the working head is always kept parallel to a given plane by the Delta Design invented by Clavel in 1985. Such a device or a device with a similar effect can also be used here as an actuating element ,

Any actuation elements can be selected. They can transfer their movements directly (as shown by way of example in FIGS. 1 to 8) to the body or the body structure. But you can also indirectly on the body or Body structure, for example by using a rod. This was shown by way of example in FIGS. 12 to 13.

For the invention, it does not matter at which point the drive is arranged. It can be located in the actuating element itself, in the body or body association or in the external environment.

Fastening structures are associated with the body 6 and 7, respectively, on which the actuating elements 1, 2, 3, 4 act at their head points. The mounting structures can be cantilevers. In FIG. 14 it is shown that the fastening structures can protrude from the body 6 or 7 at any point and at any angle and length.

The fastening constructions assigned to the body 6 or 7 can have any shape. In Fig. 15, the mounting structures are, for example, arched. This may enlarge the working space of the invention.

The base points of the actuating elements 1, 2, 3, 4 are permanently connected to the coordinate system XYZ at any location. The arbitrariness of the location of the base points for the actuating elements 1, 2, 3, 4 is shown in FIG. 16.

The actuating elements 1, 2, 3, 4 can be constructed in any way. Each of the actuating elements 1, 2, 3, 4 is capable of transmitting tensile or compressive forces or both types of force (primary purpose). The arrangement according to the invention is decisive:

The actuating elements 1, 2, 3, 4 are connected to a reference system, here for example the coordinate system XYZ. Each of the actuating elements 1, 2, 3, 4 is connected to the rotatably mounted body 6 or body structure 6, 7 in such a way that the force exerted by it acts eccentrically to all three axes of rotation Rx, Ry and Rz of the body or body structure.

The force-transmitting actuating elements are to be aligned in such a way that with simultaneous action of all forces by varying the force doses, at least one state can be achieved by keeping the body 6 at rest. The latter condition deserves further explanation.

The aim of this (somewhat complicated) definition is to avoid arrangements of actuating elements 1, 2, 3, 4 which have undesired twisting of the body 6 or body structure 6, 7 to be moved. This arrangement, regardless of the shape and structure of the actuating elements 1, 2, 3, 4, distinguishes the invention from previously known or practiced arrangements. It is therefore the very essence of the invention.

An example of an ineffective arrangement is that all actuating elements 1, 2, 3, 4 in Fig. 1 lead down the shortest way. Here there can be no rotation along the longitudinal axis of the body 6. The following explains the possible arrangements according to the invention.

For the primary purpose according to the invention, each of the actuating elements 1, 2, 3, 4 transmits the force Fi, F ₂ , F ₃ and F _{4 assigned} to it to the body. Each of these forces generates an associated torque Mi, M ₂ , M ₃ , M ₄ on the body. Because every force acts eccentrically on all three axes of rotation, the moment generated by a force can be represented as the sum of moments around the Rx, Ry and Rz axes. For example, the moment Mi = Mι _x + Mι _y + Mι _z . The direction of rotation of these individual moments is compared with the direction of rotation defined in the XYZ coordinate system (see FIG. 1 a). This gives the individual moments a sign. These were entered as rows in Table 1 here. For example, for the example shown in FIGS. 1 (a, b, c) to 5 (a, b, c) when applying pure tensile forces:

Table 1:

When pure pressure forces are applied, the signs of the torques are inverted. For the example shown in FIGS. 1 (a, b, c) to 5 (a, b, c), the following applies when attacking pure compressive forces:

Table 2:

The actuators can be constructed differently than shown in the drawings of this patent. However, the following conditions always apply to a functioning arrangement of the actuating elements according to the invention. It is characteristic of the invention that in both tables 1 and 2 there are two positive and two negative signs in each Signums column. It is also characteristic that the order of the signs in the columns is not repeated.

The different signs in each column guarantee that if all actuation elements work at the same time, at least one state can be reached in which the body or body structure remains at rest.

When pure tensile forces are applied, the idle state for the example in FIGS. 1 to 5 can be achieved in any position within the range of motion of the body 6. For the example shown in FIG. 7, the idle state when tensile forces are applied can only be achieved if the body 7 has largely been moved into the body 6 and has reached its end position. In the case of pure compressive forces, the state of rest is reached when the body 7 is at most extended from the body 6. These explanations serve to understand the term “idle state” used here and do not represent any restriction with regard to the mobility of the invention.

