WO2015063523A3 - Main robotique - Google Patents

Main robotique Download PDF

Info

Publication number
WO2015063523A3
WO2015063523A3 PCT/GB2014/053281 GB2014053281W WO2015063523A3 WO 2015063523 A3 WO2015063523 A3 WO 2015063523A3 GB 2014053281 W GB2014053281 W GB 2014053281W WO 2015063523 A3 WO2015063523 A3 WO 2015063523A3
Authority
WO
WIPO (PCT)
Prior art keywords
robotic hand
finger members
proximal
frame portion
proximal portions
Prior art date
Application number
PCT/GB2014/053281
Other languages
English (en)
Other versions
WO2015063523A2 (fr
Inventor
Daniel GREENWALD
Matthew Godden
Original Assignee
The Shadow Robot Company Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by The Shadow Robot Company Limited filed Critical The Shadow Robot Company Limited
Publication of WO2015063523A2 publication Critical patent/WO2015063523A2/fr
Publication of WO2015063523A3 publication Critical patent/WO2015063523A3/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/009—Gripping heads and other end effectors with pins for accurately positioning the object on the gripping head
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
    • G01D18/002—Automatic recalibration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/04—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs

Landscapes

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

Abstract

La présente invention concerne un effecteur terminal comportant: une partie de cadre de référence définissant un cadre de référence de coordonnées Cartésien; trois éléments de doigt et un élément de pouce, les trois éléments de doigt comprenant des parties distale, médiale et proximale; l'élément de pouce comprenant des parties distale et proximale; et chaque élément étant relié à la partie de cadre par sa partie proximale.
PCT/GB2014/053281 2013-11-04 2014-11-04 Main robotique WO2015063523A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1319455.0 2013-11-04
GB1319455.0A GB2519993B (en) 2013-11-04 2013-11-04 Robotic hand

Publications (2)

Publication Number Publication Date
WO2015063523A2 WO2015063523A2 (fr) 2015-05-07
WO2015063523A3 true WO2015063523A3 (fr) 2015-07-23

Family

ID=49767633

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2014/053281 WO2015063523A2 (fr) 2013-11-04 2014-11-04 Main robotique

Country Status (2)

Country Link
GB (1) GB2519993B (fr)
WO (1) WO2015063523A2 (fr)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017203237A1 (de) 2017-02-28 2018-08-30 Siemens Aktiengesellschaft Robotereinheit mit separaten Aktoren und gemeinsamer Gegenaktoreinrichtung für mehrere Glieder
CN107182443B (zh) * 2017-07-05 2023-03-31 青岛大学 全驱动仿人手三指果蔬采摘末端执行器
CN112955289A (zh) 2018-11-20 2021-06-11 梅尔廷人机界面株式会社 机械手装置
CN109866242B (zh) * 2019-03-08 2023-11-28 清研(洛阳)先进制造产业研究院 触发式多连杆高度补偿平夹自适应机器人手指装置
CN110293572A (zh) * 2019-05-29 2019-10-01 浙江大学 仿生机械手的高集成度拇指
CN110900650A (zh) * 2019-11-08 2020-03-24 哈尔滨工业大学（深圳） 绳驱柔性爪及机器人
CN111098323B (zh) * 2020-01-19 2024-06-18 浙江工业大学 一种基于力与位移模糊混合控制的五指灵巧手及其控制方法
CN112123358B (zh) * 2020-09-23 2021-11-26 江南大学 可勾取和捏取的四指向心运动并联机构手掌机械手
CN112497262B (zh) * 2020-11-02 2022-08-02 天津大学 一种基于可重构虎克铰链副的仿人变胞手
CN114536380B (zh) * 2022-04-26 2022-09-06 中国科学院自动化研究所 五自由度全驱动仿人大拇指和仿人灵巧手
CN114536381B (zh) * 2022-04-26 2022-09-06 中国科学院自动化研究所 仿人五指灵巧手

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63103990U (fr) * 1986-12-25 1988-07-06
US5317952A (en) * 1991-11-22 1994-06-07 Kinetic Sciences Inc. Tentacle-like manipulators with adjustable tension lines
WO2005095066A1 (fr) * 2004-03-31 2005-10-13 Japan Science And Technology Agency Bras de robot
JP2008032140A (ja) * 2006-07-31 2008-02-14 Sques Kk 回動装置、回動装置の駆動方法、及びハンド装置
EP2080595A2 (fr) * 1997-05-12 2009-07-22 Immersion Corporation Dispositif d'interface de rétroaction de force pour la main
US20100138039A1 (en) * 2008-12-02 2010-06-03 Samsung Electronics Co., Ltd. Robot hand and method of controlling the same
US20100243344A1 (en) * 2006-09-25 2010-09-30 Board Of Trustees Of Leland Stanford Junior University Electromechanically counterbalanced humanoid robotic system
US20110067520A1 (en) * 2009-09-22 2011-03-24 Gm Global Technology Operations, Inc. Robotic thumb assembly
US20110288681A1 (en) * 2009-05-14 2011-11-24 Honda Motor Co., Ltd. Five-fingered hand device
EP2517613A1 (fr) * 2010-03-17 2012-10-31 Olympus Medical Systems Corp. Système d'endoscope

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101214653B (zh) * 2008-01-04 2010-08-04 清华大学 带轮变抓力欠驱动模块化拟人机器人多指手装置
US8483880B2 (en) * 2009-07-22 2013-07-09 The Shadow Robot Company Limited Robotic hand

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63103990U (fr) * 1986-12-25 1988-07-06
US5317952A (en) * 1991-11-22 1994-06-07 Kinetic Sciences Inc. Tentacle-like manipulators with adjustable tension lines
EP2080595A2 (fr) * 1997-05-12 2009-07-22 Immersion Corporation Dispositif d'interface de rétroaction de force pour la main
WO2005095066A1 (fr) * 2004-03-31 2005-10-13 Japan Science And Technology Agency Bras de robot
JP2008032140A (ja) * 2006-07-31 2008-02-14 Sques Kk 回動装置、回動装置の駆動方法、及びハンド装置
US20100243344A1 (en) * 2006-09-25 2010-09-30 Board Of Trustees Of Leland Stanford Junior University Electromechanically counterbalanced humanoid robotic system
US20100138039A1 (en) * 2008-12-02 2010-06-03 Samsung Electronics Co., Ltd. Robot hand and method of controlling the same
US20110288681A1 (en) * 2009-05-14 2011-11-24 Honda Motor Co., Ltd. Five-fingered hand device
US20110067520A1 (en) * 2009-09-22 2011-03-24 Gm Global Technology Operations, Inc. Robotic thumb assembly
EP2517613A1 (fr) * 2010-03-17 2012-10-31 Olympus Medical Systems Corp. Système d'endoscope

Also Published As

Publication number Publication date
GB2519993B (en) 2017-05-10
WO2015063523A2 (fr) 2015-05-07
GB201319455D0 (en) 2013-12-18
GB2519993A (en) 2015-05-13

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