Apparatus for controlling angular positioning and stiffness modulations of joint of robotic manipulator
US5502363A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jan 4, 1994 |
| Grant date | Mar 26, 1996 |
| Priority date | — |
| Expiry date | Jan 4, 2014 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45091
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The present invention provides an apparatus for controlling the angular positioning and stiffness modulations of a joint of a robotic manipulator by use of first and second motors and a control mechanisms. The first motor, preferably a direct current motor, controls angular positioning, while the second motor, preferably a servo motor, controls stiffness modulations. The angular positioning and stiffness modulations take place simultaneously, yet independently, thereby preventing interference. The first and second motors and the control mechanism are positioned within a housing. The control mechanism includes a shaft support member and threaded and non-threaded shafts. The threaded and non-threaded shafts extend from the first and second motors through threaded and non-threaded apertures, respectively, in the shaft support member to the housing where the threaded shaft is bearing mounted and the non-threaded shaft is supported in an aperture in the endwall of the housing to connect a pulley outside of the housing which is connected to a joint and link arrangement of a robotic manipulator. The shaft support member translates back and forth within the housing dependent on its positio…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.