WO2011138378A1 - Flexible joint with a wide range of movement and robotized kinematic assembly comprising such a joint - Google Patents

Flexible joint with a wide range of movement and robotized kinematic assembly comprising such a joint Download PDF

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Publication number
WO2011138378A1
WO2011138378A1 PCT/EP2011/057157 EP2011057157W WO2011138378A1 WO 2011138378 A1 WO2011138378 A1 WO 2011138378A1 EP 2011057157 W EP2011057157 W EP 2011057157W WO 2011138378 A1 WO2011138378 A1 WO 2011138378A1
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WO
WIPO (PCT)
Prior art keywords
flexible
structures
kinematic assembly
joint
segment
Prior art date
Application number
PCT/EP2011/057157
Other languages
French (fr)
Inventor
Javier Martin
Mathieu Robert
Original Assignee
Commissariat A L'energie Atomique Et Aux Energies Alternatives
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Filing date
Publication date
Application filed by Commissariat A L'energie Atomique Et Aux Energies Alternatives filed Critical Commissariat A L'energie Atomique Et Aux Energies Alternatives
Publication of WO2011138378A1 publication Critical patent/WO2011138378A1/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
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/12—Pivotal connections incorporating flexible connections, e.g. leaf springs

Definitions

  • the present invention relates to a flexible joint for an articulated kinematic assembly or roboti ⁇ sé.
  • This robotic kinematic assembly is for example a finger of a robotic hand.
  • a robotic kinematic assembly comprises two segments, the phalanges in the case of a finger, connected to each other by a hinge allowing a ⁇ angular debate of the segments relative to each other.
  • Joints contact comprise at least two parts which are connected each to one of seg ments ⁇ and which cooperate with each other such that a ma- niere pivots with respect to another. So that the parts are so mobile, they are assembled with games and are subject to friction that tends to increase said games that become prejudici ⁇ ble to the precision of the movement authorized by the joint. It is expected bearings and other rolling ball ⁇ ments to limit friction, but they increase the bulk, weight and complexity of the joint. These joints also need to provide lubrication to reduce friction and reduce the risk of seizure.
  • the flexible joints include general ⁇ two plates which are each fixed to one of the ⁇ seg ments of the kinematic assembly and which are connected to each other by a flexible structure allowing elastic de- formation by an angular movement of the sinkers one with respect to the other.
  • An object of the invention is to provide an artic ⁇ lation remedying all or part of the disadvantages of known joints.
  • a flexible joint to connect to one another two segments of a robotic kinematic assembly.
  • the hinge comprises two flexible structures which are connected to each other by a rigid base and which each have a central core from which crosswise two adjacent blades connecting to the base and two adjacent blades for connection to a pla ⁇ tine attachment to a segment of the kinematic assembly to connect each of the flexible structures respectively to one of the segments.
  • the flexible structures are po ⁇ sitioned in such a way that the central cores extend substantially in the extension of one another.
  • each flexible structure allows a de- placement of the plate it carries with respect to the base so that the movement of the plates relative to each other is equal to the sum of debate ⁇ ments structures flexible.
  • the flexible structures are geometrically parallel and functionally in series.
  • the series association of the two flexi ⁇ ble structures of this articulation allows a rota ⁇ tion movement limiting the deflection defects of the rota ⁇ tion center.
  • This limitation of rotation center of the deflection defect makes possible a kinematic modeling of the kinematic assembly by mathema models ⁇ single ticks, thus ensuring better precision, sensitivity, and stability of the control of the actuator used to motorize the kinematic assembly.
  • the articulation finally has a small footprint per- putting to implement such joints in ⁇ say positive of relatively small sizes, such as for exam ⁇ ple a robotic hand to a scale similar to that of the human hand.
  • the articulation of the invention is usable by its precision, its amplitude and its com- pacity in many fields of robotics, such as high-precision robotics implemented in optics and aerospace mechanics, but also the humanoid robotics as previously stated, service robotics or industrial robotics.
  • the plates, the structures hoses and the base are in one piece.
  • the joint is monolithic and that per ⁇ puts to simplify the construction.
  • the joint comprises three flexible structures namely a struc ture ⁇ central and two side structures, structu res ⁇ side with plates provided with means for fixing them to the same segment of the kinematic assembly, and, preferably, the side structures have a width substantially equal to half a width of the central structure.
