Robotic arm

Details Robotic arm Robotic arm

B - Operations, Transporting

25

J

B25J 13/02 (2006.01) B25J 3/04 (2006.01) G05G 9/047 (2006.01)

Patent

CA 2408823

The invention concerns a master arm comprising a wrist (6) maintained at a constant global inclination to ensure excellent decoupling of translational controls performed by moving the segments (3, 4), and rotational controls, performed by rotating the wrist. The operator's task is simplified and kinematic irregularities are practically non-existent. One particular embodiment comprises a wrist-holder (5) and a special linkage (18 to 22) which links the latter to a fixed seat, and the mobile elements (7, 8, 9) of the wrist have articulation axes meeting in a point (0). Thus, the wrist (6) is balanced in rotation and exerts a constant force on the arm segments (3, 4), thereby enabling to balance them easily with static return means. The arm can thus remain in a stable position even when it is released.

Ce bras maître comprend un poignet (6) maintenu à une inclinaison globale constante pour assurer un découplage excellent des commandes de translation accomplies en déplaçant les segments (3, 4), et des commandes de rotation, accomplies en tournant le poignet. La tâche de l'opérateur est facilitée et les singularités cinématiques sont presque absentes. Une réalisation particulière comporte un porte-poignet (5) et une liaison spéciale (18 à 22) qui relie ce dernier à une embase fixe; et les éléments mobiles (7, 8, 9) du poignet (6) ont des axes d'articulation concourant en un point (0). Ainsi, le poignet (6) est équilibré en rotation et exerce un effort constant sur les segments (3, 4) du bras, ce qui permet de les équilibrer facilement par un moyen de rappel statique. Le bras peut donc rester à une position stable même quand il est relâché.

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