The following statements relate to the possible uses of the invention. The invention can be used to build novel robots. Thus, several bodies can be assembled one behind the other with the devices according to the invention become. Then a snake or trunk-like structure is created. With this, completely new applications are possible in practice. This "robot trunk" could, for example, be used for welding in tight spaces. If it is attached appropriately, it can also be used to transport and twist loads as desired. A snake-like movement of the assembled robot structure on the ground or in liquids is also conceivable.

In medicine, use as a new endoscopic device is conceivable. For this purpose, a small manipulator (e.g. gripper, camera) is attached to a tiny ball joint arm. This ball joint arm is attached to a Bowden cable, for example. Both are introduced into the body. Something can now be gripped, swiveled and rotated in a confined space. Thus, the invention can be enclosed with an artificial casing (e.g. the Bowden cable casing) and / or with a natural casing (e.g. gastrointestinal tract).

The controller can e.g. at the other end of the Bowden cable by a mirror-image, but larger counterpart to the small ball joint arm. At this point in the (exemplary) Bowden cable, the invention can be used as a "joystick". For this purpose, the surgeon grasps the appropriately designed body 6 or 7 or the corresponding body structure. With this, his hand movements can be transmitted, for example, to the endoscopic manipulator through the Bowden cable This application of the invention as a measuring device for positions and movements or as a transmission device for movements is not limited to this application. The invention can also be used in other areas as a novel “joystick”.

In handling technology, for example, it would be very practical if a device according to the invention (control stick) which was designed to be sensitive would control an actively designed device according to the invention. This could be done by the hand of an operator moving the body 6 or the body structure 6, 7 and thereby changing the position and / or length of the actuating elements 1, 2, 3, 4 equipped with sensors. With the help of a computer, for example, a control loop can be implemented that forwards the new sensor data to the control loop as actual values. The control loop then moves the actuating elements 1, 2, 3, 4 of the actively executed device according to the invention. This in turn causes the associated body 6 to move or approximately the body structure 6, 7. This means that the movements of the actively executed device are synchronized with the movements of the control stick.

Another, also very interesting application is the use of the invention as an orthosis. Patients who have their arms or legs z. B. can not actively move due to an operation, there is a risk of rapid muscle decline. With the invention it is possible to let the thigh or the upper arm move in all positions and thus stimulate the muscles. This can be done programmatically. An extensive, but still to be researched application is the production of prostheses for amputated legs or arms.

However, the following basic idea could be used. For example, nerve impulses are measured on a patient's skin. The signals are e.g. computer-aided unchanged. The new signals are directed to the actuating elements 1, 2, 3, 4 attached to the human or animal body. There they cause the actuators to react. This reaction can now usefully amplify the patient's original movement impulse. The patient can therefore move his limb or his prosthesis with the aid and strengthening of the actuating elements 1, 2, 3, 4.

This can be very useful for newly operated limb patients whose muscles damaged by the procedure are unable to move their limbs sufficiently. It is also possible to prevent undesired movements of the limb or its prosthesis mechanically and / or computer-aided by the device according to the invention.

As an energy source e.g. serve a compressed air tank, which is attached to the patient portable. Pneumatic muscles, for example, could be controlled via a portable computer.

17a and 17b show an example of this application in the orthopedic and / or rehabilitation area. The additional, arbitrarily shaped device 8 in this case connects the base points of the actuating elements 1, 2, 3, 4 firmly to the XYZ coordinate system of the hip, shoulder or other joint 5. The additional, arbitrarily shaped device 9 connects the head points of the actuating elements 1 . 2, 3, 4 fixed with the UVW coordinate system of the limbs 6 and / or the prosthesis 6. The actuating elements 1, 2, 3, 4 touch and graze here with each other and the body 6.

The actuating elements, the body to be moved or the body structure can contain one or more components which act resiliently. They can also contain one or more components that dampen vibrations.

The invention can be used, for example, as a training device for at least one limb. There are several options for this. On the one hand, the actuating elements 1, 2, 3, 4 can be springs or contain springs. You will e.g. attached to the human or animal body by means of 8, 9. The springs can be preloaded. Then every limb movement causes a counterforce. Even complex leg movements, e.g. so-called PNF movements are trained.

Another option is the use of a resilient element connected in series and a flexible artificial muscle in each of the actuating elements 1, 2, 3, 4 attached to the body. The spring elements can also be preloaded here. The spring elements tension or relax by contracting the artificial muscles. As a result, forces act on the limb. Depending on the training goal, the limb can follow this force and be guided more or less passively.

Another possibility is that the limb should move against the pressure applied. This is a typical exercise from physiotherapy: the therapist puts constant pressure on the limbs, the patient should move against it. This process can be designed programmatically and can be taken over by the invention.