  • the invention also relates to a kinematic assembly comprising a first segment and a second segment connected by a hinge comprising at least two flexible structures which extend side by side and parallel to each other and which are connected to one another. one to the other by a rigid base, each structure having a central core from which crosses two adjacent connecting plates to the base and two blades ad ⁇ connecting connection to a plate attachment to a seg ⁇ of the kinematic assembly.
  • FIG. 1 is a perspective view of a hinge according to a first embodiment of the invention
  • FIG. 2 is a diagrammatic perspective view of a kinematic assembly equipped with this joint
  • FIG. 3 is a perspective view of a hinge according to a second mode re ⁇ realization of the invention
  • FIG. 4 is a schematic perspective perspec ⁇ tive of a kinematic assembly equipped with this joint.
  • the present invention is here described in application to a robotic kinematic assembly consisting of a finger, generally designated 100, of a humanoid robotic hand.
  • This finger 100 com ⁇ carries a first phalange 101 and a second phalange 102 (phalanges are segments of the entire movie ⁇ matic) which are connected to each other by a articu- lation generally designated 1.
  • an actuator not shown, connected in a manner known per se for pivoting the second phalanx 102 by rap ⁇ port to the first phalanx 101.
  • the hinge 1 comprises two flexible structures, generally designated in 2.1 and 2.II, which extend side by side and parallel to each other and which are connected to each other by a rigid base 3.
  • parallel means here in a geometrically parallel manner.
  • Each structure 2 has a central core 4 from which crosses two adjacent connecting blades 7 to the base 3 and two adjacent plates 5 connecting to a plate 6.1, 6. II of attachment to the phalanx 101, 102 corresponding.
  • Each blade 7 extends in the extension of one of the blades 5 and the central core 4 has no function other than to form the junction zone of the blades together.
  • the axis of rotation extends along the central core 4.
  • the structures 2 are of the same width.
  • the plates 6.1, 6. II, the flexible structures 2.1, 2. II and the base 3 are in one piece.
  • the joint is made in the form of a "CARTWHEEL" type joint comprising a single flexible structure and a single plate which are cut to form and individualize the flexible structu ⁇ res 2.1 and 2. II as well as the decks 6.1 , 6. II. Cutting is performed along a plane perpendicu ⁇ lar to the base 3 and the central core 4.
  • a "CARTWHEEL” type joint comprising a single flexible structure and a single plate which are cut to form and individualize the flexible structu ⁇ res 2.1 and 2. II as well as the decks 6.1 , 6. II. Cutting is performed along a plane perpendicu ⁇ lar to the base 3 and the central core 4.
  • the flexible structures are positioned in such a way that the central cores extend in the extension of one another.
  • the plates 6.1, 6. II are fixed to the first phalanx 101 and the second phalanx 102 by any means and for example by gluing, bolting or other.
  • the fixing means of the plates 6.1, 6. II are therefore for example surfaces arranged to allow their gluing phalanges or pierced portions to cooperate with a screw or a bolt.
  • each flexible structure 2.1, 2. It auto ⁇ a displacement of the plate 6.1, 6. II it carries relative to the base so that the movement of the decks 6.1, 6. II, and thus phalanges 101, 102, one relative to the other is equal to the sum of the debate ⁇ ments flexible structures 2.1, 2. II.
  • This articulation ⁇ tion also allows a rotational movement with a limited deviation of the center of rotation, resulting from the combination of the displacements of the centers of rotation of the two flexible structures 2.1 and 2. II component 1 articulation.
  • the articulation comprises three flexible structures 2.1, 2. II, namely a structure central flexible ture 2. II and two lateral flexible structures 2.1 extending on either side of the central flexible struc ture ⁇ 2.
  • the flexible structures ⁇ 2.1 side each have a plate 6.1 provided with means of its attachment to the phalanx 101 while the central flexible structure 2. II carries a plate 6. II provided with means of its attachment to the phalanx 102.
  • the lateral flexible structures 2.1 can be connected to the same plate.
  • the lateral flexible structures 2.1 have a width substantially equal to half of a lar ⁇ geur of the central flexible structure 2. II.
  • the joint is designed as a hinge type "CARTWHEEL” comprising a single flexible structure and a single plate which are cut to form the flexible structures and individualize 2.1 and 2. II and the plati ⁇ nes 6.1 , 6.11.
  • CARTWHEEL hinge type
  • the rigid base may have a Z shape more or less open from which the flexible structures extend so that the plati ⁇ are oriented in opposite directions.

