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1. WO2020111020 - CONTROL DEVICE FOR LINK OPERATION DEVICE

Publication Number WO/2020/111020
Publication Date 04.06.2020
International Application No. PCT/JP2019/046051
International Filing Date 26.11.2019
IPC
B25J 11/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
F16H 21/02 2006.01
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
HGEARING
21Gearings comprising primarily only links or levers, with or without slides
02the movements of two or more independently-moving members being combined into a single movement
CPC
B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
F16H 21/02
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
HGEARING
21Gearings comprising primarily only links or levers, with or without slides
02the movements of two or more independently-moving members being combined into a single movement
Applicants
  • NTN株式会社 NTN CORPORATION [JP]/[JP]
Inventors
  • 松澤 英樹 MATSUZAWA, Hideki
Agents
  • 杉本 修司 SUGIMOTO, Shuji
  • 野田 雅士 NODA, Masashi
  • 堤 健郎 TSUTSUMI, Takeo
Priority Data
2018-22378929.11.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) CONTROL DEVICE FOR LINK OPERATION DEVICE
(FR) DISPOSITIF DE COMMANDE DESTINÉ À UN DISPOSITIF D’ACTIONNEMENT DE LIAISON
(JA) リンク作動装置の制御装置
Abstract
(EN)
This link operation device (51) comprises: a parallel link mechanism (1) in which a distal-side link hub (3) is connected to a proximal-side link hub (2) via three or more sets of link mechanisms (4) such that a posture thereof can be changed; and a posture changing actuator (53). A teaching means (56) has a conversion means (61) that calculates coordinates (Wt (= Xt, Yt, Zt)) of the center of a distal-side link indicated by orthogonal coordinates of the distal-side link hub (3) from a rotation angle (βn; n = 1, 2,...) of an end link member (5). For this convention means (61), an equation arranged by applying a normal vector to an equation of a plane and a spherical surface is used.
(FR)
L’invention concerne un dispositif d'actionnement de liaison (51) comprenant : un mécanisme de liaison parallèle (1) dans lequel un moyeu de liaison côté distal (3) est relié à un moyeu de liaison côté proximal (2) par l'intermédiaire d’au moins trois ensembles de mécanismes de liaison (4) de sorte que leurs orientations puissent être changées ; et un actionneur de changement d’orientation (53). Un moyen d'enseignement (56) comporte un moyen de conversion (61) qui calcule des coordonnées (Wt (= Xt, Yt, Zt)) du centre d'une liaison côté distal indiquée par des coordonnées orthogonales du moyeu de liaison côté distal (3) à partir d'un angle de rotation (βn ; n = 1, 2,...) d'un élément de liaison terminale (5). Concernant ce moyen de conversion (61), une équation conçue par application d’un vecteur normal à une équation d'un plan et d'une surface sphérique est utilisée.
(JA)
リンク作動装置(51)は、基端側リンクハブ(2)に対し先端側リンクハブ(3)が3組以上のリンク機構(4)を介して姿勢を変更可能に連結されたパラレルリンク機構(1)と、姿勢変更用のアクチュエータ(53)とを備える。教示手段(56)は、端部リンク部材(5)の回転角(βn;n=1,2,・・)から、先端側リンクハブ(3)の直交座標で示される先端側リンク中心の座標(Wt(=Xt,Yt,Zt))を演算する変換手段(61)を有する。この変換手段(61)に、平面と球面の方程式に法線ベクトルを適用して整理した式を用いる。
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