EP0233712A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Industrial robot with servo
Assignee: ROBOTICS RESEARCH Corp
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Filing: 1987-01-27
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Granted: —
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Expires: 2007-01-27
Abstract
Abstract A digitally-controlled industrial robot comprises a set of unitized and integrated joint drive modules (2,4,6,8,10,12,14) which can be assembled in series to form a manipulator arm. The joints are of two basic types, pitch joints (4,8,12) and roll joints (2,6,10,14) the latter providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to form the manipulator, permitting the manipulator to have a kinematically-redundant configuration. In one preferred form, a servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.
Inventors
- 👤 James P. Karlen
- 👤 Jack M. Thompson, Jr.
- 👤 Keith A. Kowalski
- 👤 David A. Damico
- 👤 Paul H. Eismann
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-23 15:35
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/02; B25J9/04; B25J17/00; B25J17/02; B25J17/0241; B25J9/046; B25J9/08; B25J9/10; B25J9/102; B25J9/1025; B25J9/16; B25J9/1628; B25J9/1633; B25J9/1643; G; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/41; G05B2219/41116; G05B2219/41203; G05B2219/42; G05B2219/42092; G05B2219/49; G05B2219/49292
Claims Analysis
Total Claims: 43
Claim 1
Independent Claim
157 words
A self-contained pitch joint (4,8,12), characterised by comprising: an ear module (44), which includes at least two parallel ears (48,50; 176,178) extending from a bell portion, each ear defining substantially concentric apertures; a case module (46), which includes a substantially tubular portion extending from a bell portion and positioned between the ears; at least two bearings (192,206) positioned to permit relative rotation between the ear and case modules; a reduction gearing drive means (194) rigidly affixed to a first one of the ear and case modules; a means (196; 197-216) rigidly affixed to the reduction gearing drive means, for clutchably communicating rotational movement between the reduction gearing means and the second of the ear and case modules; a means (350) responsive to the rotational force between the ear and case modules, for producing a force signal; and a means (259; 354) responsive to the rotational movement between the ear and case modules, for producing a movement signal.
Claim 2
Dependent Claim
157 words
A self-contained pitch joint (4,8,12), characterised by comprising: an ear module (44), which includes at least two parallel ears (48,50; 176,178) extending from a bell portion, each ear defining substantially concentric apertures; a case module (46), which includes a substantially tubular portion extending from a bell portion and positioned between the ears; at least two bearings (192,206) positioned to permit relative rotation between the ear and case modules; a reduction gearing drive means (194) rigidly affixed to a first one of the ear and case modules; a means (196; 197-216) rigidly affixed to the reduction gearing drive means, for clutchably communicating rotational movement between the reduction gearing means and the second of the ear and case modules; a means (350) responsive to the rotational force between the ear and case modules, for producing a force signal; and a means (259; 354) responsive to the rotational movement between the ear and case modules, for producing a movement signal.
Claim 3
Dependent Claim
20 words
A pitch joint according to claim 1, wherein the reduction gearing drive means are rigidly affixed to the case module.
Claim 4
Dependent Claim
67 words
A pitch joint according to claim 1 or 2, wherein the reduction gearing means comprise: a ring gear (194) attached to one of the ear and case modules; a flexspline (112) attached to the other of the ear and case modules and positioned within and engaging with the ring gear; a wave generator (260) positioned inside the flexspline; and means (248, 256) for rotating the wave generator.
Claim 5
Dependent Claim
37 words
A pitch joint according to claim 3, wherein the ring gear is affixed to the interior of the tubular portion of the case module and the wave generator is arranged to rotate relative to the ring gear.
Claim 6
Dependent Claim
53 words
A pitch joint according to claim 3 or 4, wherein the clutchable communication means comprise: a clutch plate (120) rigidly attached to the flexsp line; a clutch member (110) rigidly attached to the ear module; and adjustable means for producing frictional resistance to relative rotation between the clutch plate and the clutch member.
Claim 7
Dependent Claim
45 words
A pitch joint according to any preceding claim, wherein the force signal producing means (350) comprises: a thin-walled section provided in at least one location on the clutchable communication means; and at least one signal producing means, responsive to distortion, mounted on the thin-walled section.
Claim 8
Dependent Claim
66 words
A pitch joint according to any preceding claim, wherein the movement signal producing means (259; 354) comprises: a reference ring gear (194) mounted to one of the case and ear modules; and a means mounted to the other of the case and ear modules and engaging the reference ring gear, for producing a signal responsive to the relative movement between it and the reference ring gear.