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

Abstract

Flexible joint for a robotized kinematic assembly, comprising at least two flexible structures (2.I, 2.II) which are joined together by a rigid base (3) and each of which has a central node (4) from which there extend in a cross configuration two adjacent blades (7) for connection to the base and two adjacent blades (5) for connection to a mounting plate for attaching to a segment of the kinematic assembly, the flexible structures being positioned in such a way that the central nodes lie substantially in the continuation of one another. Robotized kinematic assembly incorporating such a joint.

Description

Articulation flexible à grande amplitude et en¬ semble cinématique robotisé comportant une telle articu¬ lation Flexible articulation with large amplitude and robotic kinematic ¬ with such articu ¬ tion
La présente invention concerne une articulation flexible pour un ensemble cinématique articulé ou roboti¬ sé. Cet ensemble cinématique robotisé est par exemple un doigt d'une main robotisée. L'invention concerne égale¬ ment l'ensemble cinématique robotisé et plus généralement un ensemble cinématique articulé. The present invention relates to a flexible joint for an articulated kinematic assembly or roboti ¬ sé. This robotic kinematic assembly is for example a finger of a robotic hand. Disclosed equal ¬ all robotic kinematics and generally lies an articulated kinematics together.
Un ensemble cinématique robotisé comprend deux segments, les phalanges dans le cas d'un doigt, reliés l'un à l'autre par une articulation autorisant un débat¬ tement angulaire des segments l'un par rapport à l'autre. A robotic kinematic assembly comprises two segments, the phalanges in the case of a finger, connected to each other by a hinge allowing a ¬ angular debate of the segments relative to each other.
Il existe deux types d'articulation ou pivot cou- ramment utilisée dans le domaine de la robotisation : les articulations par contact et les articulations flexibles.  There are two types of joint or pivot commonly used in the field of robotics: contact joints and flexible joints.
Les articulations par contact comprennent au moins deux pièces qui sont reliés chacune à un des seg¬ ments et qui coopèrent l'une avec l'autre de telle ma- nière que l'une pivote par rapport à l'autre. Pour que les pièces soient ainsi mobiles, elles sont assemblées avec des jeux et sont soumises à des frottements qui ten¬ dent à accroître lesdits jeux qui deviennent préjudicia¬ bles à la précision du mouvement autorisé par l'articulation. Il est prévu des paliers et autres roule¬ ments à billes pour limiter les frottements, mais ceux-ci augmentent l'encombrement, le poids et la complexité de l'articulation. Ces articulations nécessitent également de prévoir une lubrification pour diminuer les frotte- ments et limiter les risques de grippage. Joints contact comprise at least two parts which are connected each to one of seg ments ¬ and which cooperate with each other such that a ma- niere pivots with respect to another. So that the parts are so mobile, they are assembled with games and are subject to friction that tends to increase said games that become prejudici ¬ ble to the precision of the movement authorized by the joint. It is expected bearings and other rolling ball ¬ ments to limit friction, but they increase the bulk, weight and complexity of the joint. These joints also need to provide lubrication to reduce friction and reduce the risk of seizure.
Les articulations flexibles comprennent générale¬ ment deux platines qui sont fixées chacune à un des seg¬ ments de l'ensemble cinématique et qui sont reliées l'une à l'autre par une structure flexible autorisant par dé- formation élastique un débattement angulaire des platines l'une par rapport à l'autre. The flexible joints include general ¬ two plates which are each fixed to one of the ¬ seg ments of the kinematic assembly and which are connected to each other by a flexible structure allowing elastic de- formation by an angular movement of the sinkers one with respect to the other.
