WO2008123271A1 - ロボットおよび制御方法 - Google Patents

ロボットおよび制御方法 Download PDF

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Publication number
WO2008123271A1
WO2008123271A1 PCT/JP2008/055635 JP2008055635W WO2008123271A1 WO 2008123271 A1 WO2008123271 A1 WO 2008123271A1 JP 2008055635 W JP2008055635 W JP 2008055635W WO 2008123271 A1 WO2008123271 A1 WO 2008123271A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive
robot
drive units
base
link mechanisms
Prior art date
Application number
PCT/JP2008/055635
Other languages
English (en)
French (fr)
Inventor
Kenji Matsukuma
Takayuki Nakamura
Kazuhiko Yokoyama
Kazuhiro Fukudome
Original Assignee
Kabushiki Kaisha Yaskawa Denki
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 Kabushiki Kaisha Yaskawa Denki filed Critical Kabushiki Kaisha Yaskawa Denki
Publication of WO2008123271A1 publication Critical patent/WO2008123271A1/ja
Priority to US12/562,081 priority Critical patent/US7950710B2/en
Priority to US13/089,320 priority patent/US8549952B2/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1612Programme controls characterised by the hand, wrist, grip control
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00Metal working
    • Y10T29/49Method of mechanical manufacture
    • Y10T29/49826Assembling or joining
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00Machine element or mechanism
    • Y10T74/20Control lever and linkage systems
    • Y10T74/20207Multiple controlling elements for single controlled element
    • Y10T74/20305Robotic arm
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00Machine element or mechanism
    • Y10T74/20Control lever and linkage systems
    • Y10T74/20207Multiple controlling elements for single controlled element
    • Y10T74/20305Robotic arm
    • Y10T74/20317Robotic arm including electric motor
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00Machine element or mechanism
    • Y10T74/20Control lever and linkage systems
    • Y10T74/20207Multiple controlling elements for single controlled element
    • Y10T74/20305Robotic arm
    • Y10T74/20329Joint between elements

Abstract

 小型軽量物の細かい把持と重量物の安定な把持を共に実現可能で、駆動部に無理な負荷を加えることがなく、さらに直接教示や原点復帰動作が容易な、汎用性の高いロボットを提供する。  基部(1)と、前記基部(1)上に配置される少なくとも2つのリンク機構(4)と、前記リンク機構(4)を屈曲伸展可能な駆動部(3)と、前記駆動部(3)を制御する制御部(10)とを備えたロボットにおいて、少なくとも1つの駆動部(3)は、他の駆動部(3)よりも大きい駆動力を有し、他の駆動部(3)は、自らの駆動力よりも大きい外力に対して他動的に変位するものである。
PCT/JP2008/055635 2007-04-03 2008-03-26 ロボットおよび制御方法 WO2008123271A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/562,081 US7950710B2 (en) 2007-04-03 2009-09-17 Robot
US13/089,320 US8549952B2 (en) 2007-04-03 2011-04-19 Robot and method for controlling the robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007097255A JP5105147B2 (ja) 2006-08-28 2007-04-03 ロボットおよび制御方法
JP2007-097255 2007-04-03

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/562,081 Continuation US7950710B2 (en) 2007-04-03 2009-09-17 Robot

Publications (1)

Publication Number Publication Date
WO2008123271A1 true WO2008123271A1 (ja) 2008-10-16

Family

ID=39652192

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/055635 WO2008123271A1 (ja) 2007-04-03 2008-03-26 ロボットおよび制御方法

Country Status (4)

Country Link
US (2) US7950710B2 (ja)
JP (1) JP5105147B2 (ja)
TW (1) TWI432299B (ja)
WO (1) WO2008123271A1 (ja)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2343162A1 (en) * 2010-01-07 2011-07-13 Samsung Electronics Co., Ltd. Robot hand and robot having the same
WO2018117229A1 (ja) * 2016-12-22 2018-06-28 川崎重工業株式会社 搬送システム及びその運転方法
WO2021054016A1 (ja) * 2019-09-19 2021-03-25 アダマンド並木精密宝石株式会社 ロボットハンド

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EP2343162A1 (en) * 2010-01-07 2011-07-13 Samsung Electronics Co., Ltd. Robot hand and robot having the same
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Also Published As

Publication number Publication date
US20100010670A1 (en) 2010-01-14
US8549952B2 (en) 2013-10-08
JP5105147B2 (ja) 2012-12-19
JP2008149444A (ja) 2008-07-03
US20110192247A1 (en) 2011-08-11
TW200902259A (en) 2009-01-16
TWI432299B (zh) 2014-04-01
US7950710B2 (en) 2011-05-31

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