초록 ▼

A six-axes manipulator consists of a central tubular support 30 equipped with four bearings A, B, C, D at 90°to each other, disposed in a plane XOY perpendicular to the axis ZZ′of the tubular support, a ring 110 with a diameter larger than that of a section of the tubular support, the ring carrying

A six-axes manipulator consists of a central tubular support 30 equipped with four bearings A, B, C, D at 90°to each other, disposed in a plane XOY perpendicular to the axis ZZ′of the tubular support, a ring 110 with a diameter larger than that of a section of the tubular support, the ring carrying a gripping and control handle, and rigid and elastic means 120, 121, 122, 123 to support said ring on said tubular support, in such a manner that, at rest, said ring presents itself coaxially with said tubular support. Each bearing A, B, C, D is equipped with at least four force sensors.

대표청구항 ▼

A six-axis manipulator for controlling the extremity of a robot arm, said manipulator comprising: a central tubular support having an axis; four bearings on said support and each separated by 90°in a plane perpendicular to said support axis; a ring having a diameter larger than that of a section of

A six-axis manipulator for controlling the extremity of a robot arm, said manipulator comprising: a central tubular support having an axis; four bearings on said support and each separated by 90°in a plane perpendicular to said support axis; a ring having a diameter larger than that of a section of said support, said section lying in said perpendicular plane; rigid and elastic means for supporting said ring on said tubular support wherein said ring and tubular support are coaxial at rest; at least four force sensors, for sensing forces in four directions, on each of said bearings; logic means for converting signals from said sensors into individual translational components along three axes and into individual rotational components about said three axes; and means for transmitting said components as command signals to said robot.