Il existe de nombreux types d'articulations flexibles et notamment celle divulguée dans le document US-A-4261211, dénommée « CARTWHEEL », monolithique et possédant une structure flexible comportant des lamelles qui s'étendent en croix depuis un noyau central pour re¬ lier les platines. Cette articulation est particulière¬ ment simple mais présente deux inconvénients. En premier lieu, cette articulation n'autorise qu'un débattement an- gulaire limité. En second lieu, cette articulation défi¬ nit un centre de rotation qui est situé au niveau du noyau central pour les plus faibles débattements et tend à se déplacer pour les débattements les plus importants, ce qui nuit à la précision du mouvement autorisé par l'articulation. There are many types of flexible hinges and in particular that disclosed in US-A-4261211, called "CARTWHEEL", monolithic and having a flexible structure comprising slats that extend in a cross from a central core to re ¬ bind the turntables. This articulation is particularly simple ¬ but has two disadvantages. In the first place, this articulation allows only a limited angular deflection. Secondly, this joint challenge ¬ nes a rotation center which is located in the central core to the lowest deflections and tends to move to the major deflections, which affects the accuracy of movement allowed by the joint.
Il est connu du document US-A-5265853 une articu¬ lation multiple formée de l'assemblage d'articulations élémentaires formées de pivots à lames séparées et croi¬ sées. Le débattement angulaire total autorisé par cette articulation multiple est relativement important car égal à la somme des débattements angulaires autorisés par cha¬ cune des articulations élémentaires. Cette articulation est cependant encombrante. L'accumulation d'articulations élémentaires entraîne une faible précision du mouvement et complique les opérations de fabrication de 1' articulation. It is known from US-A-5265853 a multiple articu lation ¬ formed of the assembly of elementary joints formed of separate blade pivots and croi ¬ Sees. The total angular movement allowed by the multiple articulation is quite important because the sum of the angular deflections allowed by cha ¬ CUNE elementary joints. This articulation is however cumbersome. The accumulation of elementary joints results in poor precision of movement and complicates the manufacturing operations of the joint.
Un but de l'invention est de fournir une articu¬ lation remédiant à tout ou partie des inconvénients des articulations connues. An object of the invention is to provide an artic ¬ lation remedying all or part of the disadvantages of known joints.
A cet effet, on prévoit, selon l'invention, une articulation flexible pour relier l'un à l'autre deux segments d'un ensemble cinématique robotisé. For this purpose, it is provided, according to the invention, a flexible joint to connect to one another two segments of a robotic kinematic assembly.
L'articulation comporte deux structures flexibles qui sont reliées l'une à l'autre par une embase rigide et qui possèdent chacune un noyau central à partir duquel s'étendent en croix deux lames adjacentes de liaison à l'embase et deux lames adjacentes de liaison à une pla¬ tine de fixation à un segment de l'ensemble cinématique pour relier chacune des structures flexibles respective- ment à un des segments. Les structures flexibles sont po¬ sitionnées de telle manière que les noyaux centraux s'étendent sensiblement dans le prolongement l'un de 1 ' autre . The hinge comprises two flexible structures which are connected to each other by a rigid base and which each have a central core from which crosswise two adjacent blades connecting to the base and two adjacent blades for connection to a pla ¬ tine attachment to a segment of the kinematic assembly to connect each of the flexible structures respectively to one of the segments. The flexible structures are po ¬ sitioned in such a way that the central cores extend substantially in the extension of one another.
Ainsi, chaque structure flexible autorise un dé- placement de la platine qu'elle porte par rapport à l'embase de sorte que le débattement des platines l'une par rapport à l'autre est égale à la somme des débatte¬ ments des structures flexibles. Les structures flexibles sont géométriquement parallèles et fonctionnellement en série. L'association en série des deux structures flexi¬ bles de cette articulation autorise un mouvement de rota¬ tion limitant les défauts de déviation du centre de rota¬ tion. Cette limitation des défauts de déviation du centre de rotation rend possible une modélisation de la cinéma- tique de l'ensemble cinématique par des modèles mathéma¬ tiques simples, assurant ainsi de meilleures précision, sensibilité, et stabilité de la commande de l'actionneur utilisé pour motoriser l'ensemble cinématique. L'articulation présente enfin un encombrement réduit per- mettant d'implanter de telles articulations dans des dis¬ positifs de relativement petites tailles, comme par exem¬ ple une main robotisée à une échelle proche de celle de la main humaine. De plus, l'articulation de l'invention est utilisable par sa précision, son amplitude et sa com- pacité