In robotics there is the so-called "teaching". Here, a specific movement sequence of the robot is practiced manually. This movement sequence is stored in a computer. It can be optimized and repeated as often as required. This is also possible with the invention: the therapist introduces the limbs a desired movement sequence, which can be optimized and repeated. The invention can also be equipped completely without drive elements or measuring sensors. It can take on tasks similar to the swiveling frame of a dentist's lamp. That is, it can be used to move and hold things.

An application could also be considered in nanotechnology. "Nanomuscles" have recently been developed here. The invention would make it possible to rotate in tiny dimensions.

The invention can also be used to build new types of aircraft. Wings can then be attached to the ball joint arm. For the first time in the history of technology, it is now possible to implement wing movements, such as those that occur naturally in birds or insects. Other artificial limbs, such as artificial arms, artificial legs and artificial fins, can also be attached to the device according to the invention.

The measurement of the position of the body or body association can be carried out by measuring four reference lengths. These reference lengths are distances between points on the rotatably mounted body and points in the reference coordinate system XYZ. With these reference lengths, the twists and displacements (transformations) of the body or body association can be calculated according to the invention.

In conclusion, it should be particularly pointed out that the exemplary embodiments explained above serve only to discuss the teaching according to the invention, but do not restrict it to these exemplary embodiments.

Claims

Patent claims

1. Device for moving a body (6) or a body structure (6, 7) by actuating elements (1, 2, 3, 4), the actuating elements (1, 2, 3, 4) being moved by forces on the body (6 ) or to the body dressing (6, 7), since you are characterized by the fact that four actuating elements (1, 2, 3, 4) act directly or indirectly on the body (6) or on the body dressing (6, 7) and that by the interaction of the individual actuating elements (1, 2, 3, 4) the body (6) can be rotated and / or pivoted in space, or the body structure (6, 7) can be rotated and / or pivoted in space and is additionally movable in itself ,

2. Device according to claim 1, characterized in that the body (6) is movably mounted in up to three rotational degrees of freedom.

3. Device according to claim 1 or 2, characterized in that the body structure (6, 7) comprises at least two articulated elements.

4. Device according to one of claims 1 to 3, characterized in that the body structure (6, 7) can contain at least one translational degree of freedom.

5. Device according to one of claims 1 to 4, characterized in that the body structure (6, 7) can contain a rotational freedom Gf ad.

6. Device according to one of claims 1 to 5, characterized in that the body (6) and / or the body (7) can be rigid.

7. Device according to one of claims 1 to 6, characterized in that the body (6) and / or the body (7) can be elastic.

8. Device according to one of claims 1 to 7, characterized in that the actuating elements (1, 2, 3, 4) are arranged such that a clear access There is a connection between the arrangement and / or the length of the actuating elements (1, 2, 3, 4) on the one hand and the position and orientation of the body (6) or the body structure (6, 7) on the other hand.

9. Device according to one of claims 1 to 8, characterized in that the base points (6) facing away from the actuating elements (1, 2, 3, 4) are arranged as desired in space.

10. The device according to one of claims 1 to 9, characterized in that when attacking tensile forces on the actuating elements (1, 2, 3, 4) or by the actuating elements (1, 2, 3, 4) a sign matrix of the resulting torques on Body (6) according to Table 1 is created.

11. The device according to any one of claims 1 to 9, characterized in that when pressure forces act on the actuating elements (1, 2, 3, 4) or by the actuating elements (1, 2, 3, 4) a sign matrix of the resulting torques on Body (6) according to Table 2 is created.

12. Device according to one of claims 1 to 11, characterized in that the body (6) or the body structure (6, 7) are assigned any fastening structures to which the actuating elements (1, 2, 3, 4) act.

13. Device according to one of claims 1 to 12, characterized in that the fastening structures can protrude as desired from the body (6) or from the body structure (6, 7).

14. Device according to one of claims 1 to 13, characterized in that the fastening elements are variable in length.

15. Device according to one of claims 1 to 14, characterized in that at least one of the actuating elements (1, 2, 3, 4) can contain at least one electrical, electromechanical, electrohydraulic, pneumatic, hydraulic, magnetic or other actuator.

16. Device according to one of claims 1 to 15, characterized in that at least one of the actuating elements (1, 2, 3, 4) can contain at least one so-called pneumatic muscle, chemical muscle or another flexible pull actuator.

17. Device according to one of claims 1 to 16, characterized in that at least one of the actuating elements (1, 2, 3, 4) can be a linkage.

18. Device according to one of claims 1 to 17, characterized in that the actuating elements (1, 2, 3, 4) can contain flexible elements such as ropes, threads, wires and the like.

19. Device according to one of claims 1 to 18, characterized in that at least one of the actuating elements (1, 2, 3, 4) can contain at least one resilient element.

