Robot wrist having an offset and a method for orientating a robot wrist having an offset
US5740329A · kind A · utility
Assignees
Inventors
Key dates
| Filing date | Dec 7, 1992 |
| Grant date | Apr 14, 1998 |
| Priority date | — |
| Expiry date | Dec 7, 2012 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S700/90
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The present invention relates to a method of determining degrees of an angle between the rotational axes of each of three articulations constituting robot wrist, and more particularly to a method of determining kinematic parameters for robot wrist, wherein a method of determining twist angle between the rotational axes is improved so that robot wrist can orient arbitrarily without regard to position of robot arm when attaching robot wrist having an offset in which the rotational axes of three articulations do not coincide at one point, to the robot arm of an articulated type. According to the present invention, if finding a length l.sub.3 of articulation upper part of robot arm, a virtual length of upper articulation of robot arm (l.sub.3.sup.o) by using offset link length (d.sub.5) of robot wrist, and twist angle (.alpha..sub.4) and twist angle (.alpha..sub.5) by the invented formulas, the robot wrist composed of an offset can orient arbitrarily at any positions, whereby the conventional problems have been eliminated and the effects enabling to improve the orienting region of robot wrist have been obtained.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.