dans de nombreux domaine de la robotique, comme la robotique de haute précision mise en œuvre en optique et en mécanique aérospatiale, mais également la robotique humanoïde comme indiqué précédemment, la robotique de service ou la robotique industrielle. Thus, each flexible structure allows a de- placement of the plate it carries with respect to the base so that the movement of the plates relative to each other is equal to the sum of debate ¬ ments structures flexible. The flexible structures are geometrically parallel and functionally in series. The series association of the two flexi ¬ ble structures of this articulation allows a rota ¬ tion movement limiting the deflection defects of the rota ¬ tion center. This limitation of rotation center of the deflection defect makes possible a kinematic modeling of the kinematic assembly by mathema models ¬ single ticks, thus ensuring better precision, sensitivity, and stability of the control of the actuator used to motorize the kinematic assembly. The articulation finally has a small footprint per- putting to implement such joints in ¬ say positive of relatively small sizes, such as for exam ¬ ple a robotic hand to a scale similar to that of the human hand. In addition, the articulation of the invention is usable by its precision, its amplitude and its com- pacity in many fields of robotics, such as high-precision robotics implemented in optics and aerospace mechanics, but also the humanoid robotics as previously stated, service robotics or industrial robotics.
Avantageusement, les platines, les structures flexibles et l'embase sont d'une seule pièce. Advantageously, the plates, the structures hoses and the base are in one piece.
L'articulation est ainsi monolithique ce qui per¬ met d'en simplifier la réalisation. The joint is monolithic and that per ¬ puts to simplify the construction.
Selon une variante de réalisation, l'articulation comporte trois structures flexibles à savoir une struc¬ ture centrale et deux structures latérales, les structu¬ res latérales ayant des platines pourvues de moyens de leur fixation au même segment de l'ensemble cinématique, et, de préférence, les structures latérales ont une lar- geur sensiblement égale à la moitié d'une largeur de la structure centrale. According to an alternative embodiment, the joint comprises three flexible structures namely a struc ture ¬ central and two side structures, structu res ¬ side with plates provided with means for fixing them to the same segment of the kinematic assembly, and, preferably, the side structures have a width substantially equal to half a width of the central structure.
Cette variante permet une reprise particulière¬ ment bien équilibrée des efforts auxquels l'ensemble ci¬ nématique est destiné à être soumis. This variant allows a particular recovery ¬ well balanced efforts to which all ci ¬ nematic is intended to be submitted.
L'invention a également pour objet un ensemble cinématique comportant un premier segment et un deuxième segment reliés par une articulation comportant au moins deux structures flexibles qui s'étendent côte à côte et parallèlement l'une à l'autre et qui sont reliées l'une à l'autre par une embase rigide, chaque structure ayant un noyau central à partir duquel s'étendent en croix deux lames adjacentes de liaison à l'embase et deux lames ad¬ jacentes de liaison à une platine de fixation à un seg¬ ment de l'ensemble cinématique. The invention also relates to a kinematic assembly comprising a first segment and a second segment connected by a hinge comprising at least two flexible structures which extend side by side and parallel to each other and which are connected to one another. one to the other by a rigid base, each structure having a central core from which crosses two adjacent connecting plates to the base and two blades ad ¬ connecting connection to a plate attachment to a seg ¬ of the kinematic assembly.
D'autres caractéristiques et avantages de l'invention ressortiront à la lecture de la description qui suit de modes de réalisation particuliers non limita¬ tifs de l'invention. Other features and advantages of the invention will become apparent from reading the following description of non-confined particular embodiments of the invention ¬ tive.
Il sera fait référence aux dessins annexés, parmi lesquels :  Reference will be made to the appended drawings, among which:
- la figure 1 est une vue en perspective d'une articulation conforme à un premier mode de réalisation de l'invention,  FIG. 1 is a perspective view of a hinge according to a first embodiment of the invention,