Claim 9
Dependent Claim
123 words
A self-contained roll joint (2,6,10,14), characterised by comprising: an external structural shell (66; 69); an internal structural shell (64) co-axial with the external shell; two or more bearings (68,70) positioned to permit relative rotation between the external and internal shells; a reduction gearing drive means (194) rigidly affixed to a first one of the shells; a means (196; 197-216) rigidly affixed to the reduction gearing drive means, for clutchably communicating rotational movement of the reduction gearing means to the other of the shells; a means (350) responsive to the rotational force between the external and the internal shells for producing a force signal; and a means (354) responsive to the rotational movement between the external and internal shells for producing a movement signal.
Claim 10
Dependent Claim
123 words
A self-contained roll joint (2,6,10,14), characterised by comprising: an external structural shell (66; 69); an internal structural shell (64) co-axial with the external shell; two or more bearings (68,70) positioned to permit relative rotation between the external and internal shells; a reduction gearing drive means (194) rigidly affixed to a first one of the shells; a means (196; 197-216) rigidly affixed to the reduction gearing drive means, for clutchably communicating rotational movement of the reduction gearing means to the other of the shells; a means (350) responsive to the rotational force between the external and the internal shells for producing a force signal; and a means (354) responsive to the rotational movement between the external and internal shells for producing a movement signal.
Claim 11
Dependent Claim
20 words
A roll joint according to claim 8, wherein the reduction gearing drive means are rigidly affixed to the internal shell.
Claim 12
Dependent Claim
62 words
A roll joint according to claim 8 or 9, wherein the reduction gearing means comprise: a ring gear (194) attached to a first one of the shells; a flexspline (112) attached to a second one of the shells and positioned to engage the ring gear; a wave generator (260) positioned inside the flexspline; and a means (248,256) for rotating the wave generator.
Claim 13
Dependent Claim
21 words
A roll joint according to claim 10, wherein the ring gear is rigidly affixed to the interior of the internal shell.
Claim 14
Dependent Claim
54 words
A roll joint according to any of claims 8 to ll, wherein the clutchable communication means comprise: a clutch plate (120) rigidly attached to the flexspline; a clutch member (110) rigidly attached to the external shell; and adjustable means for producing frictional resistance to relative rotation between the clutch plate and the clutch member.
Claim 15
Dependent Claim
48 words
A roll joint according to any of claims 8 to 12, wherein the force signal producing means (350) comprise: a thin-walled section provided in at least one location on the clutchable communication means; and at least one signal producing means responsive to distortion mounted on the thin-walled section.
Claim 16
Dependent Claim
20 words
A roll joint according to any of claims 8 to 13, wherein the signal producing means is a strain gauge.
Claim 17
Dependent Claim
69 words
A roll joint according to any of claims 8 to 14, wherein the movement signal producing means (259; 354) comprise: a reference ring gear 1l94) mounted to one of the internal and external shells; and a means mounted to the other of the external and internal shells and engaging the reference ring gear, for producing a signal responsive to the relative movement between it and the reference ring gear.
Claim 18
Dependent Claim
204 words
An articulated industrial manipulator, characterised by comprising: an electronic controller (5,7,9,11,13,15); at least one roll joint (2,6,10,14) having its axis of rotation substantia lly co-linear with the central axis of the manipulator when the manipulator is extended such that its roll joint axes are co-linear, the roll joint including: an external structural shell (66), an internal structural shell (64) co-axial with the external shell, two or more bearings (68,70) positioned to permit relative rotation between the external and internal shells, and a reduction gearing drive means (194); at least one pitch joint (4,8,12) connected to at least one of the roll joints and having its axis of rotation substantially perpendicular to the central axis of the manipulator when the manipulator is in its fully extended position and having its axis of rotation offset from the central axis when the manipulator is extended such that its roll joint axes are co-linear, the pitch joint including: an ear module (44), a case module (46), two or more bearings (192,206) positioned to permit relative rotation between the ear and case modules, and a reduction gearing drive means (194); and a means for mounting a free end of one of the pitch or roll joints to a base.