20. Device according to one of claims 1 to 19, characterized in that at least one of the actuating elements (1, 2, 3, 4) can be elastic.

21. Device according to one of claims 1 to 20, characterized in that at least one of the actuating elements (1, 2, 3, 4) can contain at least one vibration-damping element.

22. Device according to one of claims 1 to 21, characterized in that the actuating elements (1, 2, 3, 4) and / or the body (6, 7) can be enclosed by a natural or artificial shell.

23. Device according to one of claims 1 to 22, characterized in that it can be used endoscopically in organisms.

24. Device according to one of claims 1 to 23, characterized in that the rotational and / or pivoting movements of the body (6) or the rotational and / or pivoting movements and / or the internal movement of the body structure (6, 7) can be measured are.

25. Device according to one of claims 1 to 24, characterized in that at least one of the actuating elements (1, 2, 3, 4) contain at least one displacement, distance, angle, speed, force or other sensor can.

26. Device according to one of claims 1 to 25, characterized in that the sensors can measure the length, the position or other geometric sizes of the actuating elements (1, 2, 3, 4).

27. Device according to one of claims 1 to 26, characterized in that the sensors can measure physical variables for indirect determination of the length or other geometric variables of the actuating elements (1, 2, 3, 4).

28. Device according to one of claims 1 to 27, characterized in that the actuating elements (1, 2, 3, 4) are computer-controlled.

29. Device according to one of claims 1 to 28, characterized in that it can be used as a joystick.

30. Device according to one of claims 1 to 29, characterized in that external forces can act on the body (6) or on the body structure (6, 7), which change the position, the length and / or the orientation of the actuating elements can.

31. Device according to one of claims 1 to 30, characterized in that by means of sensors on the actuating elements (1, 2, 3, 4) it can lead setpoints via at least one control circuit to at least one other device according to the invention, the actuating elements (1, 2 , 3, 4) Actuators included.

32. Device according to one of claims 1 to 31, characterized in that in the connection of the body (6) with the body (7) at least one additional force-transmitting actuating element can be present.

33. Device according to one of claims 1 to 32, characterized in that the body (6) or the body structure (6, 7) is associated with a gripper or other tool.

34. Device according to one of claims 1 to 33, characterized in that a plurality of bodies (6) or body associations (6, 7) are arranged one behind the other and movably connected to one another and each of the bodies (6) or each of the body associations (6, 7) Actuators (1, 2, 3, 4) are assigned.

35. Device according to one of claims 1 to 34, characterized in that it can be used as an artificial leg, artificial arm, artificial fin, artificial wing or other artificial limb in robots or other technical devices.

36. Device according to one of claims 1 to 35, characterized in that the actuating elements (1, 2, 3, 4) can be attached to at least one human, animal or artificial limb (6).

37. Device according to one of claims 1 to 36, characterized in that the additional device (8) the base points of the actuating elements (1, 2, 3, 4) fixed to the XYZ coordinate system of the hip, shoulder or other joint ( 5) connects.

38. Device according to one of claims 1 to 37, characterized in that the additional device (9) firmly connects the heads of the actuating elements (1, 2, 3, 4) with the UVW coordinate system of the limbs (6).

39. Device according to one of claims 1 to 38, characterized in that the actuating elements (1, 2, 3, 4) can touch one another.

40. Device according to one of claims 1 to 39, characterized in that each of the actuating elements (1, 2, 3, 4) can touch the body (6) or the body structure (6, 7).

41. Device according to one of claims 1 to 40, characterized in that it can be used as a training device for an actively working limb (6).

42. Device according to one of claims 1 to 41, characterized in that the limbs (6) can be guided passively in or on it.

43. Device according to one of claims 1 to 42, characterized in that the limbs (6) can be guided under computer control.

44. Device according to one of claims 1 to 43, characterized in that the desired movements of the limbs (6), or of the body (6) and or of the body association (6, 7) as usual in robotics, in a so-called "teaching process "can be programmed.

45. Device according to one of claims 1 to 44, characterized in that nerve impulses can be measured and transmitted by means of the actuating elements (1, 2, 3, 4) with increased force to the limbs (6).

46. Device according to one of claims 1 to 45, characterized in that undesirable movements of the limbs can be avoided mechanically and / or computer-controlled.

47. Device according to one of claims 1 to 46, characterized in that it can be used as a prosthesis.

48. Device according to one of claims 1 to 47, characterized in that it can be used as an orthosis.

49. Device according to one of claims 1 to 48, characterized in that it can be used for holding and / or moving objects.

50. Device according to one of claims 1 to 49, characterized in that it can be used in nanotechnology.