- la figure 2 est une vue schématique en perspec- tive d'un ensemble cinématique équipé de cette articulation, FIG. 2 is a diagrammatic perspective view of a kinematic assembly equipped with this joint,
- la figure 3 est une vue en perspective d'une articulation conforme à un deuxième mode de ré¬ alisation de l'invention, - Figure 3 is a perspective view of a hinge according to a second mode re ¬ realization of the invention,
- la figure 4 est une vue schématique en perspec¬ tive d'un ensemble cinématique équipé de cette articulation . - Figure 4 is a schematic perspective perspec ¬ tive of a kinematic assembly equipped with this joint.
En référence aux figures, la présente invention est ici décrite en application à un ensemble cinématique robotisé constitué par un doigt, généralement désigné en 100, d'une main robotisée humanoïde. Ce doigt 100 com¬ porte une première phalange 101 et une deuxième phalange 102 (les phalanges sont des segments de l'ensemble ciné¬ matique) qui sont reliées l'une à l'autre par une articu- lation généralement désignée en 1. Il est également prévu un actionneur, non représenté, relié de façon connue en soi pour faire pivoter la deuxième phalange 102 par rap¬ port à la première phalange 101. With reference to the figures, the present invention is here described in application to a robotic kinematic assembly consisting of a finger, generally designated 100, of a humanoid robotic hand. This finger 100 com ¬ carries a first phalange 101 and a second phalange 102 (phalanges are segments of the entire movie ¬ matic) which are connected to each other by a articu- lation generally designated 1. It there is also provided an actuator, not shown, connected in a manner known per se for pivoting the second phalanx 102 by rap ¬ port to the first phalanx 101.
En référence aux figures 1 et 2 et conformément au premier mode de réalisation, l'articulation 1 comprend deux structures flexibles, généralement désignées en 2.1 et 2. II, qui s'étendent côte à côte et parallèlement l'une à l'autre et qui sont reliées l'une à l'autre par une embase rigide 3. Par parallèlement, on entend ici de façon géométriquement parallèle.  Referring to Figures 1 and 2 and according to the first embodiment, the hinge 1 comprises two flexible structures, generally designated in 2.1 and 2.II, which extend side by side and parallel to each other and which are connected to each other by a rigid base 3. By parallel means here in a geometrically parallel manner.
Chaque structure 2 possède un noyau central 4 à partir duquel s'étendent en croix deux lames 7 adjacentes de liaison à l'embase 3 et deux lames 5 adjacentes de liaison à une platine 6.1, 6. II de fixation à la phalange 101, 102 correspondante. Chaque lame 7 s'étend dans le prolongement d'une des lames 5 et le noyau central 4 n'a d'autre fonction que de constituer la zone de jonction des lames entre elles. L'axe de rotation s'étend le long du noyau central 4. Les structures 2 sont de mêmes lar- geurs . Dans le mode de réalisation préféré de l'invention, les platines 6.1, 6. II, les structures flexibles 2.1, 2. II et l'embase 3 sont d'une seule pièce. Préférentiellement , l'articulation est réalisée sous la forme d'une articulation de type « CARTWHEEL » comprenant une structure flexible unique et une platine unique qui sont découpées pour former et individualiser les structu¬ res flexibles 2.1 et 2. II ainsi que les platines 6.1, 6. II. La découpe est réalisée selon un plan perpendicu¬ laire à l'embase 3 et aux noyaux centraux 4. Each structure 2 has a central core 4 from which crosses two adjacent connecting blades 7 to the base 3 and two adjacent plates 5 connecting to a plate 6.1, 6. II of attachment to the phalanx 101, 102 corresponding. Each blade 7 extends in the extension of one of the blades 5 and the central core 4 has no function other than to form the junction zone of the blades together. The axis of rotation extends along the central core 4. The structures 2 are of the same width. In the preferred embodiment of the invention, the plates 6.1, 6. II, the flexible structures 2.1, 2. II and the base 3 are in one piece. Preferably, the joint is made in the form of a "CARTWHEEL" type joint comprising a single flexible structure and a single plate which are cut to form and individualize the flexible structu ¬ res 2.1 and 2. II as well as the decks 6.1 , 6. II. Cutting is performed along a plane perpendicu ¬ lar to the base 3 and the central core 4.
Les structures flexibles sont positionnées de telle manière que les noyaux centraux s'étendent dans le prolongement l'un de l'autre.  The flexible structures are positioned in such a way that the central cores extend in the extension of one another.