Claim 19
Dependent Claim
204 words
An articulated industrial manipulator, characterised by comprising: an electronic controller (5,7,9,11,13,15); at least one roll joint (2,6,10,14) having its axis of rotation substantia lly co-linear with the central axis of the manipulator when the manipulator is extended such that its roll joint axes are co-linear, the roll joint including: an external structural shell (66), an internal structural shell (64) co-axial with the external shell, two or more bearings (68,70) positioned to permit relative rotation between the external and internal shells, and a reduction gearing drive means (194); at least one pitch joint (4,8,12) connected to at least one of the roll joints and having its axis of rotation substantially perpendicular to the central axis of the manipulator when the manipulator is in its fully extended position and having its axis of rotation offset from the central axis when the manipulator is extended such that its roll joint axes are co-linear, the pitch joint including: an ear module (44), a case module (46), two or more bearings (192,206) positioned to permit relative rotation between the ear and case modules, and a reduction gearing drive means (194); and a means for mounting a free end of one of the pitch or roll joints to a base.
Claim 20
Dependent Claim
32 words
An articulated industrial manipulator according to claim l6, wherein all of the roll joints are substantially identical in the configurations of their external structural shells, internal structural shells, bearings and drive means.
Claim 21
Dependent Claim
32 words
An articulated industrial manipulator according to claim 16 or 17, wherein all of the pitch joints are substantially identical in the configurations of their ear modules, case modules, bearings and drive means.
Claim 22
Dependent Claim
34 words
An articulated industrial manipulator according to any of claims 16 to 18, wherein each consecutive pitch joint and roll joint farther from the base is smaller than the preceding joint of the same type.
Claim 23
Dependent Claim
20 words
An articulated industrial manipulator according to any of claims 16 to 19, wherein the total number of joints exceeds six.
Claim 24
Dependent Claim
84 words
An articulated manipulator, characterised by comprising: at least one first type of self-contained powered joint (2,6,10,11) having an axis of rotation; at least one second type of self-contained powered joint (4,8,12) having an axis of rotation not parallel to that of the first type of joint, all of the first and second type joints being connected in an alternating series, wherein each joint is designed such that its drive means is interchangeable with the drive means of an adjacent joint of the other type.
Claim 25
Dependent Claim
84 words
An articulated manipulator, characterised by comprising: at least one first type of self-contained powered joint (2,6,10,11) having an axis of rotation; at least one second type of self-contained powered joint (4,8,12) having an axis of rotation not parallel to that of the first type of joint, all of the first and second type joints being connected in an alternating series, wherein each joint is designed such that its drive means is interchangeable with the drive means of an adjacent joint of the other type.
Claim 26
Dependent Claim
40 words
An articulated manipulator according to claim 21, wherein each joint is designed such that its drive means is interchangeable with the drive means of a joint of the other type on an articulated manipulator of different size and like design.
Claim 27
Dependent Claim
120 words
A servocontrolled apparatus, characterised by comprising: a member driven by an actuator; means for supplying a force command signal; means for sensing the motive force applied to the member by the actuator at a location on the member, the sensing means providing a member force signal; means for comparing the force command signal with the member force signal and providing a force error signal; a force compensation network for receiving the force error signal and compensating for instability across a bandwidth extending beyond the resonant frequency of the member, the compensation network providing an output signal; means for amplifying such output signal; and means for supplying the amplified signal to the actuator, whereby a force is provided in response thereto.
Claim 28
Dependent Claim
120 words
A servocontrolled apparatus, characterised by comprising: a member driven by an actuator; means for supplying a force command signal; means for sensing the motive force applied to the member by the actuator at a location on the member, the sensing means providing a member force signal; means for comparing the force command signal with the member force signal and providing a force error signal; a force compensation network for receiving the force error signal and compensating for instability across a bandwidth extending beyond the resonant frequency of the member, the compensation network providing an output signal; means for amplifying such output signal; and means for supplying the amplified signal to the actuator, whereby a force is provided in response thereto.
Claim 29
Dependent Claim
77 words
A servocontrolled apparatus according to claim 23, wherein the force command signal means comprise: means for supplying a velocity command signal; means for sensing the velocity of the member at a location on the member and providing a member velocity signal; means for comparing the velocity command signal with the memb er velocity signal and providing a velocity error signal; and a velocity compensation network for receiving the velocity error signal and providing a force command signal.
Claim 30
Dependent Claim
60 words
A servocontrolled apparatus according to claim 24, wherein the velocity command signal means comprise: means for supplying a position command signal; means for sensing the position of the member at a location on the member and providing a member position signal; and means for comparing the position command signal with the member position signal and providing a position error signal.
