WO2024063645A1 - Manipulateur de robot - Google Patents

Manipulateur de robot Download PDF

Info

Publication number
WO2024063645A1
WO2024063645A1 PCT/NL2023/050486 NL2023050486W WO2024063645A1 WO 2024063645 A1 WO2024063645 A1 WO 2024063645A1 NL 2023050486 W NL2023050486 W NL 2023050486W WO 2024063645 A1 WO2024063645 A1 WO 2024063645A1
Authority
WO
WIPO (PCT)
Prior art keywords
parallelogram
legs
base
pivot
base pivot
Prior art date
Application number
PCT/NL2023/050486
Other languages
English (en)
Inventor
Volkert Van Der Wijk
Dennis BOERE
Original Assignee
Technische Universiteit Delft
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 Technische Universiteit Delft filed Critical Technische Universiteit Delft
Publication of WO2024063645A1 publication Critical patent/WO2024063645A1/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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms

Definitions

  • the invention relates to a robot manipulator comprising a base and at least two parallelogram mechanisms supported by the base, wherein each parallelogram mechanism is formed with legs, wherein each of such legs of such parallelogram mechanism is with pivots connected to other legs of the same parallelogram mechanism, and wherein said at least two parallelogram mechanisms are linked to each other so as to provide for a concerted movement of the respective legs of the at least two parallelogram mechanisms .
  • pantographs which are distant from the robot manipulator of the invention, as will become apparent from the following disclosure .
  • the robot manipulator of the invention is intended for highspeed operation to perform pick and place motions . It is an object of the invention to provide such a robot manipulator which is essentially free from vibrations so as to make the manipulator particularly suitable for application in the semiconductor industry wherein fast pick and place operations of chips are required. It is further intended to provide a robot manipulator which is of low complexity, exhibits high stiffness and low mass, and exhibits low inertia to make highspeed operations feasible .
  • the robot manipulator of the invention is therefore embodied with the features of one or more of the appended claims .
  • the robot manipulator of the invention has the features of claim 1, to note that the base of the manipulator comprises a base pivot, which base pivot is common to the at least two parallelogram mechanisms by arranging that the base pivot coincides with respective pivots of the at least two parallelogram mechanisms, the base pivot thus forming a joint for two legs of each parallelogram mechanism connected to the base pivot, wherein the respective two legs of a first parallelogram mechanism that are joined at the base pivot are rigidly connected to the respective two legs of a second parallelogram mechanism that are joined at the base pivot, and wherein a virtual axis through the base pivot and at least one of the pivots distant from the base pivot delimits a first side from a second side of the manipulator, and the respective two legs of the first parallelogram mechanism are rigidly connected to the respective two legs of the second parallelogram mechanism that are on the same side with reference to said virtual axis through the base pivot and the at least one of the pivots that is distant from the base pivot, so as to arrange that a motion of a first pivot or tip of the first parallelogram
  • the at least two parallelogram mechanisms are planar and in the same plane . This is however not essential, since it is also possible that the at least two parallelogram mechanisms are planar and in parallel planes . In both situations the robot manipulator has the required low and constant inertia with reference to the base pivot , The latter arrangement with the parallelogram mechanisms in parallel planes may be beneficial when the amount of space that the robot manipulator occupies needs to remain restricted.
  • a motor or motors are provided to directly or indirectly actuate the legs of the first and second parallelogram mechanisms at or near their connection with the base pivot .
  • the motor or motors drive an arm mechanism that connect to the rigidly connected legs of the respective parallelogram mechanisms . It is however also possible to locate the motor or motors at or near the base pivot, or to apply linear motors between the base and the parallelogram mechanisms, or by any other feasible way including an external transmission system.
  • the arm mechanism together with the at least two parallelogram mechanisms are dynamically balanced.
  • the motor or motors drive a counterrotating element or counterrotating elements, as will be further explained hereinafter.
  • the accompanying drawing which is incorporated into and forms a part of the specification, illustrates several embodiments of the present invention and, together with the description, serves to explain the principles of the invention. The drawing is only for the purpose of illustrating the invention and is not to be construed as limiting the invention.
  • Figures 1 and 2 show two poses of a robot manipulator according to the invention
  • Figure 3 shows a mechanical scheme representing the embodiment shown in figures 1 and 2;
  • Figure 4 shows another embodiment of coupled planar parallelogram mechanisms;
  • FIGS 5-9 depict a more complete representation of one embodiment of the robot manipulator of the invention
  • Figures 10-17 show several variations to the construction of the invention with reference to illustrative schemes representative for mechanical constructions within the scope of the invention.
  • Figures 1 and 2 show two poses of what can be said to be the essence of a robot manipulator 1 according to the invention, which in more complete form is shown in figures 5 and 6.