Au repos, l'embase 3 est parallèle aux platines 6.1, 6. II  At rest, the base 3 is parallel to the plates 6.1, 6. II
Les platines 6.1, 6. II sont fixées à la première phalange 101 et à la deuxième phalange 102 par tout moyen et par exemple par collage, boulonnage ou autre. Les moyens de fixation des platines 6.1, 6. II sont donc par exemple des surfaces agencées pour permettre leur collage aux phalanges ou des portions percées pour coopérer avec une vis ou un boulon.  The plates 6.1, 6. II are fixed to the first phalanx 101 and the second phalanx 102 by any means and for example by gluing, bolting or other. The fixing means of the plates 6.1, 6. II are therefore for example surfaces arranged to allow their gluing phalanges or pierced portions to cooperate with a screw or a bolt.
Ainsi, chaque structure flexible 2.1, 2. II auto¬ rise un déplacement de la platine 6.1, 6. II qu'elle porte par rapport à l'embase de sorte que le débattement des platines 6.1, 6. II, et donc des phalanges 101, 102, l'une par rapport à l'autre est égale à la somme des débatte¬ ments des structures flexibles 2.1, 2. II. Cette articula¬ tion autorise en outre un mouvement de rotation avec une déviation limitée du centre de rotation, résultant de l'association des déplacements des centres de rotation des deux structures flexibles 2.1 et 2. II composant 1' articulation. Thus, each flexible structure 2.1, 2. It auto ¬ a displacement of the plate 6.1, 6. II it carries relative to the base so that the movement of the decks 6.1, 6. II, and thus phalanges 101, 102, one relative to the other is equal to the sum of the debate ¬ ments flexible structures 2.1, 2. II. This articulation ¬ tion also allows a rotational movement with a limited deviation of the center of rotation, resulting from the combination of the displacements of the centers of rotation of the two flexible structures 2.1 and 2. II component 1 articulation.
En référence aux figures 3 et 4 et conformément au deuxième mode de réalisation, l'articulation comporte trois structures flexibles 2.1, 2. II à savoir une struc- ture flexible centrale 2. II et deux structures flexibles latérales 2.1 s' étendant de part et d'autre de la struc¬ ture flexible centrale 2. II. Les structures flexibles la¬ térales 2.1 ont chacune une platine 6.1 pourvue de moyens de sa fixation à la phalange 101 tandis que la structure flexible centrale 2. II porte une platine 6. II pourvue des moyens de sa fixation à la phalange 102. En variante, les structures flexibles latérales 2.1 peuvent être reliées à une même platine. Les structures flexibles latérales 2.1 ont une largeur sensiblement égale à la moitié d'une lar¬ geur de la structure flexible centrale 2. II. With reference to FIGS. 3 and 4 and according to the second embodiment, the articulation comprises three flexible structures 2.1, 2. II, namely a structure central flexible ture 2. II and two lateral flexible structures 2.1 extending on either side of the central flexible struc ture ¬ 2. II. The flexible structures ¬ 2.1 side each have a plate 6.1 provided with means of its attachment to the phalanx 101 while the central flexible structure 2. II carries a plate 6. II provided with means of its attachment to the phalanx 102. Alternatively the lateral flexible structures 2.1 can be connected to the same plate. The lateral flexible structures 2.1 have a width substantially equal to half of a lar ¬ geur of the central flexible structure 2. II.
Préférentiellement , l'articulation est réalisée sous la forme d'une articulation de type « CARTWHEEL » comprenant une structure flexible unique et une platine unique qui sont découpées pour former et individualiser les structures flexibles 2.1 et 2. II ainsi que les plati¬ nes 6.1, 6.11. Preferably, the joint is designed as a hinge type "CARTWHEEL" comprising a single flexible structure and a single plate which are cut to form the flexible structures and individualize 2.1 and 2. II and the plati ¬ nes 6.1 , 6.11.
Bien entendu, l'invention n'est pas limitée aux modes de réalisation décrits mais englobe toute variante entrant dans le champ de l'invention telle que définie par les revendications. L'embase rigide peut avoir une forme en Z plus ou moins ouverte à partir de laquelle les structures flexibles s'étendent de manière que les plati¬ nes soient orientées dans des directions opposées. Of course, the invention is not limited to the embodiments described but encompasses any variant within the scope of the invention as defined by the claims. The rigid base may have a Z shape more or less open from which the flexible structures extend so that the plati ¬ are oriented in opposite directions.