Claim 31
Dependent Claim
75 words
A servocontrolled apparatus according to claim 25, wherein the velocity command signal means comprises: a digital computer operative to provide a digital position error signal by comparison of the position of the member, sensed at a location on the member, with a computed position command, the position error signal being stepwise updated at time intervals designated by the computer; and means for converting the digital position error signal to a continuous analog velocity command signal.
Claim 32
Dependent Claim
22 words
A servocontrolled apparatus according to any of claims 23 to 26, wherein the member comprises a revolute joint of a manipulator arm.
Claim 33
Dependent Claim
17 words
A servocontrolled apparatus according to claim 27, wherein the member comprises an arm joint of a manipulator.
Claim 34
Dependent Claim
20 words
A servocontrolled apparatus according to any of claims 23 to 28, wherein the force compensation network comprises a lead network.
Claim 35
Dependent Claim
19 words
A servocontrolled apparatus according to claim 29, wherein the lead network is of the type comprising a lead-lag network.
Claim 36
Dependent Claim
20 words
A servocontrolled apparatus according to any of claims 23 to 30, wherein the velocity compensation network comprises a lag network.
Claim 37
Dependent Claim
19 words
A servocontrolled apparatus according to claim 31, wherein the lag network is of the type comprising a lag-lead-lag network.
Claim 38
Independent Claim
104 words
A method of controlling an apparatus member driven by an actuator, characterised by : supplying a force command signal; sensing the motive force applied to the member by the actuator at a location on the member and providing a resulting member force signal; comparing the force command signal with the member force signal and providing a resulting force error signal; compensating the force error signal for instability across a bandwidth extending beyond the resonant frequency of the member and providing a resulting output signal; amplifying the output signal; and supplying the amplified signal to the actuator, whereby a force is provided in response thereto.
Claim 39
Independent Claim
104 words
A method of controlling an apparatus member driven by an actuator, characterised by : supplying a force command signal; sensing the motive force applied to the member by the actuator at a location on the member and providing a resulting member force signal; comparing the force command signal with the member force signal and providing a resulting force error signal; compensating the force error signal for instability across a bandwidth extending beyond the resonant frequency of the member and providing a resulting output signal; amplifying the output signal; and supplying the amplified signal to the actuator, whereby a force is provided in response thereto.
Claim 40
Dependent Claim
67 words
A method according to claim 33, wherein the force command signal is supplied by: applying a velocity command signal; sensing the velocity of the member at a location on the member and providing a resulting member velocity signal; comparing the velocity command signal with the member velocity signal and providing a resulting velocity error signal; and compensating the velocity error signal to provide a force command signal.
Claim 41
Dependent Claim
57 words
A method according to claim 33 or 34, wherein the velocity command signal is supplied by: supplying a position command signal; sensing the position of the member at a location on the member and providing a resulting member position signal; and comparing the position command signal with the member position signal to provide a position error signal.
Claim 42
Dependent Claim
125 words
A self-contained mechanical joint (2,4,6,8, 10,12) characterised by comprising: a first structural member (44; 66; 69), a second structural member (46; 64) articulated to the first structural member, at least two bearings (68,70; 192,206) positioned to permit relative rotation between the first and second structural members, reduction gearing drive means (194) rigidly affix ed to the first structural member, means (196; 197-216) rigidly affixed to the reduction gearing drive means, for clutchably communicating rotational movement between the reduction gearing means and the second structural member, means (350) responsive to the rotational force between the first and second structural members, for producing a force signal; and means (259; 354) responsive to the rotational movement between the first and second structural members, for producing a movement signal.
Claim 43
Dependent Claim
125 words
A self-contained mechanical joint (2,4,6,8, 10,12) characterised by comprising: a first structural member (44; 66; 69), a second structural member (46; 64) articulated to the first structural member, at least two bearings (68,70; 192,206) positioned to permit relative rotation between the first and second structural members, reduction gearing drive means (194) rigidly affix ed to the first structural member, means (196; 197-216) rigidly affixed to the reduction gearing drive means, for clutchably communicating rotational movement between the reduction gearing means and the second structural member, means (350) responsive to the rotational force between the first and second structural members, for producing a force signal; and means (259; 354) responsive to the rotational movement between the first and second structural members, for producing a movement signal.
References Cited (Backward Citations)
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