  • the robot manipulator 1 of the invention comprises a base 2 and at least two parallelogram mechanisms 3, 4 supported by the base 2, wherein each parallelogram mechanism 3, 4 is formed with legs 5.1-5.8, wherein each of such legs 5.1-5.8 of such parallelogram mechanism 3, 4 is with pivots 6.1-6.8 connected to other legs of the same parallelogram mechanism, and wherein said at least two parallelogram mechanisms 3, 4 are linked to each other so as to provide for a concerted movement of the respective legs 5.1-5.8 of the at least two parallelogram mechanisms 3, 4.
  • the base 2 of the manipulator comprises a base pivot 0, which base pivot 0 is common to the at least two parallelogram mechanisms 3, 4 by arranging that the base pivot 0 coincides with respective pivots 6.1, 6.8 of the at least two parallelogram mechanisms 3, 4, the base pivot 0 thus forming a joint for two legs 5.1, 5.6 and 5.2, 5.5 of each parallelogram mechanism 3, 4 connected to the base pivot 0, wherein the respective two legs 5.1, 5.6 of a first parallelogram mechanism 3 that are joined at the base pivot 0 are rigidly connected to the respective two legs 5.2, 5.5 of a second parallelogram mechanism 4 that are joined at the base pivot 0.
  • this connection of legs of the first parallelogram mechanism to the legs of the second parallelogram mechanism can be explained as follows .
  • This vertical axis delimits a first side from a second side of the manipulator 1, with sides adjoin each other.
  • the respective two legs 5.1 and 5.6 of the first parallelogram mechanism 3 are to be rigidly connected to the respective two legs 5.2 and 5.5 of the second parallelogram mechanism 4 that are on the same side with reference to said virtual axis through the base pivot 0 and the at least one of the pivots 6.3; 6.6 that is distant from the base pivot 0.
  • leg 5.1 of the first parallelogram mechanism 3 rigidly connects to leg 5.2 of the second parallelogram mechanism 4, and leg 5.6 of the first parallelogram mechanism 3 rigidly connects to leg 5.5 of the second parallelogram mechanism 4.
  • This construction arranges that a motion of a first pivot 6.6 or tip of the first parallelogram mechanism 3 that is distant from the base pivot 0 towards or away from said base pivot 0 results into an opposite motion of a second pivot 6.3 that is distant from the base pivot, said second pivot 6.3 being part of the second parallelogram mechanism 4 connected to the base pivot 0.
  • figures 1 and 2 show two different poses of what can be considered to be the core of the robot manipulator 1 of the invention.
  • Figure 3 shows a mechanical scheme representing the embodiment shown in figures 1 and 2 so as to provide a skilled person easy access to the principles of the construction according to the invention.
  • Figure 3 provides a scheme representative for the construction of figures 1 and 2, and must be seen in combination with figure 4 which shows a scheme representative of another embodiment of the invention.
  • figures 1, 2 and 3 depict that the at least two parallelogram mechanisms 3, 4 are planar and in the same plane without intersecting/overlapping elements, it is figure 4 that shows that the at least two parallelogram mechanisms 3, 4 can also be planar and in parallel planes . Also the legs of a particular parallelogram mechanism may be in separate parallel planes .
  • Figure 4 shows coupled planar parallelogram mechanisms which are based on the essence of the invention, to note that a motion of a first pivot or tip of the first parallelogram mechanism that is through two legs connected to the base pivot (0) , which motion is towards or away from said base pivot (0) results into an opposite motion of a second pivot that is through two legs connected to the base pivot (0) , said second pivot being part of the second parallelogram mechanism connected to the base pivot .
  • the shown coupled planar parallelogram mechanisms are provided with solely revolute joints for two poses, in general with all sides of the parallelogram mechanisms of a different length, rotating about a central joint 0 with 2 degrees-of- freedom ⁇ 1 and ⁇ 2 with respect to the surroundings, which means one internal/relative degree-of-freedom.
  • Both triangular elements include the same angle ⁇ as indicated in figure 4.
  • Each triangular element can have a generally located center of mass, as indicated with the center-of-mass symbol, and has an inertia .
  • the inertia of the complete mechanism about joint 0 is equal for all poses .
  • the mechanism is also shaking force balanced or gravity balanced with respect to joint 0.
  • the robot manipulator 1 preferably comprises a motor or motors 8 that are provided in the shown embodiment to indirectly actuate the legs
  • One of the motors 8 drives an arm mechanism 9.1, 9.2 that connects to the rigidly connected legs 5.1 and 5.2 of the respective parallelogram mechanisms 3, 4 , wherein the arm 9.2 of arm mechanism 9.1 , 9.2 rigidly connects to the legs 5.1 and
  • the other motor 8 drives an arm mechanism 10.1, 10.2 that connects to the rigidly connected legs 5.5 and 5.6 of the respective parallelogram mechanisms 3, 4 , wherein the arm 10.2 of arm mechanism 10.1, 10.2 rigidly connects to the legs 5.5 and 5.6.
  • the arm mechanisms 9.1, 9.2 and 10.1, 10.2 together with the at least two parallelogram mechanisms 3, 4 are dynamically balanced.
  • the robot of figures 5 and 6 is shown with two revolute motors 8 located at joints of the base 2 for actuation, however the mechanism can also be actuated in multiple other ways such as :
  • Reference 0 again represents a revolute joint with the base 2.
  • two additional links are connected with another revolute base joint, such that on both sides A and B they form an inverted parallelogram linkage with the two pairs of opposite links of equal length.
  • a grasper device When for instance a grasper device is mounted in or on the tip or pivot 6.6, its mass and inertia can be accounted for in the mass and inertia of the legs of the parallelogram mechanisms for constant inertia and for dynamic balance .
  • Figure 10 shows a 2-DoF dynamically balanced manipulator mechanism with constant inertia mechanism as in Figure 9 (fully symmetric, however this is not essential) wherein to each triangular element two additional links are connected with another revolute base joint, such that on both sides A and B they form a kite shape as illustrated in figure 10 with dashed lines .