Claims

REVENDICATIONS
1. Articulation flexible pour relier l'un à l'autre deux segments d'un ensemble cinématique robotisé, comportant au moins deux structures flexibles (2.1, 2. II) qui sont reliées l'une à l'autre par une embase rigide (3) et qui possèdent chacune un noyau central (4) à par¬ tir duquel s'étendent en croix deux lames (7) adjacentes de liaison à l'embase et deux lames (5) adjacentes de liaison à une platine de fixation à un segment de l'ensemble cinématique pour relier chacune des structures flexibles respectivement à un des segments, les structu¬ res flexibles étant positionnées de telle manière que les noyaux centraux s'étendent sensiblement dans le prolonge- ment l'un de l'autre. 1. Flexible articulation for connecting two segments of a robotic kinematic assembly to each other, comprising at least two flexible structures (2.1, 2.II) which are connected to one another by a rigid base ( 3) and which each have a central core (4) by firing ¬ which extend crosswise two blades (7) adjacent bonding to the base and two blades (5) adjacent to a connecting bracket at a segment of the kinematic assembly for connecting each of the flexible structures respectively to one of the segments, the flexible structu ¬ res being positioned such that the central cores extend substantially in the extension of one another.
2. Articulation selon la revendication 1, dans laquelle les platines (6.1, 6. II), les structures flexi¬ bles (2.1, 2. II) et l'embase (3) sont d'une seule pièce. 2. Articulation according to claim 1, wherein the plates (6.1, 6. II), flexi ¬ structures (2.1, 2. II) and the base (3) are in one piece.
3. Articulation selon la revendication 1, compor- tant trois structures flexibles à savoir une structure centrale (2. II) et deux structures latérales (2.1), les structures latérales ayant des platines (6.1) pourvues de moyens de leur fixation au même segment de l'ensemble ci¬ nématique . 3. Articulation according to claim 1, comprising three flexible structures namely a central structure (2. II) and two lateral structures (2.1), the lateral structures having plates (6.1) provided with means for their attachment to the same segment of the ci ¬ nematic set.
4. Articulation selon la revendication 3, dans laquelle les structures latérales (2.1) ont une largeur sensiblement égale à la moitié d'une largeur de la struc¬ ture centrale (2. II). 4. Articulation according to claim 3, wherein the side structures (2.1) have a width substantially equal to half a width of the central struc ¬ ture (2. II).
5. Ensemble cinématique motorisé comprenant un premier segment (101) et un deuxième segment (102) reliés par une articulation (1) comportant au moins deux struc¬ tures flexibles (2.1, 2. II) qui s'étendent côte à côte et parallèlement l'une à l'autre et qui sont reliées l'une à l'autre par une embase rigide (3), chaque structure ayant un noyau central (4) à partir duquel s'étendent en croix deux lames (7) adjacentes de liaison à l'embase et deux lames (5) adjacentes de liaison à une platine de fixation à un segment de l'ensemble cinématique. 5. motorized kinematic assembly comprising a first segment (101) and a second segment (102) connected by a hinge (1) comprising at least two flexible ¬ struc tures (2.1, 2 II) which extend side by side and parallel one to the other and which are connected to each other by a rigid base (3), each structure having a central core (4) from which extend in a cross two adjacent blades (7) for connection to the base and two adjacent blades (5) for connection to a plate for attachment to a segment of the kinematic assembly.
6. Ensemble cinématique selon la revendication 5, dans lequel l'articulation (1) comporte trois structures flexibles à savoir une structure centrale (2. II) reliée au premier segment (102) et deux structures latérales (2.1) reliées toutes deux au deuxième segment (101) .  6. kinematic assembly according to claim 5, wherein the joint (1) comprises three flexible structures namely a central structure (2. II) connected to the first segment (102) and two lateral structures (2.1) both connected to the second segment (101).
7. Ensemble cinématique selon la revendication 6, dans lequel les structures latérales (2.1) ont une lar¬ geur sensiblement égale à la moitié d'une largeur de la structure centrale (2. II). 7. Kinematic assembly according to claim 6, wherein the side structures (2.1) have lar ¬ geur substantially equal to half a width of the central structure (2. II).
PCT/EP2011/057157 2010-05-07 2011-05-04 Flexible joint with a wide range of movement and robotized kinematic assembly comprising such a joint WO2011138378A1 (en)

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Application Number Priority Date Filing Date Title
FR1053587 2010-05-07
FR1053587A FR2959689A1 (en) 2010-05-07 2010-05-07 HIGH-AMPLITUDE FLEXIBLE ARTICULATION AND ROBOTIZED CINEMATIC ASSEMBLY COMPRISING SUCH ARTICULATION

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CN105605090A (en) * 2016-02-14 2016-05-25 西安电子科技大学 Zero-pivot and large-corner crossed reed type flexible hinge
WO2018035132A1 (en) * 2016-08-15 2018-02-22 Bucknell University Back brace
CN113231961A (en) * 2021-04-15 2021-08-10 青岛森思宝软件有限公司 Multi-shaft plate spring transmission structure
US20220154766A1 (en) * 2020-11-19 2022-05-19 Lawrence Livermore National Security, Llc System and method for multi-dof cross-pivot flexure bearing with enhanced range and enhanced load capacity

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DE102017115050B3 (en) 2017-07-05 2018-03-29 Physik Instrumente (Pi) Gmbh & Co. Kg joint

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US2793028A (en) * 1954-09-10 1957-05-21 Hughes Aircraft Co Cross-spring flexure pivot
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Publication number Priority date Publication date Assignee Title
CN105605090A (en) * 2016-02-14 2016-05-25 西安电子科技大学 Zero-pivot and large-corner crossed reed type flexible hinge
WO2018035132A1 (en) * 2016-08-15 2018-02-22 Bucknell University Back brace
US20220154766A1 (en) * 2020-11-19 2022-05-19 Lawrence Livermore National Security, Llc System and method for multi-dof cross-pivot flexure bearing with enhanced range and enhanced load capacity
CN113231961A (en) * 2021-04-15 2021-08-10 青岛森思宝软件有限公司 Multi-shaft plate spring transmission structure
CN113231961B (en) * 2021-04-15 2022-08-12 青岛森思宝软件有限公司 Multi-shaft plate spring transmission structure

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