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| 국가/구분 | United States(US) Patent 등록 |
|---|---|
| 국제특허분류(IPC7판) |
|
| 출원번호 | US-0608658 (1990-10-31) |
| 발명자 / 주소 |
|
| 출원인 / 주소 |
|
| 인용정보 | 피인용 횟수 : 276 인용 특허 : 0 |
A universal input device for interfacing a human operator with a slave machine such as a robot or the like includes a plurality of serially connected mechanical links extending from a base. A handgrip is connected to the mechanical links distal from the base such that a human operator may grasp the
A universal input device for interfacing a human operator with a slave machine such as a robot or the like includes a plurality of serially connected mechanical links extending from a base. A handgrip is connected to the mechanical links distal from the base such that a human operator may grasp the handgrip and control the position thereof relative to the base through the mechanical links. A plurality of rotary joints is arranged to connect the mechanical links together to provide at least three translational degrees of freedom and at least three rotational degrees of freedom of motion of the handgrip relative to the base. A cable and pulley assembly for each joint is connected to a corresponding motor for transmitting forces from the slave machine to the handgrip to provide kinesthetic feedback to the operator and for producing control signals that may be transmitted from the handgrip to the slave machine. The device gives excellent kinesthetic feedback, high-fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all six degrees of freedom, and zero backlash. The device also has a much larger work envelope, greater stiffness and responsiveness, smaller stowage volume, and better overlap of the human operator\s range of motion than previous designs.
A universal hand controller device for interfacing a human operator with a slave machine such as a robot comprising: a base; a plurality of serially connected mechanical links extending from the base, the mechanical links being arranged into a first group of first, second, and third linear position
A universal hand controller device for interfacing a human operator with a slave machine such as a robot comprising: a base; a plurality of serially connected mechanical links extending from the base, the mechanical links being arranged into a first group of first, second, and third linear position links and a second group of first, second, and third angular position links; a handgrip connected to the serially connected mechanical links distal from the base such that a human operator may grasp the handgrip and control the position of the handgrip relative to the base through the serially connected mechanical links; a plurality of rotary joints arranged to connect the mechanical links together to provide at least three translational degrees of freedom and at least three rotational degrees of freedom of motion of the handgrip relative to the base, there being one rotary joint corresponding to each degree of freedom, each rotary joint having a drive mechanism comprising a drive motor, a drive pulley assembly and a drive cable connected between the drive motor and the drive pulley assembly such that each joint is cable driven; means for mounting the drive motors for driving the rotary joints corresponding to the rotational degrees of freedom to one of the linear position links such that the drive cables in the drive mechanisms for the rotary joints corresponding to the rotational degrees of freedom pass through at least one rotary joint corresponding to the linear position link upon which the drive motors for driving the rotary joints are mounted; and means for guiding the drive cable for the first, second, and third angular position links parallel to an axis of rotation of a third of the rotary joints.
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