  • This provides the required geometric condition for full dynamic balance, in addition to a certain mass distribution and size of the elements , which can be selected by the skilled person without undue burden.
  • Figure 11 shows a 2-DoF balanced manipulator mechanism with the constant inertia parallelogram mechanisms as in Figure 9 (fully symmetric, however this is not essential) wherein to each triangular element two additional links are connected with another revolute base joint, such that on both sides A and B they form a kite shape as illustrated with the dashed lines .
  • This kite shape is different from the kite shape in Figure 10. This is the required geometric condition for full dynamic balance, in addition to a certain mass distribution and size of the elements, which can be selected by the skilled person without undue burden.
  • Figure 12 shows a 2-DoF dynamically balanced manipulator mechanism with a constant inertia mechanism of Figure 3, with joint 0 as a revolute joint with the base and with two counterrotating elements with their own revolute joint with the base .
  • This embodiment has the advantages of a much smaller footprint, fewer parts, and a simpler construction.
  • the counterrotating elements are connected to and driven by the triangular elements by means of e . g. ( 1) friction or (2) toothed gears or ( 3) an inverted belt-drive .
  • Figure 13 shows a 2-DoF dynamically balanced manipulator mechanism with the constant inertia parallelogram mechanisms of Figure 3, with joint 0 as a revolute joint with the base and with a separate reaction wheel (rotating element) with a revolute joint with the base .
  • the reaction wheel is driven by a separate actuator that is controlled such that all the reaction moments on the base are eliminated.
  • This embodiment has the advantages of an even smaller footprint, fewer parts, simpler construction, and adaptive moment balance due to the control of the additional actuator.
  • Figure 14 shows a 2-DoF dynamically balanced manipulator mechanism with the constant inertia parallelogram mechanisms of Figure 3 (drawn with full symmetry as in Figure 9, however this is not essential) , with joint 0 as a revolute joint with the base and with two counterrotating elements with a revolute joint in the triangular elements .
  • the counterrotating elements are driven by belt transmissions with belt wheels that are fixed with the base .
  • the counterrotation elements are driven by gearwheels fixed with the base and intermediate gearwheels with revolute joints in the triangular elements .
  • the embodiments of figure 14 have the advantages of applying only one base pivot and an efficient use of the counter mass (for shaking force balance) which also serves as a counterrotating inertia element (for shaking moment balance) which arranges for a relatively low total mass and inertia of the manipulator.
  • FIG. 15 shows a 3-Dof constant inertia mechanism constructed of two 2-DoF constant inertia mechanisms, each with a different value for angle ⁇ as illustrated, with a common central element with four joints. It shows that to the parallelogram mechanisms of Figure 3 another parallelogram mechanism is added to the right side, actuated with 63, with a (coupled) counter parallelogram at the top. The two triangular elements and the quadrilateral element are all connected with a revolute joint in 0.
  • tip elements which form a parallelogram as illustrated. These tip elements can move with 3 degrees-of-freedom (vertical and horizontal translation and rotation) with respect to the surroundings, which means two internal/relative degrees-of-freedom.
  • Each element in figure 15 can have a generally located center of mass, as indicated with the center-of-mass symbol, and has an inertia.
  • the inertia of the complete mechanism about joint 0 is equal for all poses.
  • the mechanism is also shaking force balanced or gravity balanced with respect to joint 0.
  • the tip elements are connected with generally located revolute joints in the connecting links.
  • the parallelogram indicated with ⁇ 3 is generally integrated with a separate revolute joint in the central pentagonal element which now has 5 revolute joints in total.
  • One of the tip elements is connected to an additional link which runs parallel to the parallelogram indicated with ⁇ 1 and ⁇ 2.
  • figure 17 provides an illustration of a 3-DoF inherently dynamically balanced manipulator mechanism.
  • the 3-DoF constant inertia parallelogram mechanisms of the invention can be applied in multiple ways to obtain a 3-DoF fully dynamically balanced manipulator mechanism with the two tip elements as location for the end-effectors .
  • Figure 17 corresponds to the mechanism of Figure 15 where 0 is a revolute joint with the base .
  • the solution for dynamic balance as presented in Figure 9 is applied, forming three inverted parallelogram linkages with the two pairs of opposite links of equal length and with a revolute joint with the base .
  • the illustrated dynamically balanced parallelogram mechanisms in the respective figures are all planar, moving within a single plane or in multiple parallel planes .
  • Embodiments of the present invention can include every combination of features that are disclosed herein independently from each other.
  • the invention has been discussed in the foregoing with reference to an exemplary embodiment of the invention, the invention is not restricted to this particular embodiment which can be varied in many ways without departing from the invention.
  • the discussed exemplary embodiment shall therefore not be used to construe the appended claims strictly in accordance therewith.
  • the embodiment is merely intended to explain the wording of the appended claims without intent to limit the claims to this exemplary embodiment .
  • the scope of protection of the invention shall therefore be construed in accordance with the appended claims only, wherein a possible ambiguity in the wording of the claims shall be resolved using this exemplary embodiment .

Landscapes

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

Abstract

L'invention concerne un manipulateur de robot (1) comprenant une base (2) et au moins deux mécanismes de parallélogramme (3, 4) supportés par la base (2), chaque mécanisme de parallélogramme (3, 4) étant formé avec des pieds (5.1-5,8), chacun de ces pieds (5.1-5,8) d'un tel mécanisme de parallélogramme (3, 4) étant doté de pivots (6.1-6,8) reliés à d'autres pieds du même mécanisme de parallélogramme, et lesdits au moins deux mécanismes de parallélogramme (3, 4) étant reliés l'un à l'autre de façon à produire un mouvement concerté des pieds respectifs des au moins deux mécanismes de parallélogramme (3, 4), la base (2) du manipulateur comprenant un pivot de base (0) formant une articulation pour deux pieds (5.1, 5,6 et 5,2, 5,5) de chaque mécanisme de parallélogramme (3, 4), les deux pieds respectifs (5.1 et 5.6) d'un premier mécanisme de parallélogramme (3) qui sont joints au niveau du pivot de base (0) étant reliés de manière rigide aux deux pieds respectifs (5.2 et 5.5) d'un deuxième mécanisme de parallélogramme (4) qui sont joints au niveau du pivot de base (0).
PCT/NL2023/050486 2022-09-23 2023-09-20 Manipulateur de robot WO2024063645A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2033118 2022-09-23
NL2033118A NL2033118B1 (en) 2022-09-23 2022-09-23 Robot manipulator

Publications (1)

Publication Number Publication Date
WO2024063645A1 true WO2024063645A1 (fr) 2024-03-28

Family

ID=84360102

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2023/050486 WO2024063645A1 (fr) 2022-09-23 2023-09-20 Manipulateur de robot

Country Status (2)

Country Link
NL (1) NL2033118B1 (fr)
WO (1) WO2024063645A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9060092B2 (en) 2011-08-31 2015-06-16 Rohm Co., Ltd. Image sensor module
WO2017167349A1 (fr) 2016-03-31 2017-10-05 Aalborg Universitet Mécanisme d'articulation sphérique à mécanisme de parallélogramme double

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9060092B2 (en) 2011-08-31 2015-06-16 Rohm Co., Ltd. Image sensor module
WO2017167349A1 (fr) 2016-03-31 2017-10-05 Aalborg Universitet Mécanisme d'articulation sphérique à mécanisme de parallélogramme double

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
VAN DER WIJK VOLKERT: "The Grand 4R Four-Bar Based Inherently Balanced Linkage Architecture for synthesis of shaking force balanced and gravity force balanced mechanisms", MECHANISM AND MACHINE THEORY, PERGAMON, AMSTERDAM, NL, vol. 150, 20 April 2020 (2020-04-20), XP086148031, ISSN: 0094-114X, [retrieved on 20200420], DOI: 10.1016/J.MECHMACHTHEORY.2020.103815 *
VAN DER WIJK, VOLKERT: "MECHANISM AND MACHINE THEORY", 20 April 2020, PERGAMON, article "The grand 4R four-bar based inherently balanced linkage architecture for synthesis of shaking force balanced and gravity force balanced mechanisms"

Also Published As

Publication number Publication date
NL2033118B1 (en) 2024-03-29

Similar Documents

Publication Publication Date Title
US5301566A (en) Simplified and symmetrical five-bar linkage driver for manipulating a Six-Degree-of-Freedom Parallel "minimanipulator" with three inextensible limbs
Liu et al. A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability
US5656905A (en) Multi-degree-of-freedom mechanisms for machine tools and the like
US9895798B2 (en) Device for movement between an input member and an output member
US6575676B2 (en) Parallel structure of a spatial 3-axis machine tool with three degrees-of-freedom
Wu et al. Design and kinematic analysis of a 3-RRR spherical parallel manipulator reconfigured with four–bar linkages
TWI765135B (zh) 工業機器人手臂
US10737379B2 (en) Compact parallel kinematics robot
KR102246778B1 (ko) 손가락 기구 및 이를 포함하는 로봇 핸드
WO2013014720A1 (fr) Robot a liaisons paralleles
Wen et al. Kinematically redundant (6+ 3)-dof hybrid parallel robot with large orientational workspace and remotely operated gripper
JP2013505147A (ja) 人間型ロボット
US7086307B2 (en) Parallel control arm with two branches
Gao et al. A novel 5-DOF fully parallel kinematic machine tool
JP2022525020A (ja) 運動学的に冗長な作動を伴うパラレルメカニズム
Gogu Fully-isotropic over-constrained parallel wrists with two degrees of freedom
Wang et al. Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable moving platform
WO2024063645A1 (fr) Manipulateur de robot
EP1334807A1 (fr) Une articulation sphérique double pour robot
van Dam et al. Static balancing of translational parallel mechanisms
CN102248532A (zh) 一种空间三自由度并联机器人机构
KR20210076300A (ko) 인간의 손가락을 모사하는 손가락 기구 및 이를 포함하는 로봇 핸드
JP5978588B2 (ja) 双腕ロボット
JP7530854B2 (ja) ロボットハンド
WO2022051726A1 (fr) Architecture parallèle compacte et appariée pour applications haptiques haute-fidélité

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23776486

Country of ref document: EP

Kind code of ref document: A1