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1. WO2019055701 - CONTINUUM ROBOTS WITH MULTI-SCALE MOTION THROUGH EQUILIBRIUM MODULATION

Publication Number WO/2019/055701
Publication Date 21.03.2019
International Application No. PCT/US2018/050948
International Filing Date 13.09.2018
IPC
B25J 9/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
06characterised by multi-articulated arms
CPC
B25J 18/06
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
18Arms
06flexible
B25J 9/0009
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
0009Constructional details, e.g. manipulator supports, bases
B25J 9/065
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
06characterised by multi-articulated arms
065Snake robots
B25J 9/104
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
104with cables, chains or ribbons
B25J 9/123
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
12electric
123Linear actuators
B25J 9/161
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1602characterised by the control system, structure, architecture
161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Applicants
  • VANDERBILT UNIVERSITY [US]/[US]
Inventors
  • SIMAAN, Nabil
  • DEL GIUDICE, Giuseppe
  • WANG, Long
  • JOOS, Karen, M.
  • SHEN, Jin-Hui
Agents
  • PAPROCKI, Andrew, J.
Priority Data
62/557,96913.09.2017US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) CONTINUUM ROBOTS WITH MULTI-SCALE MOTION THROUGH EQUILIBRIUM MODULATION
(FR) ROBOTS CONTINUUM À MOUVEMENT MULTI-ÉCHELLE PAR MODULATION D'ÉQUILIBRE
Abstract
(EN)
A robotic system, such as a continuum robot, that includes at least one hollow tube backbone and an equilibrium modulation wire at least partially positioned within the backbone. The robotic system is configured to adjust a position of an end effector by bending the hollow tube and to further adjust the position of the robotic device by adjusting a linear insertion position of the equilibrium modulation wire inside the hollow tube, wherein adjusting the linear insertion position of the equilibrium modulation w ire changes a flexural rigidity of the hollow tube resulting in a change in the resulting bending angle of the robotic device.
(FR)
L'invention concerne un système robotique, tel qu'un robot continuum, qui comprend au moins un squelette de tube creux et un fil de modulation d'équilibre au moins partiellement positionné à l'intérieur du squelette. Le système robotique est configuré pour ajuster la position d'un organe effecteur par flexion du tube creux et pour ajuster davantage la position du dispositif robotique par réglage de la position d'insertion linéaire du fil de modulation d'équilibre à l'intérieur du tube creux, le réglage de la position d'insertion linéaire du fil de modulation d'équilibre modifiant la rigidité à la flexion du tube creux pour permettre un changement de l'angle de flexion résultant du dispositif robotique.
Also published as
Latest bibliographic data on file